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Merge pull request gazebosim#380 from scpeters/merge_6_7_all
Merge 6 -> 7 (all of it)
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@@ -5,4 +5,3 @@ python3-distutils | |
| python3-pybind11 | ||
| ruby-dev | ||
| swig | ||
| python3-pybind11 | ||
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| /* | ||
| * Copyright (C) 2021 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
| //! [complete] | ||
| #include <iostream> | ||
| #include <chrono> | ||
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| #include <ignition/math/Angle.hh> | ||
| #include <ignition/math/Helpers.hh> | ||
| #include <ignition/math/DiffDriveOdometry.hh> | ||
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| int main(int argc, char **argv) | ||
| { | ||
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| //! [Create a DiffDriveOdometry] | ||
| ignition::math::DiffDriveOdometry odom; | ||
| //! [Create an DiffDriveOdometry] | ||
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| double wheelSeparation = 2.0; | ||
| double wheelRadius = 0.5; | ||
| double wheelCircumference = 2 * IGN_PI * wheelRadius; | ||
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| // This is the linear distance traveled per degree of wheel rotation. | ||
| double distPerDegree = wheelCircumference / 360.0; | ||
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| // Setup the wheel parameters, and initialize | ||
| odom.SetWheelParams(wheelSeparation, wheelRadius, wheelRadius); | ||
| auto startTime = std::chrono::steady_clock::now(); | ||
| odom.Init(startTime); | ||
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| // Sleep for a little while, then update the odometry with the new wheel | ||
| // position. | ||
| std::cout << "--- Rotate both wheels by 1 degree. ---" << '\n'; | ||
| auto time1 = startTime + std::chrono::milliseconds(100); | ||
| odom.Update(IGN_DTOR(1.0), IGN_DTOR(1.0), time1); | ||
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| std::cout << "\tLinear velocity:\t" << distPerDegree / 0.1 << " m/s" | ||
| << "\n\tOdom linear velocity:\t" << odom.LinearVelocity() << " m/s" | ||
| << std::endl; | ||
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| std::cout << "Angular velocity should be zero since the \"robot\" is traveling\n" | ||
| << "in a straight line:\n" | ||
| << "\tOdom angular velocity:\t" | ||
| << *odom.AngularVelocity() << " rad/s" << std::endl; | ||
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| // Sleep again, this time rotate the left wheel by 1 and the right wheel by 2 | ||
| // degrees. | ||
| std::cout << "--- This time rotate the left wheel by 1 and the right wheel " | ||
| << "by 2 degrees ---" | ||
| << std::endl; | ||
| auto time2 = time1 + std::chrono::milliseconds(100); | ||
| odom.Update(IGN_DTOR(2.0), IGN_DTOR(3.0), time2); | ||
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| std::cout << "The heading should be the arc tangent of the linear distance\n" | ||
| << "traveled by the right wheel (the left wheel was stationary)\n" | ||
| << "divided by the wheel separation.\n" | ||
| << "\tHeading:\t\t" << atan2(distPerDegree, wheelSeparation) << " rad" | ||
| << "\n\tOdom Heading:\t\t" << *odom.Heading() << " rad" << '\n'; | ||
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| // The X odom reading should have increased by the sine of the heading * | ||
| // half the wheel separation. | ||
| double xDistTraveled = | ||
| sin(atan2(distPerDegree, wheelSeparation)) * wheelSeparation * 0.5; | ||
| double prevXPos = distPerDegree * 2.0; | ||
| std::cout << "\tX distance traveled:\t" << xDistTraveled + prevXPos << " m" | ||
| << "\n\tOdom X:\t\t" << odom.X() << " m" << std::endl; | ||
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| // The Y odom reading should have increased by the cosine of the heading * | ||
| // half the wheel separation. | ||
| double yDistTraveled = (wheelSeparation * 0.5) - | ||
| cos(atan2(distPerDegree, wheelSeparation)) * wheelSeparation * 0.5; | ||
| double prevYPos = 0.0; | ||
| std::cout << "\tY distance traveled:\t" << yDistTraveled + prevYPos << " m" | ||
| << "\n\tOdom Y:\t\t" << odom.Y() << " m" << std::endl; | ||
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| std::cout << "Angular velocity should be the difference between the x and y\n" | ||
| << "distance traveled divided by the wheel separation divided by\n" | ||
| << "the seconds elapsed.\n" | ||
| << "\tAngular velocity:\t" | ||
| << ((xDistTraveled - yDistTraveled) / wheelSeparation) / 0.1 << " rad/s" | ||
| << "\n\tOdom angular velocity:\t" << *odom.AngularVelocity() << " rad/s" | ||
| << std::endl; | ||
| } | ||
| //! [complete] |
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