Program Listing for File odometry_2d_tracker.hpp
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/*
* Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
*
* This file is part of Taproot.
*
* Taproot is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Taproot is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Taproot. If not, see <https://www.gnu.org/licenses/>.
*/
#ifndef TAPROOT_ODOMETRY_2D_TRACKER_HPP_
#define TAPROOT_ODOMETRY_2D_TRACKER_HPP_
#include "modm/math/geometry/location_2d.hpp"
#include "odometry_2d_interface.hpp"
namespace tap::algorithms::odometry
{
// Forward declarations
class ChassisWorldYawObserverInterface;
class ChassisDisplacementObserverInterface;
class Odometry2DTracker : public Odometry2DInterface
{
public:
Odometry2DTracker(
ChassisWorldYawObserverInterface* chassisYawObserver,
ChassisDisplacementObserverInterface* chassisDisplacementObserver)
: chassisYawObserver(chassisYawObserver),
chassisDisplacementObserver(chassisDisplacementObserver)
{
}
void update();
inline modm::Location2D<float> getCurrentLocation2D() const final { return location; }
inline modm::Vector2f getCurrentVelocity2D() const final { return velocity; }
inline float getYaw() const final { return chassisYaw; }
inline uint32_t getLastComputedOdometryTime() const final { return lastComputedOdometryTime; }
private:
ChassisWorldYawObserverInterface* chassisYawObserver;
ChassisDisplacementObserverInterface* chassisDisplacementObserver;
// Location in reference frame
modm::Location2D<float> location;
// Velocity in reference frame
modm::Vector2f velocity;
// Chassis yaw orientation in reference frame (radians)
float chassisYaw;
// Previous chassis absolute displacement in chassis frame
modm::Vector<float, 3> prevChassisAbsoluteDisplacement;
// last time (in microsecodns) that the odometry was computed
uint32_t lastComputedOdometryTime = 0;
// `true` iff `this` has been updated with valid chassis data at least once.
bool displacementPrimed = false;
};
} // namespace tap::algorithms::odometry
#endif // TAPROOT_ODOMETRY_2D_TRACKER_HPP_