odometry.h

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#include <iostream>
#include <ros/ros.h>

#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
#include <kfilter/ekfilter.hpp>

#define DEFAULT_WHEEL_BASE 2.5

#include <signal.h>

#include <atlascar_base/AtlascarStatus.h>
#include <atlascar_base/AtlascarVelocityStatus.h>
using namespace ros;
using namespace std;
using namespace Kalman;

void IncommingDataHandler(int);
// bool ConvertEstimatedToMeasurment(double vl,double dir,double*dx,double*dy,double*dtheta,double dt,double l,double bwa);

class non_holonomic_ekfilter: public Kalman::EKFilter<double,1,false,false,true>
{
       public:
       non_holonomic_ekfilter()
       {
              setDim(5,0,5,2,2);

              Vector x_0(5);
              double _P0[25];

              memset(_P0,0,sizeof(_P0));

              _P0[0]=1*1;
              _P0[6]=1*1;
              _P0[12]=0.1*1;
              _P0[18]=100*100;
              _P0[24]=100*100;

              x_0(1)=0;
              x_0(2)=0;
              x_0(3)=0;
              x_0(4)=0;
              x_0(5)=0;


              Matrix P0(5,5,_P0);

              cout<<"P0 "<<P0<<endl;
              cout<<"x_0 "<<x_0<<endl;

              init(x_0,P0);

  
       }

       
       void SetWheelBase(double l_)
       {
              l=l_;
       
       }

       void SetTimeInterval(double dt_)
       {
              dt=dt_;
       }

       

       protected:
       
       double l,dt;
       void makeA()
       {
              double vl=x(4);
              double yaw=x(3);
              double phi=x(5);

              A(1,1)=1.0;
              A(1,2)=0.0;
              A(1,3)=-sin(yaw)*cos(phi)*vl*dt;
              A(1,4)=cos(yaw)*cos(phi)*dt;
              A(1,5)=cos(yaw)*(-sin(phi))*vl*dt;
              
              
              A(2,1)=0.0;
              A(2,2)=1.0;
              A(2,3)=cos(yaw)*cos(phi)*vl*dt;
              A(2,4)=sin(yaw)*cos(phi)*dt;
              A(2,5)=sin(yaw)*(-sin(phi))*vl*dt;
              
              A(3,1)=0.0;
              A(3,2)=0.0;
              A(3,3)=1.0;
              //A(3,4)=sin(phi/l)*dt; //erro no l
              A(3,4)=sin(phi)*(dt/l);
              //A(3,5)=cos(phi/l)*vl*dt/l; //erro no l
              A(3,5)=cos(phi)*vl*dt/l;
         
              A(4,1)=0.0;
              A(4,2)=0.0;
              A(4,3)=0.0;
              A(4,4)=1.0;
              A(4,5)=0.0;
              
              A(5,1)=0.0;
              A(5,2)=0.0;
              A(5,3)=0.0;
              A(5,4)=0.0;
              A(5,5)=1.0;
              

              
       }
       void makeH()
       {
              
              H(1,1) = 0.0;
              H(1,2) = 0.0;
              H(1,3) = 0.0;
              H(1,4) = 1.0;
              H(1,5) = 0.0;

              H(2,1) = 0.0;
              H(2,2) = 0.0;
              H(2,3) = 0.0;
              H(2,4) = 0.0;
              H(2,5) = 1.0;
              


       }
       void makeW()
       {
              W(1,1) = 1.0;
              W(1,2) = 0.0;
              W(1,3) = 0.0;
              W(1,4) = 0.0;
              W(1,5) = 0.0;

              W(2,1) = 0.0;
              W(2,2) = 1.0;
              W(2,3) = 0.0;
              W(2,4) = 0.0;
              W(2,5) = 0.0;

              W(3,1) = 0.0;
              W(3,2) = 0.0;
              W(3,3) = 1.0;
              W(3,4) = 0.0;
              W(3,5) = 0.0;

              W(4,1) = 0.0;
              W(4,2) = 0.0;
              W(4,3) = 0.0;
              W(4,4) = 1.0;
              W(4,5) = 0.0;


              W(5,1) = 0.0;
              W(5,2) = 0.0;
              W(5,3) = 0.0;
              W(5,4) = 0.0;
              W(5,5) = 1.0;

       }
       void makeV()
       {
              V(1,1) = 1.0;
              V(1,2) = 0.0;
              V(2,1) = 0.0;
              V(2,2) = 1.0;
       }

       void makeR()
       {
//               R(1,1) = 0.1;//vel
              R(1,1) =0.00121;
        
              R(1,2) = 0.0;

              R(2,1) = 0.0;
             R(2,2) = 0.003106;//dir
//               R(2,2) = 0.01;

       }

       void makeQ()
       {
              //X   
//               double q=0.001;
              Q(1,1) = 0.000001;
              Q(1,2) = 0.0;
              Q(1,3) = 0.0;
              Q(1,4) = 0.0;
              Q(1,5) = 0.0;

              
              //Y
              Q(2,1) = 0.0;
              Q(2,2) = 0.000001;
              Q(2,3) = 0.0;
              Q(2,4) = 0.0;
              Q(2,5) = 0.0;

              
              //yaw
              Q(3,1) = 0.0;
              Q(3,2) = 0.0;
              Q(3,3) = 0.005;
              Q(3,4) = 0.0;
              Q(3,5) = 0.0;

              
              //vl
              Q(4,1) = 0.0;
              Q(4,2) = 0.0;
              Q(4,3) = 0.0;
              Q(4,4) = 0.01;
              Q(4,5) = 0.0;

              
              //phi
              Q(5,1) = 0.0;
              Q(5,2) = 0.0;
              Q(5,3) = 0.0;
              Q(5,4) = 0.0;
              Q(5,5) = 0.0005;
              

       }

       void makeProcess()
       {
              Vector x_(x.size());
              x_(1) = x(1) + cos(x(3))*cos(x(5))*x(4)*dt;
              x_(2) = x(2) + sin(x(3))*cos(x(5))*x(4)*dt;
              //x_(3) = x(3) + sin(x(5)/l)*x(4)*dt;  //possivel erro no l
              x_(3) = x(3) + sin(x(5))*(x(4)/l)*dt;  //possivel erro no l
              x_(4) = x(4);
              x_(5) = x(5);
              x.swap(x_);   
       }

       void makeMeasure()
       {
              z(1)=x(4); //velocidade
              z(2)=x(5); // phi - angulo das rodas
       }
};


typedef non_holonomic_ekfilter::Vector Vector;
typedef non_holonomic_ekfilter::Matrix Matrix;