created
This commit is contained in:
Duong Vu
78
CMakeLists.txt
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78
CMakeLists.txt
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@@ -0,0 +1,78 @@
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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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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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## Yêu cầu
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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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```bash
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sudo cmake --install build --prefix /path/to/install
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```
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Trong project khác:
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```cmake
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find_package(odomety REQUIRED)
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target_link_libraries(your_target PRIVATE odomety::odom_differential)
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```
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## Cách dùng
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### Từ vận tốc bánh
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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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- `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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```cpp
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odom.updateOdom(linear_mps, angular_rps, t);
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```
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## API chính
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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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## Ghi chú
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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.
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- `updateTicks` trả về `false` nếu chưa gọi `setEncoderParams` (CPR ≤ 0).
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- Tick phải là đếm **phía bánh** (sau gearbox). Overflow counter phần cứng cần unwrap về `int64` monotonic.
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- Đơn vị thời gian là giây (epoch hoặc monotonic, miễn nhất quán).
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- Pose mặc định sau `init`: `(0, 0, 0)`.
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1
Testing/Temporary/CTestCostData.txt
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1
Testing/Temporary/CTestCostData.txt
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@@ -0,0 +1 @@
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||||
---
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||||
3
Testing/Temporary/LastTest.log
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3
Testing/Temporary/LastTest.log
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@@ -0,0 +1,3 @@
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Start testing: Jul 13 13:27 +07
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||||
----------------------------------------------------------
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||||
End testing: Jul 13 13:27 +07
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||||
436
build/CMakeCache.txt
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436
build/CMakeCache.txt
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@@ -0,0 +1,436 @@
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||||
# This is the CMakeCache file.
|
||||
# For build in directory: /home/robotics/HiepLM/odomety/build
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||||
# 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!.
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||||
# 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
|
||||
|
||||
//Path to a file.
|
||||
Boost_INCLUDE_DIR:PATH=/usr/include
|
||||
|
||||
//Path to a program.
|
||||
CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line
|
||||
|
||||
//Path to a program.
|
||||
CMAKE_AR:FILEPATH=/usr/bin/ar
|
||||
|
||||
//Choose the type of build, options are: None Debug Release RelWithDebInfo
|
||||
// MinSizeRel ...
|
||||
CMAKE_BUILD_TYPE:STRING=
|
||||
|
||||
//Enable/Disable color output during build.
|
||||
CMAKE_COLOR_MAKEFILE:BOOL=ON
|
||||
|
||||
//CXX compiler
|
||||
CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
|
||||
|
||||
//A wrapper around 'ar' adding the appropriate '--plugin' option
|
||||
// for the GCC compiler
|
||||
CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-11
|
||||
|
||||
//A wrapper around 'ranlib' adding the appropriate '--plugin' option
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||||
// for the GCC compiler
|
||||
CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-11
|
||||
|
||||
//Flags used by the CXX compiler during all build types.
|
||||
CMAKE_CXX_FLAGS:STRING=
|
||||
|
||||
//Flags used by the CXX compiler during DEBUG builds.
|
||||
CMAKE_CXX_FLAGS_DEBUG:STRING=-g
|
||||
|
||||
//Flags used by the CXX compiler during MINSIZEREL builds.
|
||||
CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
|
||||
|
||||
//Flags used by the CXX compiler during RELEASE builds.
|
||||
CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
|
||||
|
||||
//Flags used by the CXX compiler during RELWITHDEBINFO builds.
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||||
CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
|
||||
|
||||
//Path to a program.
|
||||
CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
|
||||
|
||||
//Flags used by the linker during all build types.
|
||||
CMAKE_EXE_LINKER_FLAGS:STRING=
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||||
|
||||
//Flags used by the linker during DEBUG builds.
|
||||
CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
|
||||
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||||
//Flags used by the linker during MINSIZEREL builds.
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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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CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
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//Enable/Disable output of compile commands during generation.
|
||||
CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
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||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
|
||||
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|
||||
CMAKE_INSTALL_DATAROOTDIR:PATH=share
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||||
|
||||
//Documentation root (DATAROOTDIR/doc/PROJECT_NAME)
|
||||
CMAKE_INSTALL_DOCDIR:PATH=
|
||||
|
||||
//C header files (include)
|
||||
CMAKE_INSTALL_INCLUDEDIR:PATH=include
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||||
|
||||
//Info documentation (DATAROOTDIR/info)
|
||||
CMAKE_INSTALL_INFODIR:PATH=
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||||
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||||
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CMAKE_INSTALL_LIBDIR:PATH=lib
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||||
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||||
//Program executables (libexec)
|
||||
CMAKE_INSTALL_LIBEXECDIR:PATH=libexec
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||||
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||||
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CMAKE_INSTALL_LOCALEDIR:PATH=
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||||
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|
||||
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||||
|
||||
//Man documentation (DATAROOTDIR/man)
|
||||
CMAKE_INSTALL_MANDIR:PATH=
|
||||
|
||||
//C header files for non-gcc (/usr/include)
|
||||
CMAKE_INSTALL_OLDINCLUDEDIR:PATH=/usr/include
|
||||
|
||||
//Install path prefix, prepended onto install directories.
|
||||
CMAKE_INSTALL_PREFIX:PATH=/usr/local
|
||||
|
||||
//Run-time variable data (LOCALSTATEDIR/run)
|
||||
CMAKE_INSTALL_RUNSTATEDIR:PATH=
|
||||
|
||||
//System admin executables (sbin)
|
||||
CMAKE_INSTALL_SBINDIR:PATH=sbin
|
||||
|
||||
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|
||||
CMAKE_INSTALL_SHAREDSTATEDIR:PATH=com
|
||||
|
||||
//Read-only single-machine data (etc)
|
||||
CMAKE_INSTALL_SYSCONFDIR:PATH=etc
|
||||
|
||||
//Path to a program.
|
||||
CMAKE_LINKER:FILEPATH=/usr/bin/ld
|
||||
|
||||
//Path to a program.
|
||||
CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
|
||||
|
||||
//Flags used by the linker during the creation of modules during
|
||||
// all build types.
|
||||
CMAKE_MODULE_LINKER_FLAGS:STRING=
|
||||
|
||||
//Flags used by the linker during the creation of modules during
|
||||
// DEBUG builds.
|
||||
CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
|
||||
|
||||
//Flags used by the linker during the creation of modules during
|
||||
// MINSIZEREL builds.
|
||||
CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
|
||||
|
||||
//Flags used by the linker during the creation of modules during
|
||||
// RELEASE builds.
|
||||
CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
|
||||
|
||||
//Flags used by the linker during the creation of modules during
|
||||
// RELWITHDEBINFO builds.
|
||||
CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
|
||||
|
||||
//Path to a program.
|
||||
CMAKE_NM:FILEPATH=/usr/bin/nm
|
||||
|
||||
//Path to a program.
|
||||
CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy
|
||||
|
||||
//Path to a program.
|
||||
CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump
|
||||
|
||||
//Value Computed by CMake
|
||||
CMAKE_PROJECT_DESCRIPTION:STATIC=
|
||||
|
||||
//Value Computed by CMake
|
||||
CMAKE_PROJECT_HOMEPAGE_URL:STATIC=
|
||||
|
||||
//Value Computed by CMake
|
||||
CMAKE_PROJECT_NAME:STATIC=odomety
|
||||
|
||||
//Value Computed by CMake
|
||||
CMAKE_PROJECT_VERSION:STATIC=0.1.0
|
||||
|
||||
//Value Computed by CMake
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||||
CMAKE_PROJECT_VERSION_MAJOR:STATIC=0
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||||
|
||||
//Value Computed by CMake
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||||
CMAKE_PROJECT_VERSION_MINOR:STATIC=1
|
||||
|
||||
//Value Computed by CMake
|
||||
CMAKE_PROJECT_VERSION_PATCH:STATIC=0
|
||||
|
||||
//Value Computed by CMake
|
||||
CMAKE_PROJECT_VERSION_TWEAK:STATIC=
|
||||
|
||||
//Path to a program.
|
||||
CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib
|
||||
|
||||
//Path to a program.
|
||||
CMAKE_READELF:FILEPATH=/usr/bin/readelf
|
||||
|
||||
//Flags used by the linker during the creation of shared libraries
|
||||
// during all build types.
|
||||
CMAKE_SHARED_LINKER_FLAGS:STRING=
|
||||
|
||||
//Flags used by the linker during the creation of shared libraries
|
||||
// during DEBUG builds.
|
||||
CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=
|
||||
|
||||
//Flags used by the linker during the creation of shared libraries
|
||||
// during MINSIZEREL builds.
|
||||
CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING=
|
||||
|
||||
//Flags used by the linker during the creation of shared libraries
|
||||
// during RELEASE builds.
|
||||
CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING=
|
||||
|
||||
//Flags used by the linker during the creation of shared libraries
|
||||
// during RELWITHDEBINFO builds.
|
||||
CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING=
|
||||
|
||||
//If set, runtime paths are not added when installing shared libraries,
|
||||
// but are added when building.
|
||||
CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
|
||||
|
||||
//If set, runtime paths are not added when using shared libraries.
|
||||
CMAKE_SKIP_RPATH:BOOL=NO
|
||||
|
||||
//Flags used by the linker during the creation of static libraries
|
||||
// during all build types.
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||||
CMAKE_STATIC_LINKER_FLAGS:STRING=
|
||||
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|
||||
# 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