g2o::OdomConvert Class Reference

convert between the different types of odometry measurements More...

#include <odometry_measurement.h>

Static Public Member Functions
static VelocityMeasurement	convertToVelocity (const MotionMeasurement &m)
static MotionMeasurement	convertToMotion (const VelocityMeasurement &vi, double l=1.0)

Detailed Description

convert between the different types of odometry measurements

Definition at line 94 of file odometry_measurement.h.

Member Function Documentation

MotionMeasurement g2o::OdomConvert::convertToMotion ( const VelocityMeasurement &  vi, double  l = 1.0  )

static

Definition at line 95 of file odometry_measurement.cpp.

References g2o::VelocityMeasurement::dt(), g2o::MotionMeasurement::MotionMeasurement(), g2o::MotionMeasurement::theta(), g2o::VelocityMeasurement::vl(), g2o::VelocityMeasurement::vr(), g2o::MotionMeasurement::x(), and g2o::MotionMeasurement::y().

Referenced by g2o::EdgeSE2OdomDifferentialCalib::computeError(), and g2o::EdgeSE2PureCalib::computeError().

  {
    double x, y, theta;
    if (fabs(v.vr() - v.vl()) > 1e-7) {
      double R = l * 0.5 * ((v.vl() + v.vr())  / (v.vr() - v.vl()));
      double w = (v.vr() - v.vl()) / l;

      theta = w * v.dt();
      Eigen::Rotation2Dd rot(theta);
      Vector2D icc(0, R);
      Vector2D motion = (rot * (Vector2D(-1.*icc))) + icc;
      x = motion.x();
      y = motion.y();
    } else {
      double tv = 0.5 * (v.vr() + v.vl());
      theta = 0.;
      x = tv * v.dt();
      y = 0.;
    }

    return MotionMeasurement(x, y, theta, v.dt());

  }

VelocityMeasurement g2o::OdomConvert::convertToVelocity ( const MotionMeasurement &  m )

static

Definition at line 59 of file odometry_measurement.cpp.

References g2o::MotionMeasurement::dt(), g2o::hypot(), g2o::MotionMeasurement::theta(), g2o::MotionMeasurement::x(), and g2o::MotionMeasurement::y().

  {
    Vector2D px2(0, 10);

    if (fabs(m.theta()) > 1e-7) {
      Eigen::Rotation2Dd rot(m.theta());
      Vector2D px3(m.x(), m.y());
      Vector2D px4(rot * px2 + px3);

      const double& y2 = px2.y();
      const double& x3 = px3.x();
      const double& y3 = px3.y();
      const double& x4 = px4.x();
      const double& y4 = px4.y();

      double R = (y2 * (x3*y4 - y3*x4)) / (y2 * (x3 - x4));
      double w;
      if (fabs(m.dt()) > 1e-7)
        w = m.theta() / m.dt();
      else
        w = 0.;

      double vl = (2.*R*w - w) / 2.;
      double vr = w + vl;

      return VelocityMeasurement(vl, vr, m.dt());
    } else {
      double vl, vr;
      if (fabs(m.dt()) > 1e-7)
        vl = vr = hypot(m.x(), m.y()) / m.dt();
      else
        vl = vr = 0.;
      return VelocityMeasurement(vl, vr, m.dt());
    }
  }

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The documentation for this class was generated from the following files:

• /home/xuezhisd/CLionProjects/g2o/g2o/types/sclam2d/odometry_measurement.h
• /home/xuezhisd/CLionProjects/g2o/g2o/types/sclam2d/odometry_measurement.cpp