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[wpimath] Add 3D odometry and pose estimation (#7119)
This commit is contained in:
Joseph Eng
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <limits>
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#include <random>
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#include <tuple>
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#include <utility>
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#include <vector>
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#include <gtest/gtest.h>
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#include <wpi/print.h>
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#include "frc/StateSpaceUtil.h"
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#include "frc/estimator/DifferentialDrivePoseEstimator3d.h"
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#include "frc/geometry/Pose2d.h"
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#include "frc/geometry/Rotation2d.h"
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#include "frc/kinematics/DifferentialDriveKinematics.h"
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#include "frc/trajectory/TrajectoryGenerator.h"
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#include "units/angle.h"
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#include "units/length.h"
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#include "units/time.h"
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void testFollowTrajectory(
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const frc::DifferentialDriveKinematics& kinematics,
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frc::DifferentialDrivePoseEstimator3d& estimator,
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const frc::Trajectory& trajectory,
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std::function<frc::ChassisSpeeds(frc::Trajectory::State&)>
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chassisSpeedsGenerator,
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std::function<frc::Pose2d(frc::Trajectory::State&)>
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visionMeasurementGenerator,
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const frc::Pose2d& startingPose, const frc::Pose2d& endingPose,
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const units::second_t dt, const units::second_t kVisionUpdateRate,
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const units::second_t kVisionUpdateDelay, const bool checkError,
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const bool debug) {
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units::meter_t leftDistance = 0_m;
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units::meter_t rightDistance = 0_m;
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estimator.ResetPosition(frc::Rotation3d{}, leftDistance, rightDistance,
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frc::Pose3d{startingPose});
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std::default_random_engine generator;
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std::normal_distribution<double> distribution(0.0, 1.0);
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units::second_t t = 0_s;
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std::vector<std::pair<units::second_t, frc::Pose2d>> visionPoses;
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std::vector<std::tuple<units::second_t, units::second_t, frc::Pose2d>>
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visionLog;
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double maxError = -std::numeric_limits<double>::max();
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double errorSum = 0;
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if (debug) {
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wpi::print(
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"time, est_x, est_y, est_theta, true_x, true_y, true_theta, left, "
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"right\n");
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}
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while (t < trajectory.TotalTime()) {
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frc::Trajectory::State groundTruthState = trajectory.Sample(t);
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// We are due for a new vision measurement if it's been `visionUpdateRate`
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// seconds since the last vision measurement
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if (visionPoses.empty() ||
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visionPoses.back().first + kVisionUpdateRate < t) {
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auto visionPose =
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visionMeasurementGenerator(groundTruthState) +
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frc::Transform2d{frc::Translation2d{distribution(generator) * 0.1_m,
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distribution(generator) * 0.1_m},
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frc::Rotation2d{distribution(generator) * 0.05_rad}};
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visionPoses.push_back({t, visionPose});
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}
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// We should apply the oldest vision measurement if it has been
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// `visionUpdateDelay` seconds since it was measured
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if (!visionPoses.empty() &&
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visionPoses.front().first + kVisionUpdateDelay < t) {
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auto visionEntry = visionPoses.front();
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estimator.AddVisionMeasurement(frc::Pose3d{visionEntry.second},
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visionEntry.first);
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visionPoses.erase(visionPoses.begin());
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visionLog.push_back({t, visionEntry.first, visionEntry.second});
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}
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auto chassisSpeeds = chassisSpeedsGenerator(groundTruthState);
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auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
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leftDistance += wheelSpeeds.left * dt;
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rightDistance += wheelSpeeds.right * dt;
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auto xhat = estimator.UpdateWithTime(
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t,
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frc::Rotation3d{groundTruthState.pose.Rotation() +
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frc::Rotation2d{distribution(generator) * 0.05_rad} -
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trajectory.InitialPose().Rotation()},
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leftDistance, rightDistance);
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if (debug) {
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wpi::print(
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"{}, {}, {}, {}, {}, {}, {}, {}, {}\n", t.value(), xhat.X().value(),
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xhat.Y().value(), xhat.Rotation().ToRotation2d().Radians().value(),
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groundTruthState.pose.X().value(), groundTruthState.pose.Y().value(),
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groundTruthState.pose.Rotation().Radians().value(),
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leftDistance.value(), rightDistance.value());
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}
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double error = groundTruthState.pose.Translation()
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.Distance(xhat.Translation().ToTranslation2d())
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.value();
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if (error > maxError) {
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maxError = error;
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}
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errorSum += error;
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t += dt;
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}
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if (debug) {
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wpi::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
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units::second_t apply_time;
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units::second_t measure_time;
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frc::Pose2d vision_pose;
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for (auto record : visionLog) {
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std::tie(apply_time, measure_time, vision_pose) = record;
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wpi::print("{}, {}, {}, {}, {}\n", apply_time.value(),
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measure_time.value(), vision_pose.X().value(),
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vision_pose.Y().value(),
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vision_pose.Rotation().Radians().value());
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}
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}
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EXPECT_NEAR(endingPose.X().value(),
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estimator.GetEstimatedPosition().X().value(), 0.08);
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EXPECT_NEAR(endingPose.Y().value(),
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estimator.GetEstimatedPosition().Y().value(), 0.08);
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EXPECT_NEAR(endingPose.Rotation().Radians().value(),
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estimator.GetEstimatedPosition()
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.Rotation()
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.ToRotation2d()
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.Radians()
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.value(),
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0.15);
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if (checkError) {
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// NOLINTNEXTLINE(bugprone-integer-division)
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EXPECT_LT(errorSum / (trajectory.TotalTime() / dt), 0.05);
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EXPECT_LT(maxError, 0.2);
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}
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}
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TEST(DifferentialDrivePoseEstimator3dTest, Accuracy) {
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frc::DifferentialDriveKinematics kinematics{1.0_m};
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frc::DifferentialDrivePoseEstimator3d estimator{kinematics,
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frc::Rotation3d{},
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0_m,
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0_m,
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frc::Pose3d{},
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{0.02, 0.02, 0.02, 0.01},
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{0.1, 0.1, 0.1, 0.1}};
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frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
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std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
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frc::Pose2d{0_m, 0_m, 135_deg},
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frc::Pose2d{-3_m, 0_m, -90_deg},
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frc::Pose2d{0_m, 0_m, 45_deg}},
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frc::TrajectoryConfig(2_mps, 2_mps_sq));
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testFollowTrajectory(
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kinematics, estimator, trajectory,
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[&](frc::Trajectory::State& state) {
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return frc::ChassisSpeeds{state.velocity, 0_mps,
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state.velocity * state.curvature};
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},
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[&](frc::Trajectory::State& state) { return state.pose; },
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trajectory.InitialPose(), {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms,
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100_ms, 250_ms, true, false);
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}
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TEST(DifferentialDrivePoseEstimator3dTest, BadInitialPose) {
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frc::DifferentialDriveKinematics kinematics{1.0_m};
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frc::DifferentialDrivePoseEstimator3d estimator{kinematics,
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frc::Rotation3d{},
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0_m,
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0_m,
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frc::Pose3d{},
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{0.02, 0.02, 0.02, 0.01},
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{0.1, 0.1, 0.1, 0.1}};
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frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
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std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
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frc::Pose2d{0_m, 0_m, 135_deg},
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frc::Pose2d{-3_m, 0_m, -90_deg},
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frc::Pose2d{0_m, 0_m, 45_deg}},
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frc::TrajectoryConfig(2_mps, 2_mps_sq));
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for (units::degree_t offset_direction_degs = 0_deg;
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offset_direction_degs < 360_deg; offset_direction_degs += 45_deg) {
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for (units::degree_t offset_heading_degs = 0_deg;
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offset_heading_degs < 360_deg; offset_heading_degs += 45_deg) {
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auto pose_offset = frc::Rotation2d{offset_direction_degs};
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auto heading_offset = frc::Rotation2d{offset_heading_degs};
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auto initial_pose =
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trajectory.InitialPose() +
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frc::Transform2d{frc::Translation2d{pose_offset.Cos() * 1_m,
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pose_offset.Sin() * 1_m},
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heading_offset};
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testFollowTrajectory(
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kinematics, estimator, trajectory,
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[&](frc::Trajectory::State& state) {
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return frc::ChassisSpeeds{state.velocity, 0_mps,
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state.velocity * state.curvature};
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},
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[&](frc::Trajectory::State& state) { return state.pose; },
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initial_pose, {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms, 100_ms,
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250_ms, false, false);
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}
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}
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}
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TEST(DifferentialDrivePoseEstimator3dTest, SimultaneousVisionMeasurements) {
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// This tests for multiple vision measurements applied at the same time.
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// The expected behavior is that all measurements affect the estimated pose.
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// The alternative result is that only one vision measurement affects the
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// outcome. If that were the case, after 1000 measurements, the estimated
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// pose would converge to that measurement.
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frc::DifferentialDriveKinematics kinematics{1.0_m};
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frc::DifferentialDrivePoseEstimator3d estimator{
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kinematics,
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frc::Rotation3d{},
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0_m,
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0_m,
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frc::Pose3d{1_m, 2_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 270_deg}},
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{0.02, 0.02, 0.02, 0.01},
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{0.1, 0.1, 0.1, 0.1}};
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estimator.UpdateWithTime(0_s, frc::Rotation3d{}, 0_m, 0_m);
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for (int i = 0; i < 1000; i++) {
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estimator.AddVisionMeasurement(
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frc::Pose3d{0_m, 0_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 0_deg}}, 0_s);
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estimator.AddVisionMeasurement(
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frc::Pose3d{3_m, 1_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 90_deg}}, 0_s);
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estimator.AddVisionMeasurement(
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frc::Pose3d{2_m, 4_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 180_deg}},
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0_s);
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}
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{
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auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 0_m);
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auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 0_m);
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auto dtheta = units::math::abs(
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estimator.GetEstimatedPosition().Rotation().ToRotation2d().Radians() -
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0_deg);
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EXPECT_TRUE(dx > 0.08_m || dy > 0.08_m || dtheta > 0.08_rad);
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}
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{
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auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 3_m);
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auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 1_m);
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auto dtheta = units::math::abs(
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estimator.GetEstimatedPosition().Rotation().ToRotation2d().Radians() -
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90_deg);
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EXPECT_TRUE(dx > 0.08_m || dy > 0.08_m || dtheta > 0.08_rad);
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}
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{
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auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 2_m);
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auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 4_m);
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auto dtheta = units::math::abs(
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estimator.GetEstimatedPosition().Rotation().ToRotation2d().Radians() -
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180_deg);
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EXPECT_TRUE(dx > 0.08_m || dy > 0.08_m || dtheta > 0.08_rad);
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}
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}
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TEST(DifferentialDrivePoseEstimator3dTest, TestDiscardStaleVisionMeasurements) {
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frc::DifferentialDriveKinematics kinematics{1_m};
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frc::DifferentialDrivePoseEstimator3d estimator{
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kinematics, frc::Rotation3d{}, 0_m, 0_m, frc::Pose3d{},
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{0.1, 0.1, 0.1, 0.1}, {0.45, 0.45, 0.45, 0.45}};
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// Add enough measurements to fill up the buffer
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for (auto time = 0_s; time < 4_s; time += 20_ms) {
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estimator.UpdateWithTime(time, frc::Rotation3d{}, 0_m, 0_m);
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}
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auto odometryPose = estimator.GetEstimatedPosition();
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// Apply a vision measurement from 3 seconds ago
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estimator.AddVisionMeasurement(
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frc::Pose3d{10_m, 10_m, 0_m, frc::Rotation3d{0_rad, 0_rad, 0.1_rad}}, 1_s,
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{0.1, 0.1, 0.1, 0.1});
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EXPECT_NEAR(odometryPose.X().value(),
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estimator.GetEstimatedPosition().X().value(), 1e-6);
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EXPECT_NEAR(odometryPose.Y().value(),
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estimator.GetEstimatedPosition().Y().value(), 1e-6);
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EXPECT_NEAR(odometryPose.Z().value(),
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estimator.GetEstimatedPosition().Z().value(), 1e-6);
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EXPECT_NEAR(odometryPose.Rotation().X().value(),
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estimator.GetEstimatedPosition().Rotation().X().value(), 1e-6);
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EXPECT_NEAR(odometryPose.Rotation().Y().value(),
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estimator.GetEstimatedPosition().Rotation().Y().value(), 1e-6);
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EXPECT_NEAR(odometryPose.Rotation().Z().value(),
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estimator.GetEstimatedPosition().Rotation().Z().value(), 1e-6);
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}
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TEST(DifferentialDrivePoseEstimator3dTest, TestSampleAt) {
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frc::DifferentialDriveKinematics kinematics{1_m};
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frc::DifferentialDrivePoseEstimator3d estimator{
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kinematics, frc::Rotation3d{}, 0_m, 0_m, frc::Pose3d{},
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{1.0, 1.0, 1.0, 1.0}, {1.0, 1.0, 1.0, 1.0}};
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// Returns empty when null
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EXPECT_EQ(std::nullopt, estimator.SampleAt(1_s));
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// Add odometry measurements, but don't fill up the buffer
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// Add a tiny tolerance for the upper bound because of floating point rounding
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// error
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for (double time = 1; time <= 2 + 1e-9; time += 0.02) {
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estimator.UpdateWithTime(units::second_t{time}, frc::Rotation3d{},
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units::meter_t{time}, units::meter_t{time});
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}
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// Sample at an added time
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EXPECT_EQ(std::optional(frc::Pose3d{1.02_m, 0_m, 0_m, frc::Rotation3d{}}),
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estimator.SampleAt(1.02_s));
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// Sample between updates (test interpolation)
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EXPECT_EQ(std::optional(frc::Pose3d{1.01_m, 0_m, 0_m, frc::Rotation3d{}}),
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estimator.SampleAt(1.01_s));
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// Sampling before the oldest value returns the oldest value
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EXPECT_EQ(std::optional(frc::Pose3d{1_m, 0_m, 0_m, frc::Rotation3d{}}),
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estimator.SampleAt(0.5_s));
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// Sampling after the newest value returns the newest value
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EXPECT_EQ(std::optional(frc::Pose3d{2_m, 0_m, 0_m, frc::Rotation3d{}}),
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estimator.SampleAt(2.5_s));
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// Add a vision measurement after the odometry measurements (while keeping all
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// of the old odometry measurements)
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estimator.AddVisionMeasurement(
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frc::Pose3d{2_m, 0_m, 0_m, frc::Rotation3d{0_rad, 0_rad, 1_rad}}, 2.2_s);
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// Make sure nothing changed (except the newest value)
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EXPECT_EQ(std::optional(frc::Pose3d{1.02_m, 0_m, 0_m, frc::Rotation3d{}}),
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estimator.SampleAt(1.02_s));
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EXPECT_EQ(std::optional(frc::Pose3d{1.01_m, 0_m, 0_m, frc::Rotation3d{}}),
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estimator.SampleAt(1.01_s));
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EXPECT_EQ(std::optional(frc::Pose3d{1_m, 0_m, 0_m, frc::Rotation3d{}}),
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estimator.SampleAt(0.5_s));
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// Add a vision measurement before the odometry measurements that's still in
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// the buffer
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estimator.AddVisionMeasurement(
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frc::Pose3d{1_m, 0.2_m, 0_m, frc::Rotation3d{}}, 0.9_s);
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// Everything should be the same except Y is 0.1 (halfway between 0 and 0.2)
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EXPECT_EQ(std::optional(frc::Pose3d{1.02_m, 0.1_m, 0_m, frc::Rotation3d{}}),
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estimator.SampleAt(1.02_s));
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EXPECT_EQ(std::optional(frc::Pose3d{1.01_m, 0.1_m, 0_m, frc::Rotation3d{}}),
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estimator.SampleAt(1.01_s));
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EXPECT_EQ(std::optional(frc::Pose3d{1_m, 0.1_m, 0_m, frc::Rotation3d{}}),
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estimator.SampleAt(0.5_s));
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EXPECT_EQ(std::optional(frc::Pose3d{2_m, 0.1_m, 0_m, frc::Rotation3d{}}),
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estimator.SampleAt(2.5_s));
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}
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TEST(DifferentialDrivePoseEstimator3dTest, TestReset) {
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frc::DifferentialDriveKinematics kinematics{1_m};
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frc::DifferentialDrivePoseEstimator3d estimator{
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kinematics,
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frc::Rotation3d{},
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0_m,
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0_m,
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frc::Pose3d{-1_m, -1_m, -1_m, frc::Rotation3d{0_rad, 0_rad, 1_rad}},
|
||||
{1.0, 1.0, 1.0, 1.0},
|
||||
{1.0, 1.0, 1.0, 1.0}};
|
||||
|
||||
// Test initial pose
|
||||
EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().X().value());
|
||||
EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().Y().value());
|
||||
EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().Z().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().X().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Y().value());
|
||||
EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().Rotation().Z().value());
|
||||
|
||||
// Test reset position
|
||||
estimator.ResetPosition(frc::Rotation3d{}, 1_m, 1_m,
|
||||
frc::Pose3d{1_m, 0_m, 0_m, frc::Rotation3d{}});
|
||||
|
||||
EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().X().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Z().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().X().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Y().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Z().value());
|
||||
|
||||
// Test orientation and wheel positions
|
||||
estimator.Update(frc::Rotation3d{}, 2_m, 2_m);
|
||||
|
||||
EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Z().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().X().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Y().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Z().value());
|
||||
|
||||
// Test reset rotation
|
||||
estimator.ResetRotation(frc::Rotation3d{0_deg, 0_deg, 90_deg});
|
||||
|
||||
EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Z().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().X().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Y().value());
|
||||
EXPECT_DOUBLE_EQ(std::numbers::pi / 2,
|
||||
estimator.GetEstimatedPosition().Rotation().Z().value());
|
||||
|
||||
// Test orientation
|
||||
estimator.Update(frc::Rotation3d{}, 3_m, 3_m);
|
||||
|
||||
EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
|
||||
EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().Y().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Z().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().X().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Y().value());
|
||||
EXPECT_DOUBLE_EQ(std::numbers::pi / 2,
|
||||
estimator.GetEstimatedPosition().Rotation().Z().value());
|
||||
|
||||
// Test reset translation
|
||||
estimator.ResetTranslation(frc::Translation3d{-1_m, -1_m, -1_m});
|
||||
|
||||
EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().X().value());
|
||||
EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().Y().value());
|
||||
EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().Z().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().X().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Y().value());
|
||||
EXPECT_DOUBLE_EQ(std::numbers::pi / 2,
|
||||
estimator.GetEstimatedPosition().Rotation().Z().value());
|
||||
|
||||
// Test reset pose
|
||||
estimator.ResetPose(frc::Pose3d{});
|
||||
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().X().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Z().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().X().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Y().value());
|
||||
EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Z().value());
|
||||
}
|
||||
Reference in New Issue
Block a user