created
This commit is contained in:
Duong Vu
78
CMakeLists.txt
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78
CMakeLists.txt
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cmake_minimum_required(VERSION 3.14)
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project(odomety VERSION 0.1.0 LANGUAGES CXX)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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include(GNUInstallDirs)
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find_package(Boost REQUIRED)
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add_library(odom_differential
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src/odom_differential.cpp
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)
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target_include_directories(odom_differential
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
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${Boost_INCLUDE_DIRS}
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)
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target_compile_options(odom_differential PRIVATE -Wall -Wextra -Wpedantic)
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add_executable(odomety_demo
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src/main.cpp
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)
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target_link_libraries(odomety_demo PRIVATE odom_differential)
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target_compile_options(odomety_demo PRIVATE -Wall -Wextra -Wpedantic)
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enable_testing()
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add_executable(odomety_test
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test/odom_differential_test.cpp
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)
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target_link_libraries(odomety_test PRIVATE odom_differential)
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target_compile_options(odomety_test PRIVATE -Wall -Wextra -Wpedantic)
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add_test(NAME odom_differential_test COMMAND odomety_test)
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# ---------------------------------------------------------------------------
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# Install
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# ---------------------------------------------------------------------------
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install(TARGETS odom_differential odomety_demo
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EXPORT odometyTargets
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ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
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LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
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RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
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INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
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)
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install(DIRECTORY include/
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DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
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FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
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)
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install(EXPORT odometyTargets
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FILE odometyTargets.cmake
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NAMESPACE odomety::
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DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/odomety
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)
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include(CMakePackageConfigHelpers)
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write_basic_package_version_file(
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"${CMAKE_CURRENT_BINARY_DIR}/odometyConfigVersion.cmake"
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VERSION ${PROJECT_VERSION}
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COMPATIBILITY SameMajorVersion
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)
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file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/odometyConfig.cmake"
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"include(CMakeFindDependencyMacro)
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find_dependency(Boost REQUIRED)
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include(\"\${CMAKE_CURRENT_LIST_DIR}/odometyTargets.cmake\")
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")
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install(FILES
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"${CMAKE_CURRENT_BINARY_DIR}/odometyConfig.cmake"
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"${CMAKE_CURRENT_BINARY_DIR}/odometyConfigVersion.cmake"
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DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/odomety
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)
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133
README.md
133
README.md
@@ -1,2 +1,135 @@
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# odomety
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# odomety
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Thư viện C++ ước lượng odometry cho robot **differential drive** (2 bánh chủ động).
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Từ vận tốc góc bánh xe, **encoder ticks**, hoặc lệnh `v`/`ω`, thư viện tích phân pose 2D `(x, y, θ)` và vận tốc `(v, ω)` theo thời gian.
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## Tính năng
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- Cập nhật từ vận tốc góc bánh trái/phải `[rad/s]`
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- Cập nhật từ cumulative encoder ticks (`Encoder_Measurement`-style)
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- Cập nhật trực tiếp từ lệnh tuyến tính/góc `[m/s]`, `[rad/s]`
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- Tích phân exact (và Runge–Kutta bậc 2 khi gần đi thẳng)
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- Làm mượt vận tốc bằng rolling mean (Boost Accumulators)
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- Demo và unit test kèm theo
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|
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## Yêu cầu
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|
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- CMake ≥ 3.14
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- C++17
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- Boost (header: Accumulators, Function)
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## Cấu trúc
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```
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odomety/
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├── include/odometry/odom_differential.h
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├── src/odom_differential.cpp
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├── src/main.cpp # demo
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├── test/odom_differential_test.cpp
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└── CMakeLists.txt
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```
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## Build
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```bash
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cd odomety
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cmake -S . -B build
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cmake --build build
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```
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Chạy demo:
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```bash
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./build/odomety_demo
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```
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Chạy test:
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```bash
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cd build && ctest --output-on-failure
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# hoặc
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./build/odomety_test
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```
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## Cài đặt (tùy chọn)
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||||||
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```bash
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sudo cmake --install build --prefix /path/to/install
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||||||
|
```
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||||||
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Trong project khác:
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|
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||||||
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```cmake
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|
find_package(odomety REQUIRED)
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||||||
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target_link_libraries(your_target PRIVATE odomety::odom_differential)
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|
```
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||||||
|
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## Cách dùng
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### Từ vận tốc bánh
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|
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```cpp
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#include <odometry/odom_differential.h>
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differential::Odometry odom(/*velocity_rolling_window_size=*/10);
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odom.setWheelParams(
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/*wheel_separation=*/0.5, // [m]
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/*left_wheel_radius=*/0.09, // [m]
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/*right_wheel_radius=*/0.09 // [m]
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);
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odom.init(/*time_sec=*/t0);
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odom.updateWheel(left_omega, right_omega, t); // [rad/s]
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```
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### Từ encoder ticks (khuyến nghị khi có đếm xung)
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```cpp
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odom.setWheelParams(0.5, 0.09, 0.09);
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odom.setEncoderParams(/*ticks_per_revolution=*/4096); // phía bánh, sau gearbox
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odom.init(t0);
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// Cumulative tick counts (unwrap overflow về int64 monotonic trước khi gọi)
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odom.updateTicks(left_ticks, right_ticks, t); // lần đầu chỉ seed, trả về false
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double x = odom.getX();
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double y = odom.getY();
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double yaw = odom.getHeading();
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double v = odom.getLinear();
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double w = odom.getAngular();
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```
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|
Công thức nội bộ mỗi bước:
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||||||
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- `Δs_L/R = 2π · r_L/R · Δn_L/R / N_L/R`
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- `Δs = (Δs_L + Δs_R) / 2`
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- `Δθ = (Δs_R − Δs_L) / b`
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### Từ lệnh vận tốc (open-loop)
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|
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||||||
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```cpp
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odom.updateOdom(linear_mps, angular_rps, t);
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```
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|
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## API chính
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||||||
|
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|
| Hàm | Mô tả |
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|
|---|---|
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|
| `init(time)` | Reset pose/vận tốc/tick seed và gắn timestamp |
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|
| `setWheelParams(sep, r_l, r_r)` | Khoảng cách bánh và bán kính |
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||||||
|
| `setEncoderParams(N)` / `setEncoderParams(N_l, N_r)` | CPR phía bánh |
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||||||
|
| `updateWheel(ω_l, ω_r, time)` | Cập nhật từ vận tốc góc bánh |
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||||||
|
| `updateTicks(n_l, n_r, time)` | Cập nhật từ cumulative encoder ticks |
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||||||
|
| `updateOdom(v, ω, time)` | Cập nhật từ lệnh vận tốc |
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||||||
|
| `getX/Y/Heading/Linear/Angular()` | Đọc trạng thái hiện tại |
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||||||
|
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||||||
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## Ghi chú
|
||||||
|
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||||||
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- `updateWheel` / `updateTicks` trả về `false` nếu `dt < 0.0001` s.
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||||||
|
- `updateTicks`: lần gọi đầu sau `init` chỉ lưu tick trước đó (seed), không tích phân.
|
||||||
|
- `updateTicks` trả về `false` nếu chưa gọi `setEncoderParams` (CPR ≤ 0).
|
||||||
|
- Tick phải là đếm **phía bánh** (sau gearbox). Overflow counter phần cứng cần unwrap về `int64` monotonic.
|
||||||
|
- Đơn vị thời gian là giây (epoch hoặc monotonic, miễn nhất quán).
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||||||
|
- Pose mặc định sau `init`: `(0, 0, 0)`.
|
||||||
|
|||||||
1
Testing/Temporary/CTestCostData.txt
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1
Testing/Temporary/CTestCostData.txt
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|||||||
|
---
|
||||||
3
Testing/Temporary/LastTest.log
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3
Testing/Temporary/LastTest.log
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|||||||
|
Start testing: Jul 13 13:27 +07
|
||||||
|
----------------------------------------------------------
|
||||||
|
End testing: Jul 13 13:27 +07
|
||||||
436
build/CMakeCache.txt
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436
build/CMakeCache.txt
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|||||||
|
# This is the CMakeCache file.
|
||||||
|
# For build in directory: /home/robotics/HiepLM/odomety/build
|
||||||
|
# It was generated by CMake: /usr/bin/cmake
|
||||||
|
# You can edit this file to change values found and used by cmake.
|
||||||
|
# If you do not want to change any of the values, simply exit the editor.
|
||||||
|
# If you do want to change a value, simply edit, save, and exit the editor.
|
||||||
|
# The syntax for the file is as follows:
|
||||||
|
# KEY:TYPE=VALUE
|
||||||
|
# KEY is the name of a variable in the cache.
|
||||||
|
# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
|
||||||
|
# VALUE is the current value for the KEY.
|
||||||
|
|
||||||
|
########################
|
||||||
|
# EXTERNAL cache entries
|
||||||
|
########################
|
||||||
|
|
||||||
|
//The directory containing a CMake configuration file for Boost.
|
||||||
|
Boost_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0
|
||||||
|
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||||||
|
//Path to a file.
|
||||||
|
Boost_INCLUDE_DIR:PATH=/usr/include
|
||||||
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||||||
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//Path to a program.
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||||||
|
CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line
|
||||||
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|
//Path to a program.
|
||||||
|
CMAKE_AR:FILEPATH=/usr/bin/ar
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||||||
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||||||
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//Choose the type of build, options are: None Debug Release RelWithDebInfo
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||||||
|
// MinSizeRel ...
|
||||||
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CMAKE_BUILD_TYPE:STRING=
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||||||
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//Enable/Disable color output during build.
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||||||
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CMAKE_COLOR_MAKEFILE:BOOL=ON
|
||||||
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||||||
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//CXX compiler
|
||||||
|
CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
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||||||
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||||||
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//A wrapper around 'ar' adding the appropriate '--plugin' option
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||||||
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// for the GCC compiler
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||||||
|
CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-11
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||||||
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||||||
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//A wrapper around 'ranlib' adding the appropriate '--plugin' option
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||||||
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// for the GCC compiler
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||||||
|
CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-11
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||||||
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//Flags used by the CXX compiler during all build types.
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||||||
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CMAKE_CXX_FLAGS:STRING=
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||||||
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//Flags used by the CXX compiler during DEBUG builds.
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||||||
|
CMAKE_CXX_FLAGS_DEBUG:STRING=-g
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||||||
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||||||
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//Flags used by the CXX compiler during MINSIZEREL builds.
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||||||
|
CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
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||||||
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||||||
|
//Flags used by the CXX compiler during RELEASE builds.
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||||||
|
CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
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||||||
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||||||
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//Flags used by the CXX compiler during RELWITHDEBINFO builds.
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||||||
|
CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
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||||||
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//Path to a program.
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||||||
|
CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
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||||||
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||||||
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//Flags used by the linker during all build types.
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||||||
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CMAKE_EXE_LINKER_FLAGS:STRING=
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||||||
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//Flags used by the linker during DEBUG builds.
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||||||
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CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
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//Flags used by the linker during MINSIZEREL builds.
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||||||
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CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
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//Flags used by the linker during RELEASE builds.
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CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
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//Flags used by the linker during RELWITHDEBINFO builds.
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||||||
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CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
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//Enable/Disable output of compile commands during generation.
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CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
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//User executables (bin)
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CMAKE_INSTALL_BINDIR:PATH=bin
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//Read-only architecture-independent data (DATAROOTDIR)
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CMAKE_INSTALL_DATADIR:PATH=
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//Read-only architecture-independent data root (share)
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CMAKE_INSTALL_DATAROOTDIR:PATH=share
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//Documentation root (DATAROOTDIR/doc/PROJECT_NAME)
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CMAKE_INSTALL_DOCDIR:PATH=
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//C header files (include)
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CMAKE_INSTALL_INCLUDEDIR:PATH=include
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//Info documentation (DATAROOTDIR/info)
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CMAKE_INSTALL_INFODIR:PATH=
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//Object code libraries (lib)
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CMAKE_INSTALL_LIBDIR:PATH=lib
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//Program executables (libexec)
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CMAKE_INSTALL_LIBEXECDIR:PATH=libexec
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||||||
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||||||
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//Locale-dependent data (DATAROOTDIR/locale)
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||||||
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CMAKE_INSTALL_LOCALEDIR:PATH=
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||||||
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//Modifiable single-machine data (var)
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||||||
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CMAKE_INSTALL_LOCALSTATEDIR:PATH=var
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||||||
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//Man documentation (DATAROOTDIR/man)
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||||||
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CMAKE_INSTALL_MANDIR:PATH=
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||||||
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||||||
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//C header files for non-gcc (/usr/include)
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||||||
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CMAKE_INSTALL_OLDINCLUDEDIR:PATH=/usr/include
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||||||
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||||||
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//Install path prefix, prepended onto install directories.
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||||||
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CMAKE_INSTALL_PREFIX:PATH=/usr/local
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||||||
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||||||
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//Run-time variable data (LOCALSTATEDIR/run)
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||||||
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CMAKE_INSTALL_RUNSTATEDIR:PATH=
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//System admin executables (sbin)
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||||||
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CMAKE_INSTALL_SBINDIR:PATH=sbin
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||||||
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||||||
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//Modifiable architecture-independent data (com)
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||||||
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CMAKE_INSTALL_SHAREDSTATEDIR:PATH=com
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||||||
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||||||
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//Read-only single-machine data (etc)
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||||||
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CMAKE_INSTALL_SYSCONFDIR:PATH=etc
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||||||
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|
||||||
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//Path to a program.
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||||||
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CMAKE_LINKER:FILEPATH=/usr/bin/ld
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||||||
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|
||||||
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//Path to a program.
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||||||
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CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
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||||||
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|
||||||
|
//Flags used by the linker during the creation of modules during
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||||||
|
# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
|
||||||
|
# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
|
||||||
|
# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10)
|
||||||
|
# endif
|
||||||
|
|
||||||
|
#elif defined(__SCO_VERSION__)
|
||||||
|
# define COMPILER_ID "SCO"
|
||||||
|
|
||||||
|
#elif defined(__ARMCC_VERSION) && !defined(__clang__)
|
||||||
|
# define COMPILER_ID "ARMCC"
|
||||||
|
#if __ARMCC_VERSION >= 1000000
|
||||||
|
/* __ARMCC_VERSION = VRRPPPP */
|
||||||
|
# define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
|
||||||
|
# define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
|
||||||
|
# define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
|
||||||
|
#else
|
||||||
|
/* __ARMCC_VERSION = VRPPPP */
|
||||||
|
# define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
|
||||||
|
# define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
|
||||||
|
# define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
|
||||||
|
#elif defined(__clang__) && defined(__apple_build_version__)
|
||||||
|
# define COMPILER_ID "AppleClang"
|
||||||
|
# if defined(_MSC_VER)
|
||||||
|
# define SIMULATE_ID "MSVC"
|
||||||
|
# endif
|
||||||
|
# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
|
||||||
|
# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
|
||||||
|
# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
|
||||||
|
# if defined(_MSC_VER)
|
||||||
|
/* _MSC_VER = VVRR */
|
||||||
|
# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
|
||||||
|
# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
|
||||||
|
# endif
|
||||||
|
# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
|
||||||
|
|
||||||
|
#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
|
||||||
|
# define COMPILER_ID "ARMClang"
|
||||||
|
# define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
|
||||||
|
# define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
|
||||||
|
# define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000)
|
||||||
|
# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
|
||||||
|
|
||||||
|
#elif defined(__clang__)
|
||||||
|
# define COMPILER_ID "Clang"
|
||||||
|
# if defined(_MSC_VER)
|
||||||
|
# define SIMULATE_ID "MSVC"
|
||||||
|
# endif
|
||||||
|
# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
|
||||||
|
# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
|
||||||
|
# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
|
||||||
|
# if defined(_MSC_VER)
|
||||||
|
/* _MSC_VER = VVRR */
|
||||||
|
# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
|
||||||
|
# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
|
||||||
|
# endif
|
||||||
|
|
||||||
|
#elif defined(__GNUC__) || defined(__GNUG__)
|
||||||
|
# define COMPILER_ID "GNU"
|
||||||
|
# if defined(__GNUC__)
|
||||||
|
# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
|
||||||
|
# else
|
||||||
|
# define COMPILER_VERSION_MAJOR DEC(__GNUG__)
|
||||||
|
# endif
|
||||||
|
# if defined(__GNUC_MINOR__)
|
||||||
|
# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
|
||||||
|
# endif
|
||||||
|
# if defined(__GNUC_PATCHLEVEL__)
|
||||||
|
# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
|
||||||
|
# endif
|
||||||
|
|
||||||
|
#elif defined(_MSC_VER)
|
||||||
|
# define COMPILER_ID "MSVC"
|
||||||
|
/* _MSC_VER = VVRR */
|
||||||
|
# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
|
||||||
|
# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
|
||||||
|
# if defined(_MSC_FULL_VER)
|
||||||
|
# if _MSC_VER >= 1400
|
||||||
|
/* _MSC_FULL_VER = VVRRPPPPP */
|
||||||
|
# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
|
||||||
|
# else
|
||||||
|
/* _MSC_FULL_VER = VVRRPPPP */
|
||||||
|
# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
|
||||||
|
# endif
|
||||||
|
# endif
|
||||||
|
# if defined(_MSC_BUILD)
|
||||||
|
# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
|
||||||
|
# endif
|
||||||
|
|
||||||
|
#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
|
||||||
|
# define COMPILER_ID "ADSP"
|
||||||
|
#if defined(__VISUALDSPVERSION__)
|
||||||
|
/* __VISUALDSPVERSION__ = 0xVVRRPP00 */
|
||||||
|
# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
|
||||||
|
# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
|
||||||
|
# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
|
||||||
|
# define COMPILER_ID "IAR"
|
||||||
|
# if defined(__VER__) && defined(__ICCARM__)
|
||||||
|
# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
|
||||||
|
# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
|
||||||
|
# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
|
||||||
|
# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
|
||||||
|
# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
|
||||||
|
# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
|
||||||
|
# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
|
||||||
|
# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
|
||||||
|
# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
|
||||||
|
# endif
|
||||||
|
|
||||||
|
|
||||||
|
/* These compilers are either not known or too old to define an
|
||||||
|
identification macro. Try to identify the platform and guess that
|
||||||
|
it is the native compiler. */
|
||||||
|
#elif defined(__hpux) || defined(__hpua)
|
||||||
|
# define COMPILER_ID "HP"
|
||||||
|
|
||||||
|
#else /* unknown compiler */
|
||||||
|
# define COMPILER_ID ""
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Construct the string literal in pieces to prevent the source from
|
||||||
|
getting matched. Store it in a pointer rather than an array
|
||||||
|
because some compilers will just produce instructions to fill the
|
||||||
|
array rather than assigning a pointer to a static array. */
|
||||||
|
char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
|
||||||
|
#ifdef SIMULATE_ID
|
||||||
|
char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef __QNXNTO__
|
||||||
|
char const* qnxnto = "INFO" ":" "qnxnto[]";
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if defined(__CRAYXE) || defined(__CRAYXC)
|
||||||
|
char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define STRINGIFY_HELPER(X) #X
|
||||||
|
#define STRINGIFY(X) STRINGIFY_HELPER(X)
|
||||||
|
|
||||||
|
/* Identify known platforms by name. */
|
||||||
|
#if defined(__linux) || defined(__linux__) || defined(linux)
|
||||||
|
# define PLATFORM_ID "Linux"
|
||||||
|
|
||||||
|
#elif defined(__CYGWIN__)
|
||||||
|
# define PLATFORM_ID "Cygwin"
|
||||||
|
|
||||||
|
#elif defined(__MINGW32__)
|
||||||
|
# define PLATFORM_ID "MinGW"
|
||||||
|
|
||||||
|
#elif defined(__APPLE__)
|
||||||
|
# define PLATFORM_ID "Darwin"
|
||||||
|
|
||||||
|
#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
|
||||||
|
# define PLATFORM_ID "Windows"
|
||||||
|
|
||||||
|
#elif defined(__FreeBSD__) || defined(__FreeBSD)
|
||||||
|
# define PLATFORM_ID "FreeBSD"
|
||||||
|
|
||||||
|
#elif defined(__NetBSD__) || defined(__NetBSD)
|
||||||
|
# define PLATFORM_ID "NetBSD"
|
||||||
|
|
||||||
|
#elif defined(__OpenBSD__) || defined(__OPENBSD)
|
||||||
|
# define PLATFORM_ID "OpenBSD"
|
||||||
|
|
||||||
|
#elif defined(__sun) || defined(sun)
|
||||||
|
# define PLATFORM_ID "SunOS"
|
||||||
|
|
||||||
|
#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
|
||||||
|
# define PLATFORM_ID "AIX"
|
||||||
|
|
||||||
|
#elif defined(__hpux) || defined(__hpux__)
|
||||||
|
# define PLATFORM_ID "HP-UX"
|
||||||
|
|
||||||
|
#elif defined(__HAIKU__)
|
||||||
|
# define PLATFORM_ID "Haiku"
|
||||||
|
|
||||||
|
#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
|
||||||
|
# define PLATFORM_ID "BeOS"
|
||||||
|
|
||||||
|
#elif defined(__QNX__) || defined(__QNXNTO__)
|
||||||
|
# define PLATFORM_ID "QNX"
|
||||||
|
|
||||||
|
#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
|
||||||
|
# define PLATFORM_ID "Tru64"
|
||||||
|
|
||||||
|
#elif defined(__riscos) || defined(__riscos__)
|
||||||
|
# define PLATFORM_ID "RISCos"
|
||||||
|
|
||||||
|
#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
|
||||||
|
# define PLATFORM_ID "SINIX"
|
||||||
|
|
||||||
|
#elif defined(__UNIX_SV__)
|
||||||
|
# define PLATFORM_ID "UNIX_SV"
|
||||||
|
|
||||||
|
#elif defined(__bsdos__)
|
||||||
|
# define PLATFORM_ID "BSDOS"
|
||||||
|
|
||||||
|
#elif defined(_MPRAS) || defined(MPRAS)
|
||||||
|
# define PLATFORM_ID "MP-RAS"
|
||||||
|
|
||||||
|
#elif defined(__osf) || defined(__osf__)
|
||||||
|
# define PLATFORM_ID "OSF1"
|
||||||
|
|
||||||
|
#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
|
||||||
|
# define PLATFORM_ID "SCO_SV"
|
||||||
|
|
||||||
|
#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
|
||||||
|
# define PLATFORM_ID "ULTRIX"
|
||||||
|
|
||||||
|
#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
|
||||||
|
# define PLATFORM_ID "Xenix"
|
||||||
|
|
||||||
|
#elif defined(__WATCOMC__)
|
||||||
|
# if defined(__LINUX__)
|
||||||
|
# define PLATFORM_ID "Linux"
|
||||||
|
|
||||||
|
# elif defined(__DOS__)
|
||||||
|
# define PLATFORM_ID "DOS"
|
||||||
|
|
||||||
|
# elif defined(__OS2__)
|
||||||
|
# define PLATFORM_ID "OS2"
|
||||||
|
|
||||||
|
# elif defined(__WINDOWS__)
|
||||||
|
# define PLATFORM_ID "Windows3x"
|
||||||
|
|
||||||
|
# else /* unknown platform */
|
||||||
|
# define PLATFORM_ID
|
||||||
|
# endif
|
||||||
|
|
||||||
|
#elif defined(__INTEGRITY)
|
||||||
|
# if defined(INT_178B)
|
||||||
|
# define PLATFORM_ID "Integrity178"
|
||||||
|
|
||||||
|
# else /* regular Integrity */
|
||||||
|
# define PLATFORM_ID "Integrity"
|
||||||
|
# endif
|
||||||
|
|
||||||
|
#else /* unknown platform */
|
||||||
|
# define PLATFORM_ID
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* For windows compilers MSVC and Intel we can determine
|
||||||
|
the architecture of the compiler being used. This is because
|
||||||
|
the compilers do not have flags that can change the architecture,
|
||||||
|
but rather depend on which compiler is being used
|
||||||
|
*/
|
||||||
|
#if defined(_WIN32) && defined(_MSC_VER)
|
||||||
|
# if defined(_M_IA64)
|
||||||
|
# define ARCHITECTURE_ID "IA64"
|
||||||
|
|
||||||
|
# elif defined(_M_X64) || defined(_M_AMD64)
|
||||||
|
# define ARCHITECTURE_ID "x64"
|
||||||
|
|
||||||
|
# elif defined(_M_IX86)
|
||||||
|
# define ARCHITECTURE_ID "X86"
|
||||||
|
|
||||||
|
# elif defined(_M_ARM64)
|
||||||
|
# define ARCHITECTURE_ID "ARM64"
|
||||||
|
|
||||||
|
# elif defined(_M_ARM)
|
||||||
|
# if _M_ARM == 4
|
||||||
|
# define ARCHITECTURE_ID "ARMV4I"
|
||||||
|
# elif _M_ARM == 5
|
||||||
|
# define ARCHITECTURE_ID "ARMV5I"
|
||||||
|
# else
|
||||||
|
# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
|
||||||
|
# endif
|
||||||
|
|
||||||
|
# elif defined(_M_MIPS)
|
||||||
|
# define ARCHITECTURE_ID "MIPS"
|
||||||
|
|
||||||
|
# elif defined(_M_SH)
|
||||||
|
# define ARCHITECTURE_ID "SHx"
|
||||||
|
|
||||||
|
# else /* unknown architecture */
|
||||||
|
# define ARCHITECTURE_ID ""
|
||||||
|
# endif
|
||||||
|
|
||||||
|
#elif defined(__WATCOMC__)
|
||||||
|
# if defined(_M_I86)
|
||||||
|
# define ARCHITECTURE_ID "I86"
|
||||||
|
|
||||||
|
# elif defined(_M_IX86)
|
||||||
|
# define ARCHITECTURE_ID "X86"
|
||||||
|
|
||||||
|
# else /* unknown architecture */
|
||||||
|
# define ARCHITECTURE_ID ""
|
||||||
|
# endif
|
||||||
|
|
||||||
|
#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
|
||||||
|
# if defined(__ICCARM__)
|
||||||
|
# define ARCHITECTURE_ID "ARM"
|
||||||
|
|
||||||
|
# elif defined(__ICCRX__)
|
||||||
|
# define ARCHITECTURE_ID "RX"
|
||||||
|
|
||||||
|
# elif defined(__ICCRH850__)
|
||||||
|
# define ARCHITECTURE_ID "RH850"
|
||||||
|
|
||||||
|
# elif defined(__ICCRL78__)
|
||||||
|
# define ARCHITECTURE_ID "RL78"
|
||||||
|
|
||||||
|
# elif defined(__ICCRISCV__)
|
||||||
|
# define ARCHITECTURE_ID "RISCV"
|
||||||
|
|
||||||
|
# elif defined(__ICCAVR__)
|
||||||
|
# define ARCHITECTURE_ID "AVR"
|
||||||
|
|
||||||
|
# elif defined(__ICC430__)
|
||||||
|
# define ARCHITECTURE_ID "MSP430"
|
||||||
|
|
||||||
|
# elif defined(__ICCV850__)
|
||||||
|
# define ARCHITECTURE_ID "V850"
|
||||||
|
|
||||||
|
# elif defined(__ICC8051__)
|
||||||
|
# define ARCHITECTURE_ID "8051"
|
||||||
|
|
||||||
|
# else /* unknown architecture */
|
||||||
|
# define ARCHITECTURE_ID ""
|
||||||
|
# endif
|
||||||
|
|
||||||
|
#elif defined(__ghs__)
|
||||||
|
# if defined(__PPC64__)
|
||||||
|
# define ARCHITECTURE_ID "PPC64"
|
||||||
|
|
||||||
|
# elif defined(__ppc__)
|
||||||
|
# define ARCHITECTURE_ID "PPC"
|
||||||
|
|
||||||
|
# elif defined(__ARM__)
|
||||||
|
# define ARCHITECTURE_ID "ARM"
|
||||||
|
|
||||||
|
# elif defined(__x86_64__)
|
||||||
|
# define ARCHITECTURE_ID "x64"
|
||||||
|
|
||||||
|
# elif defined(__i386__)
|
||||||
|
# define ARCHITECTURE_ID "X86"
|
||||||
|
|
||||||
|
# else /* unknown architecture */
|
||||||
|
# define ARCHITECTURE_ID ""
|
||||||
|
# endif
|
||||||
|
#else
|
||||||
|
# define ARCHITECTURE_ID
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Convert integer to decimal digit literals. */
|
||||||
|
#define DEC(n) \
|
||||||
|
('0' + (((n) / 10000000)%10)), \
|
||||||
|
('0' + (((n) / 1000000)%10)), \
|
||||||
|
('0' + (((n) / 100000)%10)), \
|
||||||
|
('0' + (((n) / 10000)%10)), \
|
||||||
|
('0' + (((n) / 1000)%10)), \
|
||||||
|
('0' + (((n) / 100)%10)), \
|
||||||
|
('0' + (((n) / 10)%10)), \
|
||||||
|
('0' + ((n) % 10))
|
||||||
|
|
||||||
|
/* Convert integer to hex digit literals. */
|
||||||
|
#define HEX(n) \
|
||||||
|
('0' + ((n)>>28 & 0xF)), \
|
||||||
|
('0' + ((n)>>24 & 0xF)), \
|
||||||
|
('0' + ((n)>>20 & 0xF)), \
|
||||||
|
('0' + ((n)>>16 & 0xF)), \
|
||||||
|
('0' + ((n)>>12 & 0xF)), \
|
||||||
|
('0' + ((n)>>8 & 0xF)), \
|
||||||
|
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||||||
|
# Generated CMake target import file.
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||||||
|
#----------------------------------------------------------------
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||||||
|
|
||||||
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||||||
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||||||
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||||||
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# Import target "odomety::odom_differential" for configuration ""
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||||||
|
set_property(TARGET odomety::odom_differential APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
|
||||||
|
set_target_properties(odomety::odom_differential PROPERTIES
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||||||
|
IMPORTED_LINK_INTERFACE_LANGUAGES_NOCONFIG "CXX"
|
||||||
|
IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libodom_differential.a"
|
||||||
|
)
|
||||||
|
|
||||||
|
list(APPEND _IMPORT_CHECK_TARGETS odomety::odom_differential )
|
||||||
|
list(APPEND _IMPORT_CHECK_FILES_FOR_odomety::odom_differential "${_IMPORT_PREFIX}/lib/libodom_differential.a" )
|
||||||
|
|
||||||
|
# Import target "odomety::odomety_demo" for configuration ""
|
||||||
|
set_property(TARGET odomety::odomety_demo APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
|
||||||
|
set_target_properties(odomety::odomety_demo PROPERTIES
|
||||||
|
IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/bin/odomety_demo"
|
||||||
|
)
|
||||||
|
|
||||||
|
list(APPEND _IMPORT_CHECK_TARGETS odomety::odomety_demo )
|
||||||
|
list(APPEND _IMPORT_CHECK_FILES_FOR_odomety::odomety_demo "${_IMPORT_PREFIX}/bin/odomety_demo" )
|
||||||
|
|
||||||
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# Commands beyond this point should not need to know the version.
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build/CMakeFiles/Export/lib/cmake/odomety/odometyTargets.cmake
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|
|
||||||
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if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
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||||||
|
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|
cmake_policy(PUSH)
|
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cmake_policy(VERSION 2.6)
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|
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||||||
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|
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||||||
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||||||
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set(_targetsDefined)
|
||||||
|
set(_targetsNotDefined)
|
||||||
|
set(_expectedTargets)
|
||||||
|
foreach(_expectedTarget odomety::odom_differential odomety::odomety_demo)
|
||||||
|
list(APPEND _expectedTargets ${_expectedTarget})
|
||||||
|
if(NOT TARGET ${_expectedTarget})
|
||||||
|
list(APPEND _targetsNotDefined ${_expectedTarget})
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||||||
|
endif()
|
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if(TARGET ${_expectedTarget})
|
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|
list(APPEND _targetsDefined ${_expectedTarget})
|
||||||
|
endif()
|
||||||
|
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|
||||||
|
if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
|
||||||
|
unset(_targetsDefined)
|
||||||
|
unset(_targetsNotDefined)
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|
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|
return()
|
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|
endif()
|
||||||
|
if(NOT "${_targetsDefined}" STREQUAL "")
|
||||||
|
message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
|
||||||
|
endif()
|
||||||
|
unset(_targetsDefined)
|
||||||
|
unset(_targetsNotDefined)
|
||||||
|
unset(_expectedTargets)
|
||||||
|
|
||||||
|
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||||||
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get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
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||||||
|
get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
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get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
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get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
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|
if(_IMPORT_PREFIX STREQUAL "/")
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set(_IMPORT_PREFIX "")
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|
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|
||||||
|
# Create imported target odomety::odom_differential
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add_library(odomety::odom_differential STATIC IMPORTED)
|
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|
|
||||||
|
set_target_properties(odomety::odom_differential PROPERTIES
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INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include;/usr/include;${_IMPORT_PREFIX}/include"
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||||||
|
)
|
||||||
|
|
||||||
|
# Create imported target odomety::odomety_demo
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||||||
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add_executable(odomety::odomety_demo IMPORTED)
|
||||||
|
|
||||||
|
set_target_properties(odomety::odomety_demo PROPERTIES
|
||||||
|
INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
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||||||
|
)
|
||||||
|
|
||||||
|
# Load information for each installed configuration.
|
||||||
|
get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
|
||||||
|
file(GLOB CONFIG_FILES "${_DIR}/odometyTargets-*.cmake")
|
||||||
|
foreach(f ${CONFIG_FILES})
|
||||||
|
include(${f})
|
||||||
|
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|
||||||
|
|
||||||
|
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||||||
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set(_IMPORT_PREFIX)
|
||||||
|
|
||||||
|
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|
||||||
|
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|
||||||
|
foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
|
||||||
|
if(NOT EXISTS "${file}" )
|
||||||
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message(FATAL_ERROR "The imported target \"${target}\" references the file
|
||||||
|
\"${file}\"
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||||||
|
but this file does not exist. Possible reasons include:
|
||||||
|
* The file was deleted, renamed, or moved to another location.
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||||||
|
* An install or uninstall procedure did not complete successfully.
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||||||
|
* The installation package was faulty and contained
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|
\"${CMAKE_CURRENT_LIST_FILE}\"
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||||||
|
but not all the files it references.
|
||||||
|
")
|
||||||
|
endif()
|
||||||
|
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|
||||||
|
unset(_IMPORT_CHECK_FILES_FOR_${target})
|
||||||
|
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||||||
|
unset(_IMPORT_CHECK_TARGETS)
|
||||||
|
|
||||||
|
# This file does not depend on other imported targets which have
|
||||||
|
# been exported from the same project but in a separate export set.
|
||||||
|
|
||||||
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"/usr/share/cmake-3.16/Modules/Platform/Linux.cmake"
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"/usr/share/cmake-3.16/Modules/Platform/UnixPaths.cmake"
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||||||
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"/usr/share/cmake-3.16/Modules/WriteBasicConfigVersionFile.cmake"
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||||||
|
)
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||||||
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||||||
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set(CMAKE_MAKEFILE_PRODUCTS
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CMakeFiles/odom_differential.dir/rule: cmake_check_build_system
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# Special targets to cleanup operation of make.
|
||||||
|
|
||||||
|
# Special rule to run CMake to check the build system integrity.
|
||||||
|
# No rule that depends on this can have commands that come from listfiles
|
||||||
|
# because they might be regenerated.
|
||||||
|
cmake_check_build_system:
|
||||||
|
$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
|
||||||
|
.PHONY : cmake_check_build_system
|
||||||
|
|
||||||
2
build/Testing/Temporary/CTestCostData.txt
Normal file
2
build/Testing/Temporary/CTestCostData.txt
Normal file
@@ -0,0 +1,2 @@
|
|||||||
|
odom_differential_test 2 0.000749667
|
||||||
|
---
|
||||||
19
build/Testing/Temporary/LastTest.log
Normal file
19
build/Testing/Temporary/LastTest.log
Normal file
@@ -0,0 +1,19 @@
|
|||||||
|
Start testing: Jul 22 10:27 +07
|
||||||
|
----------------------------------------------------------
|
||||||
|
1/1 Testing: odom_differential_test
|
||||||
|
1/1 Test: odom_differential_test
|
||||||
|
Command: "/home/robotics/HiepLM/odomety/build/odomety_test"
|
||||||
|
Directory: /home/robotics/HiepLM/odomety/build
|
||||||
|
"odom_differential_test" start time: Jul 22 10:27 +07
|
||||||
|
Output:
|
||||||
|
----------------------------------------------------------
|
||||||
|
All tests passed.
|
||||||
|
<end of output>
|
||||||
|
Test time = 0.00 sec
|
||||||
|
----------------------------------------------------------
|
||||||
|
Test Passed.
|
||||||
|
"odom_differential_test" end time: Jul 22 10:27 +07
|
||||||
|
"odom_differential_test" time elapsed: 00:00:00
|
||||||
|
----------------------------------------------------------
|
||||||
|
|
||||||
|
End testing: Jul 22 10:27 +07
|
||||||
99
build/cmake_install.cmake
Normal file
99
build/cmake_install.cmake
Normal file
@@ -0,0 +1,99 @@
|
|||||||
|
# Install script for directory: /home/robotics/HiepLM/odomety
|
||||||
|
|
||||||
|
# Set the install prefix
|
||||||
|
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
|
||||||
|
set(CMAKE_INSTALL_PREFIX "/usr/local")
|
||||||
|
endif()
|
||||||
|
string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
|
||||||
|
|
||||||
|
# Set the install configuration name.
|
||||||
|
if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
|
||||||
|
if(BUILD_TYPE)
|
||||||
|
string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
|
||||||
|
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
|
||||||
|
else()
|
||||||
|
set(CMAKE_INSTALL_CONFIG_NAME "")
|
||||||
|
endif()
|
||||||
|
message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# Set the component getting installed.
|
||||||
|
if(NOT CMAKE_INSTALL_COMPONENT)
|
||||||
|
if(COMPONENT)
|
||||||
|
message(STATUS "Install component: \"${COMPONENT}\"")
|
||||||
|
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
|
||||||
|
else()
|
||||||
|
set(CMAKE_INSTALL_COMPONENT)
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# Install shared libraries without execute permission?
|
||||||
|
if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
|
||||||
|
set(CMAKE_INSTALL_SO_NO_EXE "1")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# Is this installation the result of a crosscompile?
|
||||||
|
if(NOT DEFINED CMAKE_CROSSCOMPILING)
|
||||||
|
set(CMAKE_CROSSCOMPILING "FALSE")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||||
|
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE STATIC_LIBRARY FILES "/home/robotics/HiepLM/odomety/build/libodom_differential.a")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||||
|
if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/odomety_demo" AND
|
||||||
|
NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/odomety_demo")
|
||||||
|
file(RPATH_CHECK
|
||||||
|
FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/odomety_demo"
|
||||||
|
RPATH "")
|
||||||
|
endif()
|
||||||
|
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/bin" TYPE EXECUTABLE FILES "/home/robotics/HiepLM/odomety/build/odomety_demo")
|
||||||
|
if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/odomety_demo" AND
|
||||||
|
NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/odomety_demo")
|
||||||
|
if(CMAKE_INSTALL_DO_STRIP)
|
||||||
|
execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/odomety_demo")
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||||
|
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include" TYPE DIRECTORY FILES "/home/robotics/HiepLM/odomety/include/" FILES_MATCHING REGEX "/[^/]*\\.h$" REGEX "/[^/]*\\.hpp$")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||||
|
if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/cmake/odomety/odometyTargets.cmake")
|
||||||
|
file(DIFFERENT EXPORT_FILE_CHANGED FILES
|
||||||
|
"$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/cmake/odomety/odometyTargets.cmake"
|
||||||
|
"/home/robotics/HiepLM/odomety/build/CMakeFiles/Export/lib/cmake/odomety/odometyTargets.cmake")
|
||||||
|
if(EXPORT_FILE_CHANGED)
|
||||||
|
file(GLOB OLD_CONFIG_FILES "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/cmake/odomety/odometyTargets-*.cmake")
|
||||||
|
if(OLD_CONFIG_FILES)
|
||||||
|
message(STATUS "Old export file \"$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/cmake/odomety/odometyTargets.cmake\" will be replaced. Removing files [${OLD_CONFIG_FILES}].")
|
||||||
|
file(REMOVE ${OLD_CONFIG_FILES})
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/cmake/odomety" TYPE FILE FILES "/home/robotics/HiepLM/odomety/build/CMakeFiles/Export/lib/cmake/odomety/odometyTargets.cmake")
|
||||||
|
if("${CMAKE_INSTALL_CONFIG_NAME}" MATCHES "^()$")
|
||||||
|
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/cmake/odomety" TYPE FILE FILES "/home/robotics/HiepLM/odomety/build/CMakeFiles/Export/lib/cmake/odomety/odometyTargets-noconfig.cmake")
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||||
|
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/cmake/odomety" TYPE FILE FILES
|
||||||
|
"/home/robotics/HiepLM/odomety/build/odometyConfig.cmake"
|
||||||
|
"/home/robotics/HiepLM/odomety/build/odometyConfigVersion.cmake"
|
||||||
|
)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if(CMAKE_INSTALL_COMPONENT)
|
||||||
|
set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
|
||||||
|
else()
|
||||||
|
set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
|
||||||
|
"${CMAKE_INSTALL_MANIFEST_FILES}")
|
||||||
|
file(WRITE "/home/robotics/HiepLM/odomety/build/${CMAKE_INSTALL_MANIFEST}"
|
||||||
|
"${CMAKE_INSTALL_MANIFEST_CONTENT}")
|
||||||
7
build/install_manifest.txt
Normal file
7
build/install_manifest.txt
Normal file
@@ -0,0 +1,7 @@
|
|||||||
|
/usr/local/lib/libodom_differential.a
|
||||||
|
/usr/local/bin/odomety_demo
|
||||||
|
/usr/local/include/odometry/odom_differential.h
|
||||||
|
/usr/local/lib/cmake/odomety/odometyTargets.cmake
|
||||||
|
/usr/local/lib/cmake/odomety/odometyTargets-noconfig.cmake
|
||||||
|
/usr/local/lib/cmake/odomety/odometyConfig.cmake
|
||||||
|
/usr/local/lib/cmake/odomety/odometyConfigVersion.cmake
|
||||||
BIN
build/libodom_differential.a
Normal file
BIN
build/libodom_differential.a
Normal file
Binary file not shown.
3
build/odometyConfig.cmake
Normal file
3
build/odometyConfig.cmake
Normal file
@@ -0,0 +1,3 @@
|
|||||||
|
include(CMakeFindDependencyMacro)
|
||||||
|
find_dependency(Boost REQUIRED)
|
||||||
|
include("${CMAKE_CURRENT_LIST_DIR}/odometyTargets.cmake")
|
||||||
51
build/odometyConfigVersion.cmake
Normal file
51
build/odometyConfigVersion.cmake
Normal file
@@ -0,0 +1,51 @@
|
|||||||
|
# This is a basic version file for the Config-mode of find_package().
|
||||||
|
# It is used by write_basic_package_version_file() as input file for configure_file()
|
||||||
|
# to create a version-file which can be installed along a config.cmake file.
|
||||||
|
#
|
||||||
|
# The created file sets PACKAGE_VERSION_EXACT if the current version string and
|
||||||
|
# the requested version string are exactly the same and it sets
|
||||||
|
# PACKAGE_VERSION_COMPATIBLE if the current version is >= requested version,
|
||||||
|
# but only if the requested major version is the same as the current one.
|
||||||
|
# The variable CVF_VERSION must be set before calling configure_file().
|
||||||
|
|
||||||
|
|
||||||
|
set(PACKAGE_VERSION "0.1.0")
|
||||||
|
|
||||||
|
if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
|
||||||
|
set(PACKAGE_VERSION_COMPATIBLE FALSE)
|
||||||
|
else()
|
||||||
|
|
||||||
|
if("0.1.0" MATCHES "^([0-9]+)\\.")
|
||||||
|
set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
|
||||||
|
else()
|
||||||
|
set(CVF_VERSION_MAJOR "0.1.0")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if(PACKAGE_FIND_VERSION_MAJOR STREQUAL CVF_VERSION_MAJOR)
|
||||||
|
set(PACKAGE_VERSION_COMPATIBLE TRUE)
|
||||||
|
else()
|
||||||
|
set(PACKAGE_VERSION_COMPATIBLE FALSE)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if(PACKAGE_FIND_VERSION STREQUAL PACKAGE_VERSION)
|
||||||
|
set(PACKAGE_VERSION_EXACT TRUE)
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
|
||||||
|
|
||||||
|
# if the installed project requested no architecture check, don't perform the check
|
||||||
|
if("FALSE")
|
||||||
|
return()
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# if the installed or the using project don't have CMAKE_SIZEOF_VOID_P set, ignore it:
|
||||||
|
if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "" OR "8" STREQUAL "")
|
||||||
|
return()
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# check that the installed version has the same 32/64bit-ness as the one which is currently searching:
|
||||||
|
if(NOT CMAKE_SIZEOF_VOID_P STREQUAL "8")
|
||||||
|
math(EXPR installedBits "8 * 8")
|
||||||
|
set(PACKAGE_VERSION "${PACKAGE_VERSION} (${installedBits}bit)")
|
||||||
|
set(PACKAGE_VERSION_UNSUITABLE TRUE)
|
||||||
|
endif()
|
||||||
BIN
build/odomety_demo
Executable file
BIN
build/odomety_demo
Executable file
Binary file not shown.
BIN
build/odomety_test
Executable file
BIN
build/odomety_test
Executable file
Binary file not shown.
204
include/odometry/odom_differential.h
Normal file
204
include/odometry/odom_differential.h
Normal file
@@ -0,0 +1,204 @@
|
|||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include <cstdint>
|
||||||
|
#include <math.h>
|
||||||
|
#include <boost/accumulators/accumulators.hpp>
|
||||||
|
#include <boost/accumulators/statistics/stats.hpp>
|
||||||
|
#include <boost/accumulators/statistics/rolling_mean.hpp>
|
||||||
|
#include <boost/function.hpp>
|
||||||
|
|
||||||
|
namespace differential
|
||||||
|
{
|
||||||
|
namespace bacc = boost::accumulators;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief The Odometry class handles odometry readings
|
||||||
|
* (2D pose and velocity with related timestamp)
|
||||||
|
*/
|
||||||
|
class Odometry
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
|
||||||
|
/// Integration function, used to integrate the odometry:
|
||||||
|
typedef boost::function<void(double, double)> IntegrationFunction;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Constructor
|
||||||
|
* Timestamp will get the current time value
|
||||||
|
* Value will be set to zero
|
||||||
|
* \param velocity_rolling_window_size Rolling window size used to compute the velocity mean
|
||||||
|
*/
|
||||||
|
Odometry(size_t velocity_rolling_window_size = 10);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Initialize the odometry
|
||||||
|
* \param time Current time
|
||||||
|
*/
|
||||||
|
void init(const double &time);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Updates the odometry class with latest wheel angular velocities
|
||||||
|
* \param left_vel Left wheel angular velocity [rad/s]
|
||||||
|
* \param right_vel Right wheel angular velocity [rad/s]
|
||||||
|
* \param time Current time
|
||||||
|
* \return true if the odometry is actually updated
|
||||||
|
*/
|
||||||
|
bool updateWheel(double left_vel, double right_vel, const double &time);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Updates odometry from cumulative encoder tick counts
|
||||||
|
*
|
||||||
|
* Converts tick deltas to wheel arc lengths, then integrates pose with the
|
||||||
|
* same exact/RK2 path as updateWheel. The first call after init() only
|
||||||
|
* seeds the previous tick counts and returns false.
|
||||||
|
*
|
||||||
|
* Caller should unwrap hardware counter overflow into a monotonic int64
|
||||||
|
* cumulative count before calling.
|
||||||
|
*
|
||||||
|
* \param left_ticks Cumulative left wheel ticks (after gearbox, wheel side)
|
||||||
|
* \param right_ticks Cumulative right wheel ticks (after gearbox, wheel side)
|
||||||
|
* \param time Current time [s]
|
||||||
|
* \return true if the odometry is actually updated
|
||||||
|
*/
|
||||||
|
bool updateTicks(std::int64_t left_ticks, std::int64_t right_ticks, const double &time);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Updates the odometry class with latest velocity command
|
||||||
|
* \param linear Linear velocity [m/s]
|
||||||
|
* \param angular Angular velocity [rad/s]
|
||||||
|
* \param time Current time
|
||||||
|
*/
|
||||||
|
void updateOdom(double linear, double angular, const double &time);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief heading getter
|
||||||
|
* \return heading [rad]
|
||||||
|
*/
|
||||||
|
double getHeading() const
|
||||||
|
{
|
||||||
|
return heading_;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief x position getter
|
||||||
|
* \return x position [m]
|
||||||
|
*/
|
||||||
|
double getX() const
|
||||||
|
{
|
||||||
|
return x_;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief y position getter
|
||||||
|
* \return y position [m]
|
||||||
|
*/
|
||||||
|
double getY() const
|
||||||
|
{
|
||||||
|
return y_;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief linear velocity getter
|
||||||
|
* \return linear velocity [m/s]
|
||||||
|
*/
|
||||||
|
double getLinear() const
|
||||||
|
{
|
||||||
|
return linear_;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief angular velocity getter
|
||||||
|
* \return angular velocity [rad/s]
|
||||||
|
*/
|
||||||
|
double getAngular() const
|
||||||
|
{
|
||||||
|
return angular_;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Sets the wheel parameters: radius and separation
|
||||||
|
* \param wheel_separation Separation between left and right wheels [m]
|
||||||
|
* \param left_wheel_radius Left wheel radius [m]
|
||||||
|
* \param right_wheel_radius Right wheel radius [m]
|
||||||
|
*/
|
||||||
|
void setWheelParams(double wheel_separation, double left_wheel_radius, double right_wheel_radius);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Sets encoder resolution for both wheels (same CPR)
|
||||||
|
* \param ticks_per_revolution Ticks per wheel revolution (wheel side)
|
||||||
|
*/
|
||||||
|
void setEncoderParams(double ticks_per_revolution);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Sets encoder resolution per wheel
|
||||||
|
* \param left_ticks_per_revolution Left wheel ticks per revolution
|
||||||
|
* \param right_ticks_per_revolution Right wheel ticks per revolution
|
||||||
|
*/
|
||||||
|
void setEncoderParams(double left_ticks_per_revolution, double right_ticks_per_revolution);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Velocity rolling window size setter
|
||||||
|
* \param velocity_rolling_window_size Velocity rolling window size
|
||||||
|
*/
|
||||||
|
void setVelocityRollingWindowSize(size_t velocity_rolling_window_size);
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
/// Rolling mean accumulator and window:
|
||||||
|
typedef bacc::accumulator_set<double, bacc::stats<bacc::tag::rolling_mean> > RollingMeanAcc;
|
||||||
|
typedef bacc::tag::rolling_window RollingWindow;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Integrates the velocities (linear and angular) using 2nd order Runge-Kutta
|
||||||
|
* \param linear Linear displacement [m]
|
||||||
|
* \param angular Angular displacement [rad]
|
||||||
|
*/
|
||||||
|
void integrateRungeKutta2(double linear, double angular);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Integrates the velocities (linear and angular) using exact method
|
||||||
|
* \param linear Linear displacement [m]
|
||||||
|
* \param angular Angular displacement [rad]
|
||||||
|
*/
|
||||||
|
void integrateExact(double linear, double angular);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Reset linear and angular accumulators
|
||||||
|
*/
|
||||||
|
void resetAccumulators();
|
||||||
|
|
||||||
|
/// Current timestamp:
|
||||||
|
double timestamp_;
|
||||||
|
|
||||||
|
/// Current pose:
|
||||||
|
double x_; // [m]
|
||||||
|
double y_; // [m]
|
||||||
|
double heading_; // [rad]
|
||||||
|
|
||||||
|
/// Current velocity:
|
||||||
|
double linear_; // [m/s]
|
||||||
|
double angular_; // [rad/s]
|
||||||
|
|
||||||
|
/// Wheel kinematic parameters [m]:
|
||||||
|
double wheel_separation_;
|
||||||
|
double left_wheel_radius_;
|
||||||
|
double right_wheel_radius_;
|
||||||
|
|
||||||
|
/// Encoder resolution [ticks / wheel revolution]:
|
||||||
|
double left_ticks_per_revolution_;
|
||||||
|
double right_ticks_per_revolution_;
|
||||||
|
|
||||||
|
/// Previous cumulative tick counts for delta computation:
|
||||||
|
bool ticks_initialized_;
|
||||||
|
std::int64_t left_ticks_prev_;
|
||||||
|
std::int64_t right_ticks_prev_;
|
||||||
|
|
||||||
|
/// Rolling mean accumulators for the linear and angular velocities:
|
||||||
|
size_t velocity_rolling_window_size_;
|
||||||
|
RollingMeanAcc linear_acc_;
|
||||||
|
RollingMeanAcc angular_acc_;
|
||||||
|
|
||||||
|
/// Integration function, used to integrate the odometry:
|
||||||
|
IntegrationFunction integrate_fun_;
|
||||||
|
};
|
||||||
|
}
|
||||||
37
src/main.cpp
Normal file
37
src/main.cpp
Normal file
@@ -0,0 +1,37 @@
|
|||||||
|
#include <iostream>
|
||||||
|
#include <odometry/odom_differential.h>
|
||||||
|
#include <chrono>
|
||||||
|
#include <thread>
|
||||||
|
|
||||||
|
int main()
|
||||||
|
{
|
||||||
|
differential::Odometry odom(10);
|
||||||
|
odom.setWheelParams(/*wheel_separation=*/0.5, /*left_wheel_radius=*/0.09, /*right_wheel_radius=*/0.09);
|
||||||
|
|
||||||
|
const auto now = std::chrono::system_clock::now();
|
||||||
|
double t = std::chrono::duration<double>(now.time_since_epoch()).count(); // seconds since epoch
|
||||||
|
odom.init(t);
|
||||||
|
|
||||||
|
// Constant wheel angular velocities [rad/s]
|
||||||
|
const double left_vel = 2.0;
|
||||||
|
const double right_vel = 1.0;
|
||||||
|
|
||||||
|
for (int i = 0; i < 20; ++i)
|
||||||
|
{
|
||||||
|
const auto now = std::chrono::system_clock::now();
|
||||||
|
t = std::chrono::duration<double>(now.time_since_epoch()).count();
|
||||||
|
|
||||||
|
odom.updateWheel(left_vel, right_vel, t);
|
||||||
|
|
||||||
|
std::cout << "t=" << t
|
||||||
|
<< " x=" << odom.getX()
|
||||||
|
<< " y=" << odom.getY()
|
||||||
|
<< " heading=" << odom.getHeading()
|
||||||
|
<< " v=" << odom.getLinear()
|
||||||
|
<< " w=" << odom.getAngular()
|
||||||
|
<< "\n";
|
||||||
|
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||||
|
}
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
199
src/odom_differential.cpp
Normal file
199
src/odom_differential.cpp
Normal file
@@ -0,0 +1,199 @@
|
|||||||
|
#include <functional>
|
||||||
|
#include <iostream>
|
||||||
|
#include <odometry/odom_differential.h>
|
||||||
|
|
||||||
|
namespace differential
|
||||||
|
{
|
||||||
|
namespace bacc = boost::accumulators;
|
||||||
|
|
||||||
|
Odometry::Odometry(size_t velocity_rolling_window_size)
|
||||||
|
: timestamp_(0.0)
|
||||||
|
, x_(0.0)
|
||||||
|
, y_(0.0)
|
||||||
|
, heading_(0.0)
|
||||||
|
, linear_(0.0)
|
||||||
|
, angular_(0.0)
|
||||||
|
, wheel_separation_(0.0)
|
||||||
|
, left_wheel_radius_(0.0)
|
||||||
|
, right_wheel_radius_(0.0)
|
||||||
|
, left_ticks_per_revolution_(0.0)
|
||||||
|
, right_ticks_per_revolution_(0.0)
|
||||||
|
, ticks_initialized_(false)
|
||||||
|
, left_ticks_prev_(0)
|
||||||
|
, right_ticks_prev_(0)
|
||||||
|
, velocity_rolling_window_size_(velocity_rolling_window_size)
|
||||||
|
, linear_acc_(RollingWindow::window_size = velocity_rolling_window_size)
|
||||||
|
, angular_acc_(RollingWindow::window_size = velocity_rolling_window_size)
|
||||||
|
{
|
||||||
|
}
|
||||||
|
|
||||||
|
void Odometry::init(const double &time)
|
||||||
|
{
|
||||||
|
resetAccumulators();
|
||||||
|
timestamp_ = time;
|
||||||
|
x_ = 0.0;
|
||||||
|
y_ = 0.0;
|
||||||
|
heading_ = 0.0;
|
||||||
|
linear_ = 0.0;
|
||||||
|
angular_ = 0.0;
|
||||||
|
ticks_initialized_ = false;
|
||||||
|
left_ticks_prev_ = 0;
|
||||||
|
right_ticks_prev_ = 0;
|
||||||
|
integrate_fun_ = std::bind(&Odometry::integrateExact, this, std::placeholders::_1, std::placeholders::_2);
|
||||||
|
}
|
||||||
|
|
||||||
|
bool Odometry::updateWheel(double left_vel, double right_vel, const double &time)
|
||||||
|
{
|
||||||
|
/// We cannot integrate with very small time intervals:
|
||||||
|
const double dt = (time - timestamp_);
|
||||||
|
if (dt < 0.0001)
|
||||||
|
return false;
|
||||||
|
|
||||||
|
/// Convert wheel angular velocity [rad/s] to linear velocity [m/s]:
|
||||||
|
const double left_wheel_lin_vel = left_vel * left_wheel_radius_;
|
||||||
|
const double right_wheel_lin_vel = right_vel * right_wheel_radius_;
|
||||||
|
|
||||||
|
/// Compute robot linear and angular velocity:
|
||||||
|
const double linear = (right_wheel_lin_vel + left_wheel_lin_vel) * 0.5;
|
||||||
|
const double angular = (right_wheel_lin_vel - left_wheel_lin_vel) / wheel_separation_;
|
||||||
|
|
||||||
|
/// Integrate odometry using displacement over dt:
|
||||||
|
integrate_fun_(linear * dt, angular * dt);
|
||||||
|
|
||||||
|
timestamp_ = time;
|
||||||
|
|
||||||
|
/// Estimate speeds using a rolling mean to filter them out:
|
||||||
|
linear_acc_(linear);
|
||||||
|
angular_acc_(angular);
|
||||||
|
|
||||||
|
linear_ = bacc::rolling_mean(linear_acc_);
|
||||||
|
angular_ = bacc::rolling_mean(angular_acc_);
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool Odometry::updateTicks(std::int64_t left_ticks, std::int64_t right_ticks, const double &time)
|
||||||
|
{
|
||||||
|
if (!ticks_initialized_)
|
||||||
|
{
|
||||||
|
left_ticks_prev_ = left_ticks;
|
||||||
|
right_ticks_prev_ = right_ticks;
|
||||||
|
timestamp_ = time;
|
||||||
|
ticks_initialized_ = true;
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (left_ticks_per_revolution_ <= 0.0 || right_ticks_per_revolution_ <= 0.0)
|
||||||
|
return false;
|
||||||
|
|
||||||
|
/// We cannot integrate with very small time intervals:
|
||||||
|
const double dt = (time - timestamp_);
|
||||||
|
if (dt < 0.0001)
|
||||||
|
return false;
|
||||||
|
|
||||||
|
const std::int64_t left_delta = left_ticks - left_ticks_prev_;
|
||||||
|
const std::int64_t right_delta = right_ticks - right_ticks_prev_;
|
||||||
|
left_ticks_prev_ = left_ticks;
|
||||||
|
right_ticks_prev_ = right_ticks;
|
||||||
|
|
||||||
|
/// Tick delta → wheel rotation [rad] → arc length [m]:
|
||||||
|
const double left_wheel_phi =
|
||||||
|
(2.0 * M_PI * static_cast<double>(left_delta)) / left_ticks_per_revolution_;
|
||||||
|
const double right_wheel_phi =
|
||||||
|
(2.0 * M_PI * static_cast<double>(right_delta)) / right_ticks_per_revolution_;
|
||||||
|
|
||||||
|
const double left_ds = left_wheel_phi * left_wheel_radius_;
|
||||||
|
const double right_ds = right_wheel_phi * right_wheel_radius_;
|
||||||
|
|
||||||
|
/// Differential-drive displacement:
|
||||||
|
const double linear_ds = (right_ds + left_ds) * 0.5;
|
||||||
|
const double angular_dth = (right_ds - left_ds) / wheel_separation_;
|
||||||
|
|
||||||
|
integrate_fun_(linear_ds, angular_dth);
|
||||||
|
|
||||||
|
timestamp_ = time;
|
||||||
|
|
||||||
|
/// Estimate speeds using a rolling mean to filter them out:
|
||||||
|
const double linear = linear_ds / dt;
|
||||||
|
const double angular = angular_dth / dt;
|
||||||
|
linear_acc_(linear);
|
||||||
|
angular_acc_(angular);
|
||||||
|
|
||||||
|
linear_ = bacc::rolling_mean(linear_acc_);
|
||||||
|
angular_ = bacc::rolling_mean(angular_acc_);
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
void Odometry::updateOdom(double linear, double angular, const double &time)
|
||||||
|
{
|
||||||
|
/// Save last linear and angular velocity:
|
||||||
|
linear_ = linear;
|
||||||
|
angular_ = angular;
|
||||||
|
|
||||||
|
/// Integrate odometry:
|
||||||
|
const double dt = (time - timestamp_);
|
||||||
|
timestamp_ = time;
|
||||||
|
integrate_fun_(linear * dt, angular * dt);
|
||||||
|
}
|
||||||
|
|
||||||
|
void Odometry::setWheelParams(double wheel_separation, double left_wheel_radius, double right_wheel_radius)
|
||||||
|
{
|
||||||
|
wheel_separation_ = wheel_separation;
|
||||||
|
left_wheel_radius_ = left_wheel_radius;
|
||||||
|
right_wheel_radius_ = right_wheel_radius;
|
||||||
|
}
|
||||||
|
|
||||||
|
void Odometry::setEncoderParams(double ticks_per_revolution)
|
||||||
|
{
|
||||||
|
setEncoderParams(ticks_per_revolution, ticks_per_revolution);
|
||||||
|
}
|
||||||
|
|
||||||
|
void Odometry::setEncoderParams(double left_ticks_per_revolution, double right_ticks_per_revolution)
|
||||||
|
{
|
||||||
|
left_ticks_per_revolution_ = left_ticks_per_revolution;
|
||||||
|
right_ticks_per_revolution_ = right_ticks_per_revolution;
|
||||||
|
}
|
||||||
|
|
||||||
|
void Odometry::setVelocityRollingWindowSize(size_t velocity_rolling_window_size)
|
||||||
|
{
|
||||||
|
velocity_rolling_window_size_ = velocity_rolling_window_size;
|
||||||
|
|
||||||
|
resetAccumulators();
|
||||||
|
}
|
||||||
|
|
||||||
|
void Odometry::integrateRungeKutta2(double linear, double angular)
|
||||||
|
{
|
||||||
|
const double direction = heading_ + angular * 0.5;
|
||||||
|
|
||||||
|
/// Runge-Kutta 2nd order integration:
|
||||||
|
x_ += linear * cos(direction);
|
||||||
|
y_ += linear * sin(direction);
|
||||||
|
heading_ += angular;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Other possible integration method provided by the class
|
||||||
|
* \param linear
|
||||||
|
* \param angular
|
||||||
|
*/
|
||||||
|
void Odometry::integrateExact(double linear, double angular)
|
||||||
|
{
|
||||||
|
if (fabs(angular) < 1e-6)
|
||||||
|
integrateRungeKutta2(linear, angular);
|
||||||
|
else
|
||||||
|
{
|
||||||
|
/// Exact integration (should solve problems when angular is zero):
|
||||||
|
const double heading_old = heading_;
|
||||||
|
const double r = linear/angular;
|
||||||
|
heading_ += angular;
|
||||||
|
x_ += r * (sin(heading_) - sin(heading_old));
|
||||||
|
y_ += -r * (cos(heading_) - cos(heading_old));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void Odometry::resetAccumulators()
|
||||||
|
{
|
||||||
|
linear_acc_ = RollingMeanAcc(RollingWindow::window_size = velocity_rolling_window_size_);
|
||||||
|
angular_acc_ = RollingMeanAcc(RollingWindow::window_size = velocity_rolling_window_size_);
|
||||||
|
}
|
||||||
|
|
||||||
|
} // namespace differential
|
||||||
244
test/odom_differential_test.cpp
Normal file
244
test/odom_differential_test.cpp
Normal file
@@ -0,0 +1,244 @@
|
|||||||
|
#include <cmath>
|
||||||
|
#include <cstdlib>
|
||||||
|
#include <iostream>
|
||||||
|
#include <odometry/odom_differential.h>
|
||||||
|
|
||||||
|
namespace
|
||||||
|
{
|
||||||
|
int g_failures = 0;
|
||||||
|
|
||||||
|
void expect_true(bool condition, const char *expr, const char *file, int line)
|
||||||
|
{
|
||||||
|
if (!condition)
|
||||||
|
{
|
||||||
|
std::cerr << "FAIL: " << file << ":" << line << " " << expr << "\n";
|
||||||
|
++g_failures;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void expect_near(double actual, double expected, double tolerance,
|
||||||
|
const char *expr, const char *file, int line)
|
||||||
|
{
|
||||||
|
if (std::fabs(actual - expected) > tolerance)
|
||||||
|
{
|
||||||
|
std::cerr << "FAIL: " << file << ":" << line << " " << expr
|
||||||
|
<< " (actual=" << actual << ", expected=" << expected
|
||||||
|
<< ", tolerance=" << tolerance << ")\n";
|
||||||
|
++g_failures;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#define EXPECT_TRUE(expr) expect_true((expr), #expr, __FILE__, __LINE__)
|
||||||
|
#define EXPECT_NEAR(actual, expected, tolerance) \
|
||||||
|
expect_near((actual), (expected), (tolerance), #actual, __FILE__, __LINE__)
|
||||||
|
|
||||||
|
void test_initial_state_after_init()
|
||||||
|
{
|
||||||
|
differential::Odometry odom(10);
|
||||||
|
odom.setWheelParams(0.5, 0.09, 0.09);
|
||||||
|
odom.init(100.0);
|
||||||
|
|
||||||
|
EXPECT_NEAR(odom.getX(), 0.0, 1e-9);
|
||||||
|
EXPECT_NEAR(odom.getY(), 0.0, 1e-9);
|
||||||
|
EXPECT_NEAR(odom.getHeading(), 0.0, 1e-9);
|
||||||
|
EXPECT_NEAR(odom.getLinear(), 0.0, 1e-9);
|
||||||
|
EXPECT_NEAR(odom.getAngular(), 0.0, 1e-9);
|
||||||
|
}
|
||||||
|
|
||||||
|
void test_straight_line_motion()
|
||||||
|
{
|
||||||
|
differential::Odometry odom(1);
|
||||||
|
const double wheel_radius = 0.09;
|
||||||
|
const double wheel_separation = 0.5;
|
||||||
|
odom.setWheelParams(wheel_separation, wheel_radius, wheel_radius);
|
||||||
|
|
||||||
|
double t = 0.0;
|
||||||
|
odom.init(t);
|
||||||
|
|
||||||
|
const double wheel_vel = 2.0; // [rad/s]
|
||||||
|
const double dt = 0.1;
|
||||||
|
const int steps = 10;
|
||||||
|
|
||||||
|
for (int i = 0; i < steps; ++i)
|
||||||
|
{
|
||||||
|
t += dt;
|
||||||
|
EXPECT_TRUE(odom.updateWheel(wheel_vel, wheel_vel, t));
|
||||||
|
}
|
||||||
|
|
||||||
|
const double linear_vel = wheel_radius * wheel_vel;
|
||||||
|
const double expected_x = linear_vel * dt * steps;
|
||||||
|
|
||||||
|
EXPECT_NEAR(odom.getY(), 0.0, 1e-6);
|
||||||
|
EXPECT_NEAR(odom.getHeading(), 0.0, 1e-6);
|
||||||
|
EXPECT_NEAR(odom.getX(), expected_x, 1e-6);
|
||||||
|
EXPECT_NEAR(odom.getLinear(), linear_vel, 1e-3);
|
||||||
|
EXPECT_NEAR(odom.getAngular(), 0.0, 1e-3);
|
||||||
|
}
|
||||||
|
|
||||||
|
void test_turn_motion()
|
||||||
|
{
|
||||||
|
differential::Odometry odom(1);
|
||||||
|
const double wheel_radius = 0.09;
|
||||||
|
const double wheel_separation = 0.5;
|
||||||
|
odom.setWheelParams(wheel_separation, wheel_radius, wheel_radius);
|
||||||
|
|
||||||
|
double t = 0.0;
|
||||||
|
odom.init(t);
|
||||||
|
|
||||||
|
const double left_vel = 2.0; // [rad/s]
|
||||||
|
const double right_vel = 1.0; // [rad/s]
|
||||||
|
const double dt = 0.1;
|
||||||
|
|
||||||
|
t += dt;
|
||||||
|
EXPECT_TRUE(odom.updateWheel(left_vel, right_vel, t));
|
||||||
|
|
||||||
|
const double left_lin = wheel_radius * left_vel;
|
||||||
|
const double right_lin = wheel_radius * right_vel;
|
||||||
|
const double expected_linear = (right_lin + left_lin) * 0.5;
|
||||||
|
const double expected_angular = (right_lin - left_lin) / wheel_separation;
|
||||||
|
const double expected_heading = expected_angular * dt;
|
||||||
|
const double expected_x = expected_linear * dt;
|
||||||
|
|
||||||
|
EXPECT_NEAR(odom.getHeading(), expected_heading, 1e-6);
|
||||||
|
EXPECT_NEAR(odom.getX(), expected_x, 1e-6);
|
||||||
|
EXPECT_NEAR(odom.getLinear(), expected_linear, 1e-3);
|
||||||
|
EXPECT_NEAR(odom.getAngular(), expected_angular, 1e-3);
|
||||||
|
}
|
||||||
|
|
||||||
|
void test_update_rejects_small_dt()
|
||||||
|
{
|
||||||
|
differential::Odometry odom(1);
|
||||||
|
odom.setWheelParams(0.5, 0.09, 0.09);
|
||||||
|
|
||||||
|
double t = 1.0;
|
||||||
|
odom.init(t);
|
||||||
|
|
||||||
|
const double linear_before = odom.getLinear();
|
||||||
|
const double angular_before = odom.getAngular();
|
||||||
|
EXPECT_TRUE(!odom.updateWheel(1.0, 1.0, t + 1e-5));
|
||||||
|
EXPECT_NEAR(odom.getLinear(), linear_before, 1e-9);
|
||||||
|
EXPECT_NEAR(odom.getAngular(), angular_before, 1e-9);
|
||||||
|
EXPECT_NEAR(odom.getX(), 0.0, 1e-9);
|
||||||
|
}
|
||||||
|
|
||||||
|
void test_update_open_loop()
|
||||||
|
{
|
||||||
|
differential::Odometry odom(1);
|
||||||
|
odom.setWheelParams(0.5, 0.09, 0.09);
|
||||||
|
|
||||||
|
double t = 0.0;
|
||||||
|
odom.init(t);
|
||||||
|
|
||||||
|
const double linear = 0.2;
|
||||||
|
const double angular = 0.0;
|
||||||
|
const double dt = 0.5;
|
||||||
|
|
||||||
|
t += dt;
|
||||||
|
odom.updateOdom(linear, angular, t);
|
||||||
|
|
||||||
|
EXPECT_NEAR(odom.getLinear(), linear, 1e-9);
|
||||||
|
EXPECT_NEAR(odom.getAngular(), angular, 1e-9);
|
||||||
|
EXPECT_NEAR(odom.getX(), linear * dt, 1e-6);
|
||||||
|
EXPECT_NEAR(odom.getY(), 0.0, 1e-6);
|
||||||
|
EXPECT_NEAR(odom.getHeading(), 0.0, 1e-6);
|
||||||
|
}
|
||||||
|
|
||||||
|
void test_zero_velocity_keeps_pose()
|
||||||
|
{
|
||||||
|
differential::Odometry odom(1);
|
||||||
|
odom.setWheelParams(0.5, 0.09, 0.09);
|
||||||
|
odom.init(0.0);
|
||||||
|
|
||||||
|
EXPECT_TRUE(odom.updateWheel(0.0, 0.0, 0.1));
|
||||||
|
EXPECT_NEAR(odom.getX(), 0.0, 1e-9);
|
||||||
|
EXPECT_NEAR(odom.getY(), 0.0, 1e-9);
|
||||||
|
EXPECT_NEAR(odom.getHeading(), 0.0, 1e-9);
|
||||||
|
EXPECT_NEAR(odom.getLinear(), 0.0, 1e-9);
|
||||||
|
EXPECT_NEAR(odom.getAngular(), 0.0, 1e-9);
|
||||||
|
}
|
||||||
|
|
||||||
|
void test_ticks_seed_then_straight()
|
||||||
|
{
|
||||||
|
differential::Odometry odom(1);
|
||||||
|
const double wheel_radius = 0.09;
|
||||||
|
const double wheel_separation = 0.5;
|
||||||
|
const double ticks_per_rev = 4096.0;
|
||||||
|
odom.setWheelParams(wheel_separation, wheel_radius, wheel_radius);
|
||||||
|
odom.setEncoderParams(ticks_per_rev);
|
||||||
|
odom.init(0.0);
|
||||||
|
|
||||||
|
// First sample only seeds previous ticks.
|
||||||
|
EXPECT_TRUE(!odom.updateTicks(1000, 1000, 0.0));
|
||||||
|
EXPECT_NEAR(odom.getX(), 0.0, 1e-9);
|
||||||
|
|
||||||
|
// One full wheel revolution on both sides → forward 2*pi*r
|
||||||
|
const std::int64_t delta = static_cast<std::int64_t>(ticks_per_rev);
|
||||||
|
EXPECT_TRUE(odom.updateTicks(1000 + delta, 1000 + delta, 1.0));
|
||||||
|
|
||||||
|
const double expected_x = 2.0 * M_PI * wheel_radius;
|
||||||
|
EXPECT_NEAR(odom.getY(), 0.0, 1e-6);
|
||||||
|
EXPECT_NEAR(odom.getHeading(), 0.0, 1e-6);
|
||||||
|
EXPECT_NEAR(odom.getX(), expected_x, 1e-6);
|
||||||
|
EXPECT_NEAR(odom.getLinear(), expected_x / 1.0, 1e-3);
|
||||||
|
EXPECT_NEAR(odom.getAngular(), 0.0, 1e-3);
|
||||||
|
}
|
||||||
|
|
||||||
|
void test_ticks_turn_in_place()
|
||||||
|
{
|
||||||
|
differential::Odometry odom(1);
|
||||||
|
const double wheel_radius = 0.09;
|
||||||
|
const double wheel_separation = 0.5;
|
||||||
|
const double ticks_per_rev = 4096.0;
|
||||||
|
odom.setWheelParams(wheel_separation, wheel_radius, wheel_radius);
|
||||||
|
odom.setEncoderParams(ticks_per_rev);
|
||||||
|
odom.init(0.0);
|
||||||
|
|
||||||
|
EXPECT_TRUE(!odom.updateTicks(0, 0, 0.0));
|
||||||
|
|
||||||
|
// Left backward, right forward by the same arc → pure rotation.
|
||||||
|
const double arc = 0.1; // [m]
|
||||||
|
const std::int64_t delta = static_cast<std::int64_t>(
|
||||||
|
(arc / (2.0 * M_PI * wheel_radius)) * ticks_per_rev);
|
||||||
|
|
||||||
|
EXPECT_TRUE(odom.updateTicks(-delta, delta, 0.2));
|
||||||
|
|
||||||
|
const double expected_heading = (2.0 * arc) / wheel_separation;
|
||||||
|
EXPECT_NEAR(odom.getX(), 0.0, 1e-4);
|
||||||
|
EXPECT_NEAR(odom.getY(), 0.0, 1e-4);
|
||||||
|
EXPECT_NEAR(odom.getHeading(), expected_heading, 1e-3);
|
||||||
|
}
|
||||||
|
|
||||||
|
void test_ticks_rejects_unset_encoder_params()
|
||||||
|
{
|
||||||
|
differential::Odometry odom(1);
|
||||||
|
odom.setWheelParams(0.5, 0.09, 0.09);
|
||||||
|
odom.init(0.0);
|
||||||
|
|
||||||
|
EXPECT_TRUE(!odom.updateTicks(0, 0, 0.0)); // seed
|
||||||
|
EXPECT_TRUE(!odom.updateTicks(10, 10, 0.1)); // CPR not set
|
||||||
|
EXPECT_NEAR(odom.getX(), 0.0, 1e-9);
|
||||||
|
}
|
||||||
|
|
||||||
|
} // namespace
|
||||||
|
|
||||||
|
int main()
|
||||||
|
{
|
||||||
|
test_initial_state_after_init();
|
||||||
|
test_straight_line_motion();
|
||||||
|
test_turn_motion();
|
||||||
|
test_update_rejects_small_dt();
|
||||||
|
test_update_open_loop();
|
||||||
|
test_zero_velocity_keeps_pose();
|
||||||
|
test_ticks_seed_then_straight();
|
||||||
|
test_ticks_turn_in_place();
|
||||||
|
test_ticks_rejects_unset_encoder_params();
|
||||||
|
|
||||||
|
if (g_failures == 0)
|
||||||
|
{
|
||||||
|
std::cout << "All tests passed.\n";
|
||||||
|
return EXIT_SUCCESS;
|
||||||
|
}
|
||||||
|
|
||||||
|
std::cerr << g_failures << " test(s) failed.\n";
|
||||||
|
return EXIT_FAILURE;
|
||||||
|
}
|
||||||
Reference in New Issue
Block a user