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Removed support for Matlab, Java.

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simondlevy
2018-06-30 15:01:47 -04:00
parent e16a904e12
commit 6557a0af48
33 changed files with 8 additions and 3135 deletions
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112
matlab/WheeledRobot.m
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classdef WheeledRobot
%WheeledRobot An abstract class supporting ododmetry for wheeled robots.
% Your implementing class should provide the method:
%
% extractOdometry(obj, timestamp, leftWheel, rightWheel) -->
% (timestampSeconds, leftWheelDegrees, rightWheelDegrees)
%
% Copyright (C) 2014 Simon D. Levy
%
% This code is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License as
% published by the Free Software Foundation, either version 3 of the
% License, or (at your option) any later version.
%
% This code is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU Lesser General Public License
% along with this code. If not, see <http:#www.gnu.org/licenses/>.
properties (Access = 'private')
wheelRadiusMillimeters
halfAxleLengthMillimeters
timestampSecondsPrev
leftWheelDegreesPrev
rightWheelDegreesPrev
end
methods (Access = 'protected')
function s = str(obj)
% Returns a string representation of this WheeledRobot
s = sprintf('<Wheel radius=%f mm Half axle Length=%f mm>', ...
obj.wheelRadiusMillimeters, obj.halfAxleLengthMillimeters);
end
function robot = WheeledRobot(wheelRadiusMillimeters, halfAxleLengthMillimeters)
% Constructs a WheeledRobot object
% robot = WheeledRobot(wheelRadiusMillimeters, halfAxleLengthMillimeters)
robot.wheelRadiusMillimeters = wheelRadiusMillimeters;
robot.halfAxleLengthMillimeters = halfAxleLengthMillimeters;
end
function r = deg2rad(~, d)
% Converts degrees to radians
r = d * pi / 180;
end
end
methods (Abstract)
extractOdometry(obj, timestamp, leftWheel, rightWheel)
end
methods (Access = 'public')
function [poseChange, obj] = computePoseChange(obj, timestamp, leftWheelOdometry, rightWheelOdometry)
% Computes forward and angular poseChange based on odometry.
%
% Parameters:
% timestamp time stamp, in whatever units your robot uses
% leftWheelOdometry odometry for left wheel, in whatever form your robot uses
% rightWheelOdometry odometry for right wheel, in whatever form your robot uses
%
% Returns a tuple (dxyMillimeters, dthetaDegrees, dtSeconds)
% dxyMillimeters forward distance traveled, in millimeters
% dthetaDegrees change in angular position, in degrees
% dtSeconds elapsed time since previous odometry, in seconds
dxyMillimeters = 0;
dthetaDegrees = 0;
dtSeconds = 0;
[timestampSecondsCurr, leftWheelDegreesCurr, rightWheelDegreesCurr] = ...
obj.extractOdometry(timestamp, leftWheelOdometry, rightWheelOdometry);
if obj.timestampSecondsPrev
leftDiffDegrees = leftWheelDegreesCurr - obj.leftWheelDegreesPrev;
rightDiffDegrees = rightWheelDegreesCurr - obj.rightWheelDegreesPrev;
dxyMillimeters = obj.wheelRadiusMillimeters * ...
(obj.deg2rad(leftDiffDegrees) + obj.deg2rad(rightDiffDegrees));
dthetaDegrees = (obj.wheelRadiusMillimeters / obj.halfAxleLengthMillimeters) * ...
(rightDiffDegrees - leftDiffDegrees);
dtSeconds = timestampSecondsCurr - obj.timestampSecondsPrev;
end
% Store current odometry for next time
obj.timestampSecondsPrev = timestampSecondsCurr;
obj.leftWheelDegreesPrev = leftWheelDegreesCurr;
obj.rightWheelDegreesPrev = rightWheelDegreesCurr;
% Return linear velocity, angular velocity, time difference
poseChange = [dxyMillimeters, dthetaDegrees, dtSeconds];
end
end
end