RobotHardware-UESTC/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/omni3.h

#ifndef PIBOT_OMNI3_H_
#define PIBOT_OMNI3_H_

#include "model.h"
#include "math.h"

// 定义Motor数目
#define MOTOR_COUNT 3

#define sqrt_of_3 1.732f

// 3轮全向模型接口实现
class Omni3 : public Model
{
public:
	Omni3() {}
	Omni3(float _wheel_radius, float _body_radius) : Model(_wheel_radius, _body_radius) {}

	// 运动解算 把给到机器人的速度分解为各个轮子速度
	void motionSolver(float *robot_speed, float *motor_speed)
	{
		//	robot_speed[0] x	robot_speed[1] y	robot_speed[2] z
		motor_speed[0] = (robot_speed[1] + robot_speed[2] * body_radius) / wheel_radius;
		motor_speed[1] = (-robot_speed[0] * sqrt_of_3 * 0.5 - robot_speed[1] * 0.5 + robot_speed[2] * body_radius) / wheel_radius;
		motor_speed[2] = (robot_speed[0] * sqrt_of_3 * 0.5 - robot_speed[1] * 0.5 + robot_speed[2] * body_radius) / wheel_radius;
	}

	// 反解算， 把各个轮子的速度转为机器人的速度 ，这里通过固定时间间隔转为里程
	void get_odom(struct Odom *odom, float *motor_dis, unsigned long interval)
	{
		if (motor_dis[0] != 0 || motor_dis[1] != 0 || motor_dis[2] != 0)
		{
			// speed
			float dvx  = (-motor_dis[1]     + motor_dis[2]               ) * sqrt_of_3 / 3.0f;
			float dvy  = ( motor_dis[0] * 2 - motor_dis[1] - motor_dis[2]) / 3.0f;
			float dvth = ( motor_dis[0]     + motor_dis[1] + motor_dis[2]) / (3 * body_radius);

			odom->vel_x = dvx  / interval;
			odom->vel_y = dvy  / interval;
			odom->vel_z = dvth / interval;

			float th = odom->z;

			// odometry
			float dx = (-sin(th) * motor_dis[0] * 2 + (-sqrt_of_3 * cos(th) + sin(th)) * motor_dis[1] + (sqrt_of_3 * cos(th) + sin(th)) * motor_dis[2]) / 3.0f;
			float dy = (cos(th) * motor_dis[0] * 2 + (-sqrt_of_3 * sin(th) - cos(th)) * motor_dis[1] + (sqrt_of_3 * sin(th) - cos(th)) * motor_dis[2]) / 3.0f;
			float dth = (motor_dis[0] + motor_dis[1] + motor_dis[2]) / (3 * body_radius);

			odom->x += dx;
			odom->y += dy;
			odom->z += dth;
		}
	}
};

#endif