Pose - Revision history

Jca: /* Add a new coordinate system */

2009-05-09T06:44:04Z

Add a new coordinate system

← Older revision		Revision as of 08:44, 9 May 2009
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	Further coordinate systems can be added with the command like:		Further coordinate systems can be added with the command like:
	module load=odoPose alias myPose		module load=odoPose alias=myPose
	~~The the then~~ functions like		Then new functions are available using this alias name, like:
	myPose log # start logging		myPose log # start logging
	myPose pose # get most current pose in this coordinate system		myPose pose # get most current pose in this coordinate system

Jca: /* Maintained pose history */

2009-05-09T06:41:55Z

Maintained pose history

← Older revision		Revision as of 08:41, 9 May 2009
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	The history buffer can be used to determine		The history buffer can be used to determine
	* pose at a specific time (often used to determine pose at the time of some sensor data.)		* pose at a specific time (often used to determine pose at the time of some sensor data.)
	* pose at a distance from current position - e.g. 5m from current position, calculated as direct distance, not traveled distance.		* pose at a distance from current position - e.g. 5m from current position, calculated as direct distance, not traveled distance.
	* Direct iteration into stored values.		* Direct iteration into stored values.

	These functions are usually used directly using C++ calls to this resource.		These functions are usually used directly using C++ calls to this resource.

Jca: /* Main function of pose information */

2009-05-09T06:39:51Z

Main function of pose information

← Older revision		Revision as of 08:39, 9 May 2009
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	A set of variables will be maintained, as for the base coordinate systems.		A set of variables will be maintained, as for the base coordinate systems.

	===~~Main function of~~ pose ~~information~~===		===Maintained pose history===

	The pose is information of robot position in som coordinate system at a point in time. The module stores a number of updates (currently 2000) and holds functions to maintain, query and do some calculations on this stack of positions.		The pose is information of robot position in som coordinate system at a point in time. The module stores a number of updates (currently 2000) and holds functions to maintain, query and do some calculations on this stack of positions.
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	These functions are usually used directly using C++ calls to this resource.		These functions are usually used directly using C++ calls to this resource.


	===How to use (one of) the pose modules from your own plug-in===		===How to use (one of) the pose modules from your own plug-in===

Jca: /* Static pose maintenance plug-in */

2009-05-09T06:39:04Z

Static pose maintenance plug-in

← Older revision		Revision as of 08:39, 9 May 2009
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	===~~Static pose maintenance plug-in~~===		===Introduction===

	Three static modules are available to maintain and service coordinate systems:		Three static modules are available to maintain and service coordinate systems:
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	poseh5mUse=1 # Maintain the average 5m pose (1=yes, 0=no)		poseh5mUse=1 # Maintain the average 5m pose (1=yes, 0=no)

	===~~= add~~ a new coordinate system====		=== Add a new coordinate system===

	Further coordinate systems can be added with the command like:		Further coordinate systems can be added with the command like:

Jca: /* =How to use (one of) the pose modules from your own plug-in */

2009-05-09T06:37:56Z

=How to use (one of) the pose modules from your own plug-in

← Older revision		Revision as of 08:37, 9 May 2009
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	===How to use (one of) the pose modules from your own plug-in==		===How to use (one of) the pose modules from your own plug-in===

	You can get access to the pose module using a resource pointer. The procedure is the same		You can get access to the pose module using a resource pointer. The procedure is the same

Jca at 06:37, 9 May 2009

2009-05-09T06:37:31Z

← Older revision		Revision as of 08:37, 9 May 2009
Line 1:		Line 1:

			===Static pose maintenance plug-in===

	Three static modules are available to maintain and service coordinate systems:		Three static modules are available to maintain and service coordinate systems:

Jca: /* Main function of pose information */

2009-05-09T06:36:52Z

Main function of pose information

← Older revision		Revision as of 08:36, 9 May 2009
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	These functions are usually used directly using C++ calls to this resource.		These functions are usually used directly using C++ calls to this resource.

	~~A number of global available values are maintained, such as the distance traveled. These are primarily intended to be used by a mission scheduler, as trip counter and time passed functions. See e.g.:~~

	~~var mapPose~~		===How to use (one of) the pose modules from your own plug-in==

	~~to get an overview of available global values available.~~

	~~'''~~How to use (one of) the pose modules from your own plug-in~~'''~~

	You can get access to the pose module using a resource pointer. The procedure is the same		You can get access to the pose module using a resource pointer. The procedure is the same
	if you need it in an interface part of the plug-in or in a resource.		if you need it in an interface part of the plug-in or in a resource.

	~~Create~~ a ~~pointer in the class definition to the common type UResPoseHist~~, ~~e.g.~~:		To get newest pose, or a pose at a given time, use something like:

	#include <urob4/uresposehist.h>		#include <urob4/uresposehist.h>
	...		...
	~~protected~~:		void UResYourResource::yourFunction()
	~~UResPoseHist * mapPose;~~

	~~This mapPose pointer needs to be initialized to NULL in the class constructor, as this usually is used as an indication of an invalid resource. e.g.~~:

	~~UResYourClass::UResYourClass~~()
	{		{
	~~setResID~~(~~getResID~~());		UResPoseHist * mapPose;
	~~resVersion = getResVersion~~();		UPoseTime currentPose;
	mapPose ~~= NULL~~;		UPose pose;
	}		UTime t;
			//
			mapPose = (UResPoseHist *) getStaticResource("mapPose", false);
			if (mapPose != NULL)
			currentPose = mapPose->getNewest();
			....
			t.now(); // current time
			t -= 5.0; // 5 seconds ago
			pose = mapPose->getPoseAtTime(t); // map pose 5 seconds ago
			}

	The server core will tell you about available resources - and changes in the resource situation, this is done with a call to the function setResource(UResBase * resource, bool remove), and if your program should listen to this call, to get the correct pointer, i.e. to get the mapPose pointer:		===Update with new positions===

	~~bool UResYourClass::setResource(UResBase * resource, bool remove)~~
	{
	~~bool result = true;~~
	~~if (resource->isA(UResPoseHist::getMapPoseID())) // *note~~
	~~{ // ressource may be deleted or change~~
	~~if (remove)~~
	~~mapPose = NULL;~~
	~~else if (mapPose !~~= ~~resource)~~
	~~mapPose~~ = ~~(UResPoseHist *)resource;~~
	~~else~~
	~~result~~ = ~~false; // the resource is not neded by this class~~
	}
	~~// the base class may need the resource~~
	~~result &= UResVarPool::setResource(resource, remove);~~
	~~return result; // used or not~~
	}

	*note: The other alternatives are: UResPoseHist::getOdoPoseID() and UResPoseHist::getUtmPoseID() for the other coordinate systems.

	~~Now the resource pointer is in place, ready for use.~~

	~~'''~~Update with new positions~~'''~~

	The main assumption is that one plugin maintains the pose and one or more other plugins (or the mission sequencer) uses the information.		The main assumption is that one plugin maintains the pose and one or more other plugins (or the mission sequencer) uses the information.

	To update the mapPose ~~plugin~~, just provide a pose and the time when the pose is valid		To update the mapPose, just provide a pose and the time when the pose is valid

	UPoseTime pt; // structure with x, y, h and time		UPoseTime pt; // structure with x, y, h and time
	UTime t; // ~~just time in~~ linux time ~~format~~ (seconds since 1 jan 1970)		UTime t; // linux time (seconds since 1 jan 1970)
	//		//
	t.now(); // set time from linux clock		t.now(); // set time from linux clock
Line 127:		Line 103:
	mapPose->addIfNeeded(pt, 0.0, -12); // add the new pose (if needed)		mapPose->addIfNeeded(pt, 0.0, -12); // add the new pose (if needed)

	The call to addIfNeeded(...) has three parameters, the first is the pose, the second is an optional speed (not essential), the last is a number used to identify the updater - negative numbers are an update from a ~~plugin~~, a positive number is a TCP/IP client.		The call to addIfNeeded(...) has three parameters, the first is the pose, the second is an optional speed (not essential), the last is a number used to identify the updater - negative numbers are an update from a plug-in, a positive number is a TCP/IP client.
	This number is available to ease debugging in the help text:		This number is then available to ease debugging in the help text:

	mapPose help		mapPose help

	~~'''Use the resource pointer to get a pose'''~~

	~~To get a pose will normally use getPoseAtTime(UTime atTime), like:~~

	~~UPose pose;~~
	~~UTime t;~~
	//
	~~t.now();~~
	~~pose = mapPose->getPoseAtTime(t);~~

	See the class documentation for UResPoseHist for other available methods and values.		See the class documentation for UResPoseHist for other available methods and values.

	[[Image:odoPose-update-rev2.png]]		[[Image:odoPose-update-rev2.png]]

Jca at 06:04, 9 May 2009

2009-05-09T06:04:12Z

@@ Line 3: / Line 3: @@
 * odoPose intended for odometry pose as maintained from MRC (smrdemo)
 * mapPose intended for a map coordinate system, e.g. oriented as a room, building or area coordinate reference
-* utmPose intended to be maintained from a GPS and possibly backed by localization from known map positions in UTM coordinates.
+* utmPose intended to be maintained from a GPS and possibly backed by localization from known map positions in UTM coordinates (in WGS84 projection).
 To add a module see (e.g. from the server window or in a script)
@@ Line 11: / Line 11: @@
   module add=odoPose
   module add=utmPose
 Further coordinate systems can be added with the command like:
@@ Line 20: / Line 41: @@
   myPosePush cmd="myPose pose"  # execute a command, when the pose in this coordinate system is updated
 ===Main function of pose information===

Jca at 05:02, 9 May 2009

2009-05-09T05:02:44Z

← Older revision		Revision as of 07:02, 9 May 2009
Line 12:		Line 12:
	module add=utmPose		module add=utmPose

	~~'''~~Main function of pose information~~'''~~		Further coordinate systems can be added with the command like:
			module load=odoPose alias myPose
			The the then functions like
			myPose log # start logging
			myPose pose # get most current pose in this coordinate system
			myPose help # get help
			myPosePush cmd="myPose pose" # execute a command, when the pose in this coordinate system is updated


			===Main function of pose information===

	The pose is information of robot position in som coordinate system at a point in time. The module stores a number of updates (currently 2000) and holds functions to maintain, query and do some calculations on this stack of positions.		The pose is information of robot position in som coordinate system at a point in time. The module stores a number of updates (currently 2000) and holds functions to maintain, query and do some calculations on this stack of positions.

Lvm: New page: Three static modules are available to maintain and service coordinate systems: * odoPose intended for odometry pose as maintained from MRC (smrdemo) * mapPose intended for a map coordinat...

2008-09-29T11:03:51Z

New page: Three static modules are available to maintain and service coordinate systems: * odoPose intended for odometry pose as maintained from MRC (smrdemo) * mapPose intended for a map coordinat...

New page

Three static modules are available to maintain and service coordinate systems:

* odoPose intended for odometry pose as maintained from MRC (smrdemo)
* mapPose intended for a map coordinate system, e.g. oriented as a room, building or area coordinate reference
* utmPose intended to be maintained from a GPS and possibly backed by localization from known map positions in UTM coordinates.

To add a module see (e.g. from the server window or in a script)
module help
To add all three coordinate system modules:
module add=mappose
module add=odoPose
module add=utmPose

'''Main function of pose information'''

The pose is information of robot position in som coordinate system at a point in time. The module stores a number of updates (currently 2000) and holds functions to maintain, query and do some calculations on this stack of positions.
Update of the pose can trigger an event, that can be used to trigger some action, e.g. a sensor fusion update or transfer of pose to another server.

A few parameters determine if an update is stored as an update, determined on the movement and the time since last stored update. Default values are (if not changed):

minDist = 0.03 // Adding update to history if distance is more than this
minTurn = 1.0 * M_PI / 180.0 // Adding update to history if turned more than this (1 degree)
minTime = 10.0 // Adding update to history if time passed is more than this

If either of these limitations are exceeded, then the new update is added to the update buffer. This means that if the distance criteria is the limiting criteria, then there could be 2000*0.03 = 60m of valid poses in the history buffer.

The history buffer can be used to determine
* pose at a specific time (often used to determine pose at the time of some sensor data.)
* pose at a distance from current position - e.g. 5m from current position, calculated as direct distance, not traveled distance.
* Direct iteration into stored values.

These functions are usually used directly using C++ calls to this resource.

A number of global available values are maintained, such as the distance traveled. These are primarily intended to be used by a mission scheduler, as trip counter and time passed functions. See e.g.:

var mapPose

to get an overview of available global values available.

'''How to use (one of) the pose modules from your own plug-in'''

You can get access to the pose module using a resource pointer. The procedure is the same
if you need it in an interface part of the plug-in or in a resource.

Create a pointer in the class definition to the common type UResPoseHist, e.g.:

#include <urob4/uresposehist.h>
...
protected:
UResPoseHist * mapPose;

This mapPose pointer needs to be initialized to NULL in the class constructor, as this usually is used as an indication of an invalid resource. e.g.:

UResYourClass::UResYourClass()
{
setResID(getResID());
resVersion = getResVersion();
mapPose = NULL;
}

The server core will tell you about available resources - and changes in the resource situation, this is done with a call to the function setResource(UResBase * resource, bool remove), and if your program should listen to this call, to get the correct pointer, i.e. to get the mapPose pointer:

bool UResYourClass::setResource(UResBase * resource, bool remove)
{
bool result = true;
if (resource->isA(UResPoseHist::getMapPoseID())) // *note
{ // ressource may be deleted or change
if (remove)
mapPose = NULL;
else if (mapPose != resource)
mapPose = (UResPoseHist *)resource;
else
result = false; // the resource is not neded by this class
}
// the base class may need the resource
result &= UResVarPool::setResource(resource, remove);
return result; // used or not
}

*note: The other alternatives are: UResPoseHist::getOdoPoseID() and UResPoseHist::getUtmPoseID() for the other coordinate systems.

Now the resource pointer is in place, ready for use.

'''Update with new positions'''

The main assumption is that one plugin maintains the pose and one or more other plugins (or the mission sequencer) uses the information.

To update the mapPose plugin, just provide a pose and the time when the pose is valid

UPoseTime pt; // structure with x, y, h and time
UTime t; // just time in linux time format (seconds since 1 jan 1970)
//
t.now(); // set time from linux clock
pt.set(xPosition, yPosition, headingInRadians); // set some pose
pt.t = t; // add the time
mapPose->addIfNeeded(pt, 0.0, -12); // add the new pose (if needed)

The call to addIfNeeded(...) has three parameters, the first is the pose, the second is an optional speed (not essential), the last is a number used to identify the updater - negative numbers are an update from a plugin, a positive number is a TCP/IP client.
This number is available to ease debugging in the help text:

mapPose help

'''Use the resource pointer to get a pose'''

To get a pose will normally use getPoseAtTime(UTime atTime), like:

UPose pose;
UTime t;
//
t.now();
pose = mapPose->getPoseAtTime(t);

See the class documentation for UResPoseHist for other available methods and values.

[[Image:odoPose-update-rev2.png]]