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Use "pose change" instead of "velocities" for (dxy_mm, dtheta_degrees, dt_seconds)

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This commit is contained in:
Simon D. Levy
2018-06-03 14:38:07 -04:00
parent 8934a3370f
commit 081d33aedf
23 changed files with 113 additions and 135 deletions
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6
examples/Log2PGM.java
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@@ -35,7 +35,7 @@ import edu.wlu.cs.levy.breezyslam.components.Map;
import edu.wlu.cs.levy.breezyslam.components.Scan;
import edu.wlu.cs.levy.breezyslam.components.Position;
import edu.wlu.cs.levy.breezyslam.components.URG04LX;
import edu.wlu.cs.levy.breezyslam.components.Velocities;
import edu.wlu.cs.levy.breezyslam.components.PoseChange;
import edu.wlu.cs.levy.breezyslam.robots.WheeledRobot;
@@ -226,8 +226,8 @@ public class Log2PGM
if (this.use_odometry)
{
long [] odometry = odometries.elementAt(scanno);
Velocities velocities = this.robot.computeVelocities(odometry[0], odometry[1], odometry[2]);
slam.update(scan, velocities);
PoseChange poseChange = this.robot.computePoseChange(odometry[0], odometry[1], odometry[2]);
slam.update(scan, poseChange);
}
else
{

4
examples/MinesRover.m
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@@ -45,9 +45,9 @@ classdef MinesRover < WheeledRobot
end
function [velocities, obj] = computeVelocities(obj, odometry)
function [poseChange, obj] = computePoseChange(obj, odometry)
[velocities, obj] = computeVelocities@WheeledRobot(obj, odometry(1), odometry(2), odometry(3));
[poseChange, obj] = computePoseChange@WheeledRobot(obj, odometry(1), odometry(2), odometry(3));
end

10
examples/log2pgm.cpp
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@@ -58,7 +58,7 @@ using namespace std;
#include "Position.hpp"
#include "Laser.hpp"
#include "WheeledRobot.hpp"
#include "Velocities.hpp"
#include "PoseChange.hpp"
#include "algorithms.hpp"
@@ -161,9 +161,9 @@ public:
{
}
Velocities computeVelocities(long * odometry, Velocities & velocities)
PoseChange computePoseChange(long * odometry, PoseChange & poseChange)
{
return WheeledRobot::computeVelocities(
return WheeledRobot::computePoseChange(
odometry[0],
odometry[1],
odometry[2]);
@@ -350,8 +350,8 @@ int main( int argc, const char** argv )
// Update with/out odometry
if (use_odometry)
{
Velocities velocities = robot.computeVelocities(odometries[scanno], velocities);
slam->update(lidar, velocities);
PoseChange poseChange = robot.computePoseChange(odometries[scanno], poseChange);
slam->update(lidar, poseChange);
}
else
{

4
examples/log2pgm.py
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@@ -94,8 +94,8 @@ def main():
if use_odometry:
# Convert odometry to velocities
velocities = robot.computeVelocities(odometries[scanno])
# Convert odometry to pose change (dxy_mm, dtheta_degrees, dt_seconds)
velocities = robot.computePoseChange(odometries[scanno])
# Update SLAM with lidar and velocities
slam.update(lidars[scanno], velocities)

2
examples/log2pkl.py
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@@ -77,7 +77,7 @@ def main():
if use_odometry:
# Convert odometry to velocities
velocities = robot.computeVelocities(odometries[scanno])
velocities = robot.computePoseChange(odometries[scanno])
# Update SLAM with lidar and velocities
slam.update(lidars[scanno], velocities)

2
examples/log2png.py
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@@ -96,7 +96,7 @@ def main():
if use_odometry:
# Convert odometry to velocities
velocities = robot.computeVelocities(odometries[scanno])
velocities = robot.computePoseChange(odometries[scanno])
# Update SLAM with lidar and velocities
slam.update(lidars[scanno], velocities)

2
examples/logdemo.m
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@@ -82,7 +82,7 @@ for scanno = 1:size(scans, 1)
if use_odometry
% Convert odometry to velocities
[velocities,robot] = robot.computeVelocities(odometries(scanno, :));
[velocities,robot] = robot.computePoseChange(odometries(scanno, :));
% Update SLAM with lidar and velocities
slam = slam.update(scans(scanno,:), velocities);

2
examples/logmovie.py
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@@ -67,7 +67,7 @@ def threadfunc(robot, slam, timestamps, lidars, odometries, mapbytes, pose):
else:
# Convert odometry to velocities
velocities = robot.computeVelocities(odometries[scanno])
velocities = robot.computePoseChange(odometries[scanno])
# Update SLAM with lidar and velocities
slam.update(lidars[scanno], velocities)

4
examples/mines.py
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@@ -99,9 +99,9 @@ class Rover(WheeledVehicle):
return '<%s ticks_per_cycle=%d>' % (WheeledVehicle.__str__(self), self.ticks_per_cycle)
def computeVelocities(self, odometry):
def computePoseChange(self, odometry):
return WheeledVehicle.computeVelocities(self, odometry[0], odometry[1], odometry[2])
return WheeledVehicle.computePoseChange(self, odometry[0], odometry[1], odometry[2])
def extractOdometry(self, timestamp, leftWheel, rightWheel):