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

convertToMotion()

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

static

Definition at line 69 of file odometry_measurement.cpp.

                                                         {
  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();
    Rotation2D rot(theta);
    Vector2 icc(0, R);
    Vector2 motion = (rot * (Vector2(-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());
}

References g2o::VelocityMeasurement::dt(), g2o::VelocityMeasurement::vl(), and g2o::VelocityMeasurement::vr().

Referenced by g2o::EdgeSE2PureCalib::computeError(), EdgeCalib::computeError(), and main().

convertToVelocity()

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

static

Definition at line 48 of file odometry_measurement.cpp.

                                                                             {
  if (fabs(m.theta()) > 1e-7) {
    const double translation = std::hypot(m.x(), m.y());
    const double R = translation / (2 * sin(m.theta() / 2));
    double w = 0.;
    if (fabs(m.dt()) > 1e-7) w = m.theta() / m.dt();
 
    const double vl = (2. * R * w - w) / 2.;
    const double vr = w + vl;
 
    return VelocityMeasurement(vl, vr, m.dt());
  } else {
    double vl, vr;
    if (fabs(m.dt()) > 1e-7)
      vl = vr = std::hypot(m.x(), m.y()) / m.dt();
    else
      vl = vr = 0.;
    return VelocityMeasurement(vl, vr, m.dt());
  }
}

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

Referenced by g2o::addOdometryCalibLinksDifferential(), g2o::ClosedFormCalibration::calibrate(), and main().

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

• /build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/odometry_measurement.h
• /build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/odometry_measurement.cpp