com.ridgesoft.robotics
Class OdometricLocalizer

java.lang.Object
  java.lang.Thread
      com.ridgesoft.robotics.OdometricLocalizer

All Implemented Interfaces:

Localizer, Runnable

public class OdometricLocalizer
extends Thread
implements Localizer

This class implements a localizer for position tracking of a two wheel differential-drive robot using odometry.

This class keeps track of the robot's position using ShaftEncoder objects to monitor movements of the robot's left and right wheels.

This class extends the thread class enabling it to use it's own thread to monitor and integrate movement of the wheels to track the robot's position.

See Also:

ShaftEncoder, AnalogShaftEncoder

Field Summary

Fields inherited from class java.lang.Thread

MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY

Constructor Summary

OdometricLocalizer(ShaftEncoder leftEncoder, ShaftEncoder rightEncoder, float wheelDiameter, float trackWidth, int countsPerRevolution, int threadPriority, int period)
Constructs an OdometricLocalizer object.

Method Summary

Pose	getPose() Gets the robot's pose (x, y position and heading).
void	run() Run method for the localizer thread.
void	setHeading(float heading) Sets the robot's current heading.
void	setPose(float x, float y, float heading) Sets the robot's current pose.
void	setPose(Pose pose) Sets the robot's current pose.
void	setPosition(float x, float y) Sets the robot's current x and y coordinates.
String	toString() Returns a String indicating the current pose.

Methods inherited from class java.lang.Thread

activeCount, currentThread, dumpStack, getName, getPriority, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, setDaemon, setName, setPriority, sleep, start, yield

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, wait, wait

Constructor Detail

OdometricLocalizer

public OdometricLocalizer(ShaftEncoder leftEncoder,
                          ShaftEncoder rightEncoder,
                          float wheelDiameter,
                          float trackWidth,
                          int countsPerRevolution,
                          int threadPriority,
                          int period)

Constructs an OdometricLocalizer object.

Parameters:

leftEncoder - reference to the left wheel's shaft encoder object

rightEncoder - reference to the right wheel's shaft encoder object

wheelDiameter - diameter of the wheels

trackWidth - distance between the centerlines of the wheels

countsPerRevolution - number of encoder counts per one wheel revolution

threadPriority - priority of the thread

period - period of thread in milliseconds

Method Detail

getPose

public Pose getPose()

Gets the robot's pose (x, y position and heading).

Specified by:

getPose in interface Localizer

Returns:

Pose object containing the robot's current position and heading

run

public void run()

Run method for the localizer thread.

Specified by:

run in interface Runnable

Overrides:

run in class Thread

setHeading

public void setHeading(float heading)

Sets the robot's current heading.

Specified by:

setHeading in interface Localizer

Parameters:

heading - heading in radians

setPose

public void setPose(float x,
                    float y,
                    float heading)

Sets the robot's current pose.

Specified by:

setPose in interface Localizer

Parameters:

x - x coordiante in whatever units the localizer uses

y - y coordinate in whatever units the localizer uses

heading - heading in radians

setPose

public void setPose(Pose pose)

Sets the robot's current pose.

Specified by:

setPose in interface Localizer

Parameters:

pose - a Pose object containing the new pose

setPosition

public void setPosition(float x,
                        float y)

Sets the robot's current x and y coordinates.

Specified by:

setPosition in interface Localizer

Parameters:

x - x coordiante in whatever units the localizer uses

y - y coordinate in whatever units the localizer uses

toString

public String toString()

Returns a String indicating the current pose.

Overrides:

toString in class Thread

Returns:

string