Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 #ifndef ODOMETRY_BASED_DRIVER_H
00011 #define ODOMETRY_BASED_DRIVER_H
00012 
00013 #include "driver.h"
00014 #include <orcaice/context.h>
00015 #include "simpledriver.h"
00016 #include <orcaifaceimpl/storingconsumers.h>
00017 #include <hydronavutil/offset.h>
00018 #include <hydronavutil/odometrydifferentiator.h>
00019 
00020 namespace gps2localise2d {
00021 
00022 //
00023 // @brief Assumes that the GPS unit works out heading by differentiating.
00024 //
00025 //        Works out heading uncertainty  based on this assumption, plus the odometric velocity
00026 //        of the platform.
00027 //
00028 // @author Alex Brooks
00029 //
00030 class OdometryBasedDriver : public Driver
00031 {
00032 
00033 public: 
00034 
00035     OdometryBasedDriver( const orca::GpsDescription &descr, const orcaice::Context &context );
00036     ~OdometryBasedDriver();
00037 
00038     // Converts the GPS info into localise2d format.
00039     // Returns 'false' if the conversion can't be done (eg because GPS doesn't have a fix).
00040     bool compute( const orca::GpsData &gpsData, orca::Localise2dData &localiseData );
00041 
00042 private: 
00043 
00044     bool setup();
00045     double calcHeadingUncertainty( hydronavutil::Pose &delta,
00046                                    double dt );
00047 
00048     SimpleDriver                                simpleDriver_;
00049     orcaifaceimpl::StoringOdometry2dConsumerImplPtr odomConsumer_;
00050     bool                                        isSetup_;
00051 
00052     hydronavutil::OdometryDifferentiator         odometryDifferentiator_;
00053 
00054     orca::Time prevTime_;
00055 
00056     double minHeadingUncertainty_;
00057     double linSpeedThreshold_;
00058     double rotFactor_;
00059     double linFactor_;
00060 
00061     orcaice::Context                            context_;
00062 
00063 };
00064 
00065 }
00066 
00067 #endif
odometrybaseddriver.h
