MecanumDriveOdometry to handle odometry estimation of Mecanum wheeled models

include/gz/math/MecanumDriveOdometry.hh

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+/*
+ * Copyright (C) 2022 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.
+ *
+*/
+#ifndef GZ_MATH_MECANUMDRIVEODOMETRY_HH_
+#define GZ_MATH_MECANUMDRIVEODOMETRY_HH_
+
+#include <chrono>
+#include <memory>
+#include <gz/math/Angle.hh>
+#include <gz/math/Export.hh>
+#include <gz/math/config.hh>
+
+namespace ignition
+{
+  namespace math
+  {
+    // Inline bracket to help doxygen filtering.
+    inline namespace IGNITION_MATH_VERSION_NAMESPACE {
+    // Forward declarations.
+    class MecanumDriveOdometryPrivate;
+
+    /// \class MecanumDriveOdometry MecanumDriveOdometry.hh
+    /// gz/math/MecanumDriveOdometry.hh
+    ///
+    /// \brief Computes odometry values based on a set of kinematic
+    /// properties and wheel speeds for a Mecanum-drive vehicle.
+    ///
+    /// Note: when computing velocity the math currently assumes that
+    /// all wheels have a radius of 1.0.
+    ///
+    /// A vehicle with a heading of zero degrees has a local
+    /// reference frame according to the diagram below.
+    ///
+    ///       Y
+    ///       ^
+    ///       |
+    ///       |
+    ///       O--->X(forward)
+    class IGNITION_MATH_VISIBLE MecanumDriveOdometry
+    {
+      // Use a steady clock
+      public: using clock = std::chrono::steady_clock;
+
+      /// \brief Constructor.
+      /// \param[in] _windowSize Rolling window size used to compute the
+      /// velocity mean
+      public: explicit MecanumDriveOdometry(size_t _windowSize = 10);
+
+      /// \brief Destructor.
+      public: ~MecanumDriveOdometry();
+
+      /// \brief Initialize the odometry
+      /// \param[in] _time Current time.
+      public: void Init(const clock::time_point &_time);
+
+      /// \brief Get whether Init has been called.
+      /// \return True if Init has been called, false otherwise.
+      public: bool Initialized() const;
+
+      /// \brief Updates the odometry class with latest wheels and
+      /// steerings position
+      /// \param[in] _frontLeftPos Left wheel position in radians.
+      /// \param[in] _frontRightPos Right wheel postion in radians.
+      /// \param[in] _backLeftPos Left wheel position in radians.
+      /// \param[in] _backRightPos Right wheel postion in radians.
+      /// \param[in] _time Current time point.
+      /// \return True if the odometry is actually updated.
+      public: bool Update(
+        const Angle &_frontLeftPos, const Angle &_frontRightPos,
+        const Angle &_backLeftPos, const Angle &_backRightPos,
+        const clock::time_point &_time);
+
+      /// \brief Get the heading.
+      /// \return The heading in radians.
+      public: const Angle &Heading() const;
+
+      /// \brief Get the X position.
+      ///  \return The X position in meters
+      public: double X() const;
+
+      /// \brief Get the Y position.
+      /// \return The Y position in meters.
+      public: double Y() const;
+
+      /// \brief Get the linear velocity.
+      /// \return The linear velocity in meter/second.
+      public: double LinearVelocity() const;
+
+      /// \brief Get the lateral velocity.
+      /// \return The lateral velocity in meter/second.
+      public: double LateralVelocity() const;
+
+      /// \brief Get the angular velocity.
+      /// \return The angular velocity in radian/second.
+      public: const Angle &AngularVelocity() const;
+
+      /// \brief Set the wheel parameters including the radius and separation.
+      /// \param[in] _wheelSeparation Distance between left and right wheels.
+      /// \param[in] _wheelBase Distance between front and back wheels.
+      /// \param[in] _leftWheelRadius Radius of the left wheel.
+      /// \param[in] _rightWheelRadius Radius of the right wheel.
+      public: void SetWheelParams(double _wheelSeparation, double _wheelBase,
+                      double _leftWheelRadius, double _rightWheelRadius);
+      /// \brief Set the velocity rolling window size.
+      /// \param[in] _size The Velocity rolling window size.
+      public: void SetVelocityRollingWindowSize(size_t _size);
+
+      /// \brief Get the wheel separation
+      /// \return Distance between left and right wheels in meters.
+      public: double WheelSeparation() const;
+
+      /// \brief Get the wheel base
+      /// \return Distance between front and back wheels in meters.
+      public: double WheelBase() const;
+
+      /// \brief Get the left wheel radius
+      /// \return Left wheel radius in meters.
+      public: double LeftWheelRadius() const;
+
+      /// \brief Get the rightwheel radius
+      /// \return Right wheel radius in meters.
+      public: double RightWheelRadius() const;
+
+
+#ifdef _WIN32
+// Disable warning C4251 which is triggered by
+// std::unique_ptr
+#pragma warning(push)
+#pragma warning(disable: 4251)
+#endif
+      /// \brief Private data pointer.
+      private: std::unique_ptr<MecanumDriveOdometryPrivate> dataPtr;
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
+    };
+    }  // namespace IGNITION_MATH_VERSION_NAMESPACE
+  }  // namespace math
+}  // namespace ignition
+#endif  // GZ_MATH_MECANUMDRIVEODOMETRY_HH_

include/ignition/math/MecanumDriveOdometry.hh

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+/*
+ * Copyright (C) 2022 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.
+ *
+ */
+
+#include <gz/math/MecanumDriveOdometry.hh>
+#include <ignition/math/config.hh>