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include
gz
math
gz/math/MecanumDriveOdometry.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2022 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GZ_MATH_MECANUMDRIVEODOMETRY_HH_
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#define GZ_MATH_MECANUMDRIVEODOMETRY_HH_
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#include <chrono>
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#include <memory>
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#include <
gz/math/Angle.hh
>
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#include <gz/math/Export.hh>
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#include <gz/math/config.hh>
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namespace
gz
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{
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namespace
math
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{
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// Inline bracket to help doxygen filtering.
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inline
namespace
GZ_MATH_VERSION_NAMESPACE {
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// Forward declarations.
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class
MecanumDriveOdometryPrivate;
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class
GZ_MATH_VISIBLE
MecanumDriveOdometry
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{
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// Use a steady clock
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public
:
using
clock
=
std::chrono::steady_clock
;
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public
:
explicit
MecanumDriveOdometry
(
size_t
_windowSize = 10);
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public
:
~MecanumDriveOdometry
();
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public
:
void
Init
(
const
clock::time_point &_time);
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public
:
bool
Initialized
()
const
;
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public
:
bool
Update
(
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const
Angle
&_frontLeftPos,
const
Angle
&_frontRightPos,
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const
Angle
&_backLeftPos,
const
Angle
&_backRightPos,
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const
clock::time_point &_time);
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public
:
const
Angle
&
Heading
()
const
;
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public
:
double
X
()
const
;
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public
:
double
Y
()
const
;
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public
:
double
LinearVelocity
()
const
;
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public
:
double
LateralVelocity
()
const
;
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public
:
const
Angle
&
AngularVelocity
()
const
;
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public
:
void
SetWheelParams
(
double
_wheelSeparation,
double
_wheelBase,
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double
_leftWheelRadius,
double
_rightWheelRadius);
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public
:
void
SetVelocityRollingWindowSize
(
size_t
_size);
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public
:
double
WheelSeparation
()
const
;
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public
:
double
WheelBase
()
const
;
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public
:
double
LeftWheelRadius
()
const
;
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public
:
double
RightWheelRadius
()
const
;
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#ifdef _WIN32
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// Disable warning C4251 which is triggered by
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// std::unique_ptr
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#pragma warning(push)
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#pragma warning(disable: 4251)
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#endif
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private
:
std::unique_ptr<MecanumDriveOdometryPrivate>
dataPtr;
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#ifdef _WIN32
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#pragma warning(pop)
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#endif
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};
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}
// namespace GZ_MATH_VERSION_NAMESPACE
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}
// namespace math
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}
// namespace gz
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#endif
// GZ_MATH_MECANUMDRIVEODOMETRY_HH_