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[wpimath] Position Delta Odometry for Mecanum (#4514)

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This commit is contained in:
Jordan McMichael
2022-10-25 15:28:59 -04:00
committed by GitHub
parent 4170ec6107
commit 901fc555f4
28 changed files with 1222 additions and 235 deletions
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81
wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
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@@ -13,32 +13,47 @@ using namespace frc;
frc::MecanumDrivePoseEstimator::MecanumDrivePoseEstimator(
const Rotation2d& gyroAngle, const Pose2d& initialPose,
const MecanumDriveWheelPositions& wheelPositions,
MecanumDriveKinematics kinematics,
const wpi::array<double, 3>& stateStdDevs,
const wpi::array<double, 1>& localMeasurementStdDevs,
const wpi::array<double, 7>& stateStdDevs,
const wpi::array<double, 5>& localMeasurementStdDevs,
const wpi::array<double, 3>& visionMeasurementStdDevs,
units::second_t nominalDt)
: m_observer([](const Vectord<3>& x, const Vectord<3>& u) { return u; },
[](const Vectord<3>& x, const Vectord<3>& u) {
return x.block<1, 1>(2, 0);
: m_observer([](const Vectord<7>& x, const Vectord<7>& u) { return u; },
[](const Vectord<7>& x, const Vectord<7>& u) {
return x.block<5, 1>(2, 0);
},
stateStdDevs, localMeasurementStdDevs, frc::AngleMean<3, 3>(2),
frc::AngleMean<1, 3>(0), frc::AngleResidual<3>(2),
frc::AngleResidual<1>(0), frc::AngleAdd<3>(2), nominalDt),
stateStdDevs, localMeasurementStdDevs, frc::AngleMean<7, 7>(2),
frc::AngleMean<5, 7>(0), frc::AngleResidual<7>(2),
frc::AngleResidual<5>(0), frc::AngleAdd<7>(2), nominalDt),
m_kinematics(kinematics),
m_nominalDt(nominalDt) {
SetVisionMeasurementStdDevs(visionMeasurementStdDevs);
// Create vision correction mechanism.
m_visionCorrect = [&](const Vectord<3>& u, const Vectord<3>& y) {
m_visionCorrect = [&](const Vectord<7>& u, const Vectord<3>& y) {
m_observer.Correct<3>(
u, y, [](const Vectord<3>& x, const Vectord<3>&) { return x; },
m_visionContR, frc::AngleMean<3, 3>(2), frc::AngleResidual<3>(2),
frc::AngleResidual<3>(2), frc::AngleAdd<3>(2));
u, y,
[](const Vectord<7>& x, const Vectord<7>& u) {
return x.template block<3, 1>(0, 0);
},
m_visionContR, frc::AngleMean<3, 7>(2), frc::AngleResidual<3>(2),
frc::AngleResidual<7>(2), frc::AngleAdd<7>(2));
};
// Set initial state.
m_observer.SetXhat(PoseTo3dVector(initialPose));
auto poseVec = PoseTo3dVector(initialPose);
auto xhat = Vectord<7>{
poseVec(0),
poseVec(1),
poseVec(2),
wheelPositions.frontLeft.value(),
wheelPositions.frontRight.value(),
wheelPositions.rearLeft.value(),
wheelPositions.rearRight.value(),
};
m_observer.SetXhat(xhat);
// Calculate offsets.
m_gyroOffset = initialPose.Rotation() - gyroAngle;
@@ -52,12 +67,24 @@ void frc::MecanumDrivePoseEstimator::SetVisionMeasurementStdDevs(
}
void frc::MecanumDrivePoseEstimator::ResetPosition(
const Pose2d& pose, const Rotation2d& gyroAngle) {
const Pose2d& pose, const Rotation2d& gyroAngle,
const MecanumDriveWheelPositions& wheelPositions) {
// Reset state estimate and error covariance
m_observer.Reset();
m_poseBuffer.Clear();
m_observer.SetXhat(PoseTo3dVector(pose));
auto poseVec = PoseTo3dVector(pose);
auto xhat = Vectord<7>{
poseVec(0),
poseVec(1),
poseVec(2),
wheelPositions.frontLeft.value(),
wheelPositions.frontRight.value(),
wheelPositions.rearLeft.value(),
wheelPositions.rearRight.value(),
};
m_observer.SetXhat(xhat);
m_prevTime = -1_s;
@@ -73,21 +100,23 @@ Pose2d frc::MecanumDrivePoseEstimator::GetEstimatedPosition() const {
void frc::MecanumDrivePoseEstimator::AddVisionMeasurement(
const Pose2d& visionRobotPose, units::second_t timestamp) {
if (auto sample = m_poseBuffer.Sample(timestamp)) {
m_visionCorrect(Vectord<3>::Zero(),
m_visionCorrect(Vectord<7>::Zero(),
PoseTo3dVector(GetEstimatedPosition().TransformBy(
visionRobotPose - sample.value())));
}
}
Pose2d frc::MecanumDrivePoseEstimator::Update(
const Rotation2d& gyroAngle, const MecanumDriveWheelSpeeds& wheelSpeeds) {
const Rotation2d& gyroAngle, const MecanumDriveWheelSpeeds& wheelSpeeds,
const MecanumDriveWheelPositions& wheelPositions) {
return UpdateWithTime(units::microsecond_t(wpi::Now()), gyroAngle,
wheelSpeeds);
wheelSpeeds, wheelPositions);
}
Pose2d frc::MecanumDrivePoseEstimator::UpdateWithTime(
units::second_t currentTime, const Rotation2d& gyroAngle,
const MecanumDriveWheelSpeeds& wheelSpeeds) {
const MecanumDriveWheelSpeeds& wheelSpeeds,
const MecanumDriveWheelPositions& wheelPositions) {
auto dt = m_prevTime >= 0_s ? currentTime - m_prevTime : m_nominalDt;
m_prevTime = currentTime;
@@ -99,10 +128,18 @@ Pose2d frc::MecanumDrivePoseEstimator::UpdateWithTime(
Translation2d{chassisSpeeds.vx * 1_s, chassisSpeeds.vy * 1_s}.RotateBy(
angle);
Vectord<3> u{fieldRelativeVelocities.X().value(),
fieldRelativeVelocities.Y().value(), omega.value()};
Vectord<7> u{fieldRelativeVelocities.X().value(),
fieldRelativeVelocities.Y().value(),
omega.value(),
wheelSpeeds.frontLeft.value(),
wheelSpeeds.frontRight.value(),
wheelSpeeds.rearLeft.value(),
wheelSpeeds.rearRight.value()};
Vectord<1> localY{angle.Radians().value()};
Vectord<5> localY{angle.Radians().value(), wheelPositions.frontLeft.value(),
wheelPositions.frontRight.value(),
wheelPositions.rearLeft.value(),
wheelPositions.rearRight.value()};
m_previousAngle = angle;
m_poseBuffer.AddSample(currentTime, GetEstimatedPosition());

12
wpimath/src/main/native/cpp/kinematics/MecanumDriveKinematics.cpp
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@@ -49,6 +49,18 @@ ChassisSpeeds MecanumDriveKinematics::ToChassisSpeeds(
units::radians_per_second_t{chassisSpeedsVector(2)}};
}
Twist2d MecanumDriveKinematics::ToTwist2d(
const MecanumDriveWheelPositions& wheelDeltas) const {
Vectord<4> wheelDeltasVector{
wheelDeltas.frontLeft.value(), wheelDeltas.frontRight.value(),
wheelDeltas.rearLeft.value(), wheelDeltas.rearRight.value()};
Eigen::Vector3d twistVector = m_forwardKinematics.solve(wheelDeltasVector);
return {units::meter_t{twistVector(0)}, // NOLINT
units::meter_t{twistVector(1)}, units::radian_t{twistVector(2)}};
}
void MecanumDriveKinematics::SetInverseKinematics(Translation2d fl,
Translation2d fr,
Translation2d rl,

35
wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry.cpp
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@@ -8,32 +8,37 @@
using namespace frc;
MecanumDriveOdometry::MecanumDriveOdometry(MecanumDriveKinematics kinematics,
const Rotation2d& gyroAngle,
const Pose2d& initialPose)
: m_kinematics(kinematics), m_pose(initialPose) {
MecanumDriveOdometry::MecanumDriveOdometry(
MecanumDriveKinematics kinematics, const Rotation2d& gyroAngle,
const MecanumDriveWheelPositions wheelPositions, const Pose2d& initialPose)
: m_kinematics(kinematics),
m_pose(initialPose),
m_previousWheelPositions(wheelPositions) {
m_previousAngle = m_pose.Rotation();
m_gyroOffset = m_pose.Rotation() - gyroAngle;
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kOdometry_MecanumDrive, 1);
}
const Pose2d& MecanumDriveOdometry::UpdateWithTime(
units::second_t currentTime, const Rotation2d& gyroAngle,
MecanumDriveWheelSpeeds wheelSpeeds) {
units::second_t deltaTime =
(m_previousTime >= 0_s) ? currentTime - m_previousTime : 0_s;
m_previousTime = currentTime;
const Pose2d& MecanumDriveOdometry::Update(
const Rotation2d& gyroAngle,
const MecanumDriveWheelPositions wheelPositions) {
auto angle = gyroAngle + m_gyroOffset;
auto [dx, dy, dtheta] = m_kinematics.ToChassisSpeeds(wheelSpeeds);
static_cast<void>(dtheta);
MecanumDriveWheelPositions wheelDeltas{
wheelPositions.frontLeft - m_previousWheelPositions.frontLeft,
wheelPositions.frontRight - m_previousWheelPositions.frontRight,
wheelPositions.rearLeft - m_previousWheelPositions.rearLeft,
wheelPositions.rearRight - m_previousWheelPositions.rearRight,
};
auto newPose = m_pose.Exp(
{dx * deltaTime, dy * deltaTime, (angle - m_previousAngle).Radians()});
auto twist = m_kinematics.ToTwist2d(wheelDeltas);
twist.dtheta = (angle - m_previousAngle).Radians();
auto newPose = m_pose.Exp(twist);
m_previousAngle = angle;
m_previousWheelPositions = wheelPositions;
m_pose = {newPose.Translation(), angle};
return m_pose;