Program Listing for File ThreeSensorOdom.cpp

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#include "ThreeSensorOdom.hpp"

namespace LouLib {
    namespace Odometry {
        ThreeSensorOdom::ThreeSensorOdom(AbstractOdomSensor &leftSensor, AbstractOdomSensor &rightSensor,
                                         const Units::Length &trackWidth, AbstractOdomSensor &backSensor,
                                         const Units::Length &backDist) : leftSensor(leftSensor),
                                                                          rightSensor(rightSensor),
                                                                          trackWidth(trackWidth),
                                                                          backSensor(backSensor), backDist(backDist) {
            lastLeft = leftSensor.getPosition();
            lastRight = rightSensor.getPosition();
            lastBack = backSensor.getPosition();
        }

        void ThreeSensorOdom::setPose(Math::Pose2D newPose) {
            robotPose = newPose;
            lastLeft = leftSensor.getPosition();
            lastRight = rightSensor.getPosition();
            lastBack = backSensor.getPosition();
        }

        void ThreeSensorOdom::update() {
            Units::Length deltaLeft = leftSensor.getPosition() - lastLeft;
            Units::Length deltaRight = rightSensor.getPosition() - lastRight;
            Units::Length deltaBack = backSensor.getPosition() - lastBack;

            lastLeft = leftSensor.getPosition();
            lastRight = rightSensor.getPosition();
            lastBack = backSensor.getPosition();

            double deltaX = ((deltaLeft+deltaRight)/2.0).to(Units::INCH);
            double deltaTheta = ((deltaRight-deltaLeft)/trackWidth).to(Units::number);

            double deltaY = (deltaBack - (deltaTheta * backDist)).to(Units::INCH);

            Math::Vector deltaPoseVector({deltaX, deltaY, deltaTheta});

            Math::Matrix PEMatrix({{}});
            if(deltaTheta > Math::EPS){
                PEMatrix = Math::Matrix({{std::sin(deltaTheta)/deltaTheta, (std::cos(deltaTheta)-1)/deltaTheta, 0},
                                         {(1-std::cos(deltaTheta))/deltaTheta, std::sin(deltaTheta)/deltaTheta, 0},
                                         {0, 0, 1}});
            }else{
                PEMatrix = Math::Matrix({{1, 0, 0},
                                         {0, 1, 0},
                                         {0, 0, 1}});
            }

            double theta = robotPose.getTheta().to(Units::RADIAN);

            Math::Matrix rotMatrix({{std::cos(theta), -std::sin(theta), 0},
                                    {std::sin(theta), std::cos(theta), 0},
                                    {0, 0, 1}});

            Math::Vector realPoseChange = rotMatrix * (PEMatrix * deltaPoseVector);

            robotPose.setX(robotPose.getX() + realPoseChange[0] * Units::INCH);
            robotPose.setY(robotPose.getY() + realPoseChange[1] * Units::INCH);
            robotPose.setTheta(robotPose.getTheta() + realPoseChange[2] * Units::RADIAN);
            robotPose.setTheta(Math::constrainAngle(robotPose.getTheta().to(Units::DEGREE)) * Units::DEGREE);

        }


    } // LouLib
} // Odometry