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/* | ||
* Copyright (C) 2023 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. | ||
* | ||
*/ | ||
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#include <string> | ||
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#include <gz/math/MecanumDriveOdometry.hh> | ||
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#include "MecanumDriveOdometry.hh" | ||
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namespace ignition | ||
{ | ||
namespace math | ||
{ | ||
namespace python | ||
{ | ||
void defineMathMecanumDriveOdometry(py::module &m, const std::string &typestr) | ||
{ | ||
using Class = gz::math::MecanumDriveOdometry; | ||
std::string pyclass_name = typestr; | ||
py::class_<Class>(m, | ||
pyclass_name.c_str(), | ||
py::buffer_protocol()) | ||
.def(py::init<size_t>(), py::arg("_windowSize") = 10) | ||
.def("init", &Class::Init, "Initialize the odometry") | ||
.def("initialized", &Class::Initialized, "Get whether Init has been called.") | ||
.def("update", | ||
&Class::Update, | ||
"Updates the odometry class with latest wheels and " | ||
"steerings position") | ||
.def("heading", &Class::Heading, "Get the heading.") | ||
.def("x", &Class::X, "Get the X position.") | ||
.def("y", &Class::Y, "Get the Y position.") | ||
.def("linear_velocity", | ||
&Class::LinearVelocity, | ||
"Get the linear velocity.") | ||
.def("angular_velocity", | ||
&Class::AngularVelocity, | ||
"Get the angular velocity.") | ||
.def("lateral_velocity", | ||
&Class::LateralVelocity, | ||
"Get the lateral velocity.") | ||
.def("set_wheel_params", | ||
&Class::SetWheelParams, | ||
"Set the wheel parameters including the radius and separation.") | ||
.def("set_velocity_rolling_window_size", | ||
&Class::SetVelocityRollingWindowSize, | ||
"Set the velocity rolling window size.") | ||
.def("wheel_separation", &Class::WheelSeparation, "Get the wheel separation") | ||
.def("wheel_base", &Class::WheelBase, "Get the wheel base") | ||
.def("left_wheel_radius", | ||
&Class::LeftWheelRadius, | ||
"Get the left wheel radius") | ||
.def("right_wheel_radius", | ||
&Class::RightWheelRadius, | ||
"Get the rightwheel radius"); | ||
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} | ||
} // namespace python | ||
} // namespace math | ||
} // namespace ignition |
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/* | ||
* Copyright (C) 2023 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. | ||
* | ||
*/ | ||
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#ifndef GZ_MATH_PYTHON__MECANUMDRIVEODOMETRY_HH_ | ||
#define GZ_MATH_PYTHON__MECANUMDRIVEODOMETRY_HH_ | ||
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#include <pybind11/chrono.h> | ||
#include <pybind11/operators.h> | ||
#include <pybind11/pybind11.h> | ||
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#include <string> | ||
namespace py = pybind11; | ||
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namespace ignition | ||
{ | ||
namespace math | ||
{ | ||
namespace python | ||
{ | ||
/// Define a pybind11 wrapper for an gz::math::MecanumDriveOdometry | ||
/** | ||
* \param[in] module a pybind11 module to add the definition to | ||
* \param[in] typestr name of the type used by Python | ||
*/ | ||
void defineMathMecanumDriveOdometry(py::module &m, const std::string &typestr); | ||
} // namespace python | ||
} // namespace math | ||
} // namespace ignition | ||
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#endif // GZ_MATH_PYTHON__MECANUMDRIVEODOMETRY_HH_ |
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# Copyright (C) 2023 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. | ||
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import datetime | ||
import math | ||
import time | ||
import unittest | ||
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from ignition.math import MecanumDriveOdometry, Angle | ||
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class TestMecanumDriveOdometry(unittest.TestCase): | ||
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def test_constructor(self): | ||
odom = MecanumDriveOdometry() | ||
self.assertAlmostEqual(0.0, odom.heading().radian()) | ||
self.assertAlmostEqual(0.0, odom.x()) | ||
self.assertAlmostEqual(0.0, odom.y()) | ||
self.assertAlmostEqual(0.0, odom.linear_velocity()) | ||
self.assertAlmostEqual(0.0, odom.lateral_velocity()) | ||
self.assertAlmostEqual(0.0, odom.angular_velocity().radian()) | ||
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wheelSeparation = 2.0 | ||
wheelRadius = 0.5 | ||
wheelCircumference = 2 * math.pi * wheelRadius | ||
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# This is the linear distance traveled per degree of wheel rotation. | ||
distPerDegree = wheelCircumference / 360.0 | ||
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# Setup the wheel parameters, and initialize | ||
odom.set_wheel_params(wheelSeparation, wheelRadius, wheelRadius,wheelRadius) | ||
startTime = datetime.timedelta(time.monotonic()) | ||
odom.init(startTime) | ||
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# Sleep for a little while, then update the odometry with the new wheel | ||
# position. | ||
time1 = startTime + datetime.timedelta(milliseconds=100) | ||
odom.update(Angle(math.radians(1.0)), | ||
Angle(math.radians(1.0)), | ||
Angle(math.radians(1.0)), | ||
Angle(math.radians(1.0)), | ||
time1) | ||
self.assertAlmostEqual(0.0, odom.heading().radian()) | ||
self.assertAlmostEqual(distPerDegree, odom.x()) | ||
self.assertAlmostEqual(0.0, odom.y()) | ||
# Linear velocity should be dist_traveled / time_elapsed. | ||
self.assertAlmostEqual(distPerDegree / 0.1, odom.linear_velocity(), delta=1e-3) | ||
# Angular velocity should be zero since the "robot" is traveling in a | ||
# straight line. | ||
self.assertAlmostEqual(0.0, odom.angular_velocity().radian(), delta=1e-3) | ||
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# Sleep again, then update the odometry with the new wheel position. | ||
time2 = time1 + datetime.timedelta(milliseconds=100) | ||
odom.update(Angle(math.radians(2.0)), | ||
Angle(math.radians(2.0)), | ||
Angle(math.radians(2.0)), | ||
Angle(math.radians(2.0)), | ||
time2) | ||
self.assertAlmostEqual(0.0, odom.heading().radian()) | ||
self.assertAlmostEqual(distPerDegree * 2.0, odom.x(), delta=3e-6) | ||
self.assertAlmostEqual(0.0, odom.y()) | ||
# Linear velocity should be dist_traveled / time_elapsed. | ||
self.assertAlmostEqual(distPerDegree / 0.1, odom.linear_velocity(), delta=1e-3) | ||
# Angular velocity should be zero since the "robot" is traveling in a | ||
# straight line. | ||
self.assertAlmostEqual(0.0, odom.angular_velocity().radian(), delta=1e-3) | ||
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# Initialize again, and odom values should be reset. | ||
startTime = datetime.timedelta(time.monotonic()) | ||
odom.init(startTime) | ||
self.assertAlmostEqual(0.0, odom.heading().radian()) | ||
self.assertAlmostEqual(0.0, odom.x()) | ||
self.assertAlmostEqual(0.0, odom.y()) | ||
self.assertAlmostEqual(0.0, odom.linear_velocity()) | ||
self.assertAlmostEqual(0.0, odom.angular_velocity().radian()) | ||
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# Sleep again, this time move 2 degrees in 100ms. | ||
time1 = startTime + datetime.timedelta(milliseconds=100) | ||
odom.update(Angle(math.radians(2.0)), | ||
Angle(math.radians(2.0)), | ||
Angle(math.radians(2.0)), | ||
Angle(math.radians(2.0)), | ||
time1) | ||
self.assertAlmostEqual(0.0, odom.heading().radian()) | ||
self.assertAlmostEqual(distPerDegree * 2.0, odom.x(), delta=3e-6) | ||
self.assertAlmostEqual(0.0, odom.y()) | ||
# Linear velocity should be dist_traveled / time_elapsed. | ||
self.assertAlmostEqual(distPerDegree * 2 / 0.1, odom.linear_velocity(), delta=1e-3) | ||
# Angular velocity should be zero since the "robot" is traveling in a | ||
# straight line. | ||
self.assertAlmostEqual(0.0, odom.angular_velocity().radian(), delta=1e-3) | ||
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# Sleep again, this time move 2 degrees in 100ms. | ||
odom.init(startTime) | ||
time1 = startTime + datetime.timedelta(milliseconds=100) | ||
odom.update(Angle(math.radians(-2.0)), | ||
Angle(math.radians(2.0)), | ||
Angle(math.radians(2.0)), | ||
Angle(math.radians(-2.0)), | ||
time1) | ||
self.assertAlmostEqual(0.0, odom.heading().radian()) | ||
self.assertAlmostEqual(distPerDegree * 2.0, odom.y(), delta=3e-6) | ||
# self.assertAlmostEqual(0.0, odom.y()) | ||
# Linear velocity should be dist_traveled / time_elapsed. | ||
self.assertAlmostEqual(distPerDegree * 2 / 0.1, odom.lateral_velocity(), delta=1e-3) | ||
# Angular velocity should be zero since the "robot" is traveling in a | ||
# straight line. | ||
self.assertAlmostEqual(0.0, odom.angular_velocity().radian(), delta=1e-3) | ||
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if __name__ == '__main__': | ||
unittest.main() |