ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Asservissement/Asserv.h@36:54f86bc6fd80, 2015-03-08 (annotated)

Committer:
Near32
Date:
Sun Mar 08 21:24:27 2015 +0000
Revision:
36:54f86bc6fd80
Child:
41:c04c2ec37aad
Motor class; +TODO : bicycle thingy : solved.; TODO:; tester l'odometrie en mode "roue libre"

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Near32 36:54f86bc6fd80 1 /*KalmanFilter*/
Near32 36:54f86bc6fd80 2 #include "EKF.h"
Near32 36:54f86bc6fd80 3 #include "Odometry.h"
Near32 36:54f86bc6fd80 4
Near32 36:54f86bc6fd80 5 template<typename T>
Near32 36:54f86bc6fd80 6 Mat<T> motion_bicycle3( Mat<T> state, Mat<T> command, T dt = (T)0.5);
Near32 36:54f86bc6fd80 7 template<typename T>
Near32 36:54f86bc6fd80 8 Mat<T> sensor_bicycle3( Mat<T> state, Mat<T> command, Mat<T> d_state, T dt = 0.5 );
Near32 36:54f86bc6fd80 9 template<typename T>
Near32 36:54f86bc6fd80 10 Mat<T> jmotion_bicycle3( Mat<T> state, Mat<T> command, T dt = 0.5);
Near32 36:54f86bc6fd80 11 template<typename T>
Near32 36:54f86bc6fd80 12 Mat<T> jmotion_bicycle3_command(Mat<T> state, Mat<T> command, T dt = 0.5);
Near32 36:54f86bc6fd80 13 template<typename T>
Near32 36:54f86bc6fd80 14 Mat<T> jsensor_bicycle3( Mat<T> state, Mat<T> command, Mat<T> d_state, T dt = 0.5);
Near32 36:54f86bc6fd80 15 template<typename T>
Near32 36:54f86bc6fd80 16 bool setPWM(PwmOut *servo,T p);
Near32 36:54f86bc6fd80 17 int reduc = 16;
Near32 36:54f86bc6fd80 18
Near32 36:54f86bc6fd80 19
Near32 36:54f86bc6fd80 20 /*---------------------------------------------------------------------------------------------------------*/
Near32 36:54f86bc6fd80 21 /*---------------------------------------------------------------------------------------------------------*/
Near32 36:54f86bc6fd80 22
Near32 36:54f86bc6fd80 23 template<typename T>
Near32 36:54f86bc6fd80 24 class Asserv
Near32 36:54f86bc6fd80 25 {
Near32 36:54f86bc6fd80 26 private :
Near32 36:54f86bc6fd80 27
Near32 36:54f86bc6fd80 28 Odometry* odometry;
Near32 36:54f86bc6fd80 29 EKF<T> instanceEKF;
Near32 36:54f86bc6fd80 30 int nbrstate;
Near32 36:54f86bc6fd80 31 int nbrcontrol;
Near32 36:54f86bc6fd80 32 int nbrobs;
Near32 36:54f86bc6fd80 33 T dt;
Near32 36:54f86bc6fd80 34
Near32 36:54f86bc6fd80 35 T stdnoise;
Near32 36:54f86bc6fd80 36 Mat<T> X;
Near32 36:54f86bc6fd80 37 Mat<T> dX;
Near32 36:54f86bc6fd80 38 Mat<T> initX;
Near32 36:54f86bc6fd80 39 Mat<T> z;
Near32 36:54f86bc6fd80 40 Mat<T> u;
Near32 36:54f86bc6fd80 41 bool extended;
Near32 36:54f86bc6fd80 42 bool filterOn;
Near32 36:54f86bc6fd80 43
Near32 36:54f86bc6fd80 44 Mat<T> ki;
Near32 36:54f86bc6fd80 45 Mat<T> kp;
Near32 36:54f86bc6fd80 46 Mat<T> kd;
Near32 36:54f86bc6fd80 47
Near32 36:54f86bc6fd80 48 public :
Near32 36:54f86bc6fd80 49
Near32 36:54f86bc6fd80 50 T phi_r;
Near32 36:54f86bc6fd80 51 T phi_l;
Near32 36:54f86bc6fd80 52 T phi_max;
Near32 36:54f86bc6fd80 53 bool execution;
Near32 36:54f86bc6fd80 54 bool isarrived;
Near32 36:54f86bc6fd80 55
Near32 36:54f86bc6fd80 56 Asserv(Odometry* odometry)
Near32 36:54f86bc6fd80 57 {
Near32 36:54f86bc6fd80 58 /*Odometry*/
Near32 36:54f86bc6fd80 59 this->odometry = odometry;
Near32 36:54f86bc6fd80 60 phi_max = (T)1.0;
Near32 36:54f86bc6fd80 61
Near32 36:54f86bc6fd80 62 /*KalmanFilter*/
Near32 36:54f86bc6fd80 63 //double phi_max = 100;
Near32 36:54f86bc6fd80 64 /*en millimetres*/
Near32 36:54f86bc6fd80 65
Near32 36:54f86bc6fd80 66 nbrstate = 5;
Near32 36:54f86bc6fd80 67 nbrcontrol = 2;
Near32 36:54f86bc6fd80 68 nbrobs = 5;
Near32 36:54f86bc6fd80 69 dt = (T)0.05;
Near32 36:54f86bc6fd80 70 stdnoise = (T)0.05;
Near32 36:54f86bc6fd80 71
Near32 36:54f86bc6fd80 72 initX = Mat<T>((T)0, nbrstate, 1);
Near32 36:54f86bc6fd80 73 initX.set( (T)0, 3,1);
Near32 36:54f86bc6fd80 74 X = initX;
Near32 36:54f86bc6fd80 75
Near32 36:54f86bc6fd80 76 extended = true;
Near32 36:54f86bc6fd80 77 filterOn = true;
Near32 36:54f86bc6fd80 78
Near32 36:54f86bc6fd80 79 instanceEKF = EKF<T>(nbrstate, nbrcontrol, nbrobs, dt, stdnoise, /*current state*/ initX, extended, filterOn);
Near32 36:54f86bc6fd80 80
Near32 36:54f86bc6fd80 81 instanceEKF.initMotion(motion_bicycle3);
Near32 36:54f86bc6fd80 82 instanceEKF.initSensor(sensor_bicycle3);
Near32 36:54f86bc6fd80 83 instanceEKF.initJMotion(jmotion_bicycle3);
Near32 36:54f86bc6fd80 84 //instanceEKF.initJMotionCommand(jmotion_bicycle3_command);
Near32 36:54f86bc6fd80 85 instanceEKF.initJSensor(jsensor_bicycle3);
Near32 36:54f86bc6fd80 86
Near32 36:54f86bc6fd80 87 /*desired State : (x y theta phiright phileft)*/
Near32 36:54f86bc6fd80 88 dX = Mat<T>((T)0, nbrstate, 1);
Near32 36:54f86bc6fd80 89 dX.set( (T)0, 1,1);
Near32 36:54f86bc6fd80 90 dX.set( (T)0, 2,1);
Near32 36:54f86bc6fd80 91 dX.set( (T)0, 3,1);
Near32 36:54f86bc6fd80 92 dX.set( (T)0, 4,1);
Near32 36:54f86bc6fd80 93 dX.set( (T)0, 5,1);
Near32 36:54f86bc6fd80 94
Near32 36:54f86bc6fd80 95 ki = Mat<T>((T)0, nbrcontrol, nbrstate);
Near32 36:54f86bc6fd80 96 kp = Mat<T>((T)0, nbrcontrol, nbrstate);
Near32 36:54f86bc6fd80 97 kd = Mat<T>((T)0, nbrcontrol, nbrstate);
Near32 36:54f86bc6fd80 98 //Mat<double> kdd((double)0.0015, nbrcontrol, nbrstate);
Near32 36:54f86bc6fd80 99
Near32 36:54f86bc6fd80 100 for(int i=1;i<=nbrstate;i++)
Near32 36:54f86bc6fd80 101 {
Near32 36:54f86bc6fd80 102 kp.set( (T)0.01, i, i);
Near32 36:54f86bc6fd80 103 kd.set( (T)0.0001, i, i);
Near32 36:54f86bc6fd80 104 ki.set( (T)0.0001, i, i);
Near32 36:54f86bc6fd80 105 }
Near32 36:54f86bc6fd80 106
Near32 36:54f86bc6fd80 107 instanceEKF.setKi(ki);
Near32 36:54f86bc6fd80 108 instanceEKF.setKp(kp);
Near32 36:54f86bc6fd80 109 instanceEKF.setKd(kd);
Near32 36:54f86bc6fd80 110 //instance.setKdd(kdd);
Near32 36:54f86bc6fd80 111
Near32 36:54f86bc6fd80 112 u = Mat<T>(transpose( instanceEKF.getCommand()) );
Near32 36:54f86bc6fd80 113
Near32 36:54f86bc6fd80 114 /*Observations*/
Near32 36:54f86bc6fd80 115 /*il nous faut 5 observation : mais on n'en met à jour que 3...*/
Near32 36:54f86bc6fd80 116 z = Mat<T>((T)0,5,1);
Near32 36:54f86bc6fd80 117 this->measurementCallback(&z);
Near32 36:54f86bc6fd80 118
Near32 36:54f86bc6fd80 119 /*----------------------------------------------------------------------------------------------*/
Near32 36:54f86bc6fd80 120 isarrived = true;
Near32 36:54f86bc6fd80 121 execution = false;
Near32 36:54f86bc6fd80 122
Near32 36:54f86bc6fd80 123 }
Near32 36:54f86bc6fd80 124
Near32 36:54f86bc6fd80 125 ~Asserv()
Near32 36:54f86bc6fd80 126 {
Near32 36:54f86bc6fd80 127
Near32 36:54f86bc6fd80 128 }
Near32 36:54f86bc6fd80 129
Near32 36:54f86bc6fd80 130 void setGoal(T x, T y, T theta)
Near32 36:54f86bc6fd80 131 {
Near32 36:54f86bc6fd80 132 dX.set(x,1,1);
Near32 36:54f86bc6fd80 133 dX.set(y,2,1);
Near32 36:54f86bc6fd80 134 dX.set(theta,3,1);
Near32 36:54f86bc6fd80 135 dX.set((T)0,4,1);
Near32 36:54f86bc6fd80 136 dX.set((T)0,5,1);
Near32 36:54f86bc6fd80 137 execution = true;
Near32 36:54f86bc6fd80 138 isarrived = false;
Near32 36:54f86bc6fd80 139
Near32 36:54f86bc6fd80 140 }
Near32 36:54f86bc6fd80 141
Near32 36:54f86bc6fd80 142 bool isArrived() { return isarrived;}
Near32 36:54f86bc6fd80 143
Near32 36:54f86bc6fd80 144 void stop()
Near32 36:54f86bc6fd80 145 {
Near32 36:54f86bc6fd80 146 execution = false;
Near32 36:54f86bc6fd80 147 }
Near32 36:54f86bc6fd80 148
Near32 36:54f86bc6fd80 149 void update(T deltat)
Near32 36:54f86bc6fd80 150 {
Near32 36:54f86bc6fd80 151 if(execution)
Near32 36:54f86bc6fd80 152 {
Near32 36:54f86bc6fd80 153 dt = deltat;
Near32 36:54f86bc6fd80 154 /*Asservissement*/
Near32 36:54f86bc6fd80 155
Near32 36:54f86bc6fd80 156 this->measurementCallback(&z);
Near32 36:54f86bc6fd80 157 instanceEKF.measurement_Callback( z, dX, true );
Near32 36:54f86bc6fd80 158
Near32 36:54f86bc6fd80 159 instanceEKF.state_Callback();
Near32 36:54f86bc6fd80 160 //instance.setX(z);
Near32 36:54f86bc6fd80 161 X = instanceEKF.getX();
Near32 36:54f86bc6fd80 162
Near32 36:54f86bc6fd80 163 //instance.computeCommand(dX, (double)dt, -2);
Near32 36:54f86bc6fd80 164 instanceEKF.computeCommand(dX, (T)dt, -2);
Near32 36:54f86bc6fd80 165 phi_r = instanceEKF.getCommand().get(1,1);
Near32 36:54f86bc6fd80 166 phi_l = instanceEKF.getCommand().get(2,1);
Near32 36:54f86bc6fd80 167 }
Near32 36:54f86bc6fd80 168 else
Near32 36:54f86bc6fd80 169 {
Near32 36:54f86bc6fd80 170 phi_r = (T)0;
Near32 36:54f86bc6fd80 171 phi_l = (T)0;
Near32 36:54f86bc6fd80 172 }
Near32 36:54f86bc6fd80 173 }
Near32 36:54f86bc6fd80 174
Near32 36:54f86bc6fd80 175 void measurementCallback( Mat<T>* z)
Near32 36:54f86bc6fd80 176 {
Near32 36:54f86bc6fd80 177 z->set( (T)/*conversionUnitée mm */this->odometry->getX(), 1,1);
Near32 36:54f86bc6fd80 178 z->set( (T)/*conversionUnitée mm*/this->odometry->getY(), 2,1);
Near32 36:54f86bc6fd80 179 T theta = (T)this->odometry->getTheta();
Near32 36:54f86bc6fd80 180 theta = atan21(sin(theta),cos(theta));
Near32 36:54f86bc6fd80 181 z->set( (double)/*conversionUnitée rad*/theta, 3,1);//odometry->getTheta(), 3,1);
Near32 36:54f86bc6fd80 182 T vx = (T)this->odometry->getVx();
Near32 36:54f86bc6fd80 183 T vy = (T)this->odometry->getVy();
Near32 36:54f86bc6fd80 184 z->set( sqrt(vx*vx+vy*vy),4,1);
Near32 36:54f86bc6fd80 185 z->set( (T)odometry->getW(),5,1);
Near32 36:54f86bc6fd80 186
Near32 36:54f86bc6fd80 187 //z->afficherM();
Near32 36:54f86bc6fd80 188 }
Near32 36:54f86bc6fd80 189
Near32 36:54f86bc6fd80 190 Mat<T> getX()
Near32 36:54f86bc6fd80 191 {
Near32 36:54f86bc6fd80 192 return X;
Near32 36:54f86bc6fd80 193 }
Near32 36:54f86bc6fd80 194
Near32 36:54f86bc6fd80 195 T getPhiR()
Near32 36:54f86bc6fd80 196 {
Near32 36:54f86bc6fd80 197 return phi_r;
Near32 36:54f86bc6fd80 198 }
Near32 36:54f86bc6fd80 199
Near32 36:54f86bc6fd80 200 T getPhiL()
Near32 36:54f86bc6fd80 201 {
Near32 36:54f86bc6fd80 202 return phi_l;
Near32 36:54f86bc6fd80 203 }
Near32 36:54f86bc6fd80 204
Near32 36:54f86bc6fd80 205 T getPhiMax()
Near32 36:54f86bc6fd80 206 {
Near32 36:54f86bc6fd80 207 return phi_max;
Near32 36:54f86bc6fd80 208 }
Near32 36:54f86bc6fd80 209
Near32 36:54f86bc6fd80 210
Near32 36:54f86bc6fd80 211 };
Near32 36:54f86bc6fd80 212
Near32 36:54f86bc6fd80 213 template<typename T>
Near32 36:54f86bc6fd80 214 bool setPWM(PwmOut *servo,T p)
Near32 36:54f86bc6fd80 215 {
Near32 36:54f86bc6fd80 216 if(p <= (T)1.0 && p >= (T)0.0)
Near32 36:54f86bc6fd80 217 {
Near32 36:54f86bc6fd80 218 servo->write((float)p);
Near32 36:54f86bc6fd80 219 return true;
Near32 36:54f86bc6fd80 220 }
Near32 36:54f86bc6fd80 221
Near32 36:54f86bc6fd80 222 return false;
Near32 36:54f86bc6fd80 223 }
Near32 36:54f86bc6fd80 224
Near32 36:54f86bc6fd80 225 template<typename T>
Near32 36:54f86bc6fd80 226 Mat<T> motion_bicycle3( Mat<T> state, Mat<T> command, T dt)
Near32 36:54f86bc6fd80 227 {
Near32 36:54f86bc6fd80 228 Mat<T> bicycle(3,1);
Near32 36:54f86bc6fd80 229 bicycle.set((T)36, 1,1); /*radius*/
Near32 36:54f86bc6fd80 230 bicycle.set((T)36, 2,1);
Near32 36:54f86bc6fd80 231 bicycle.set((T)220, 3,1); /*entre-roue*/
Near32 36:54f86bc6fd80 232 Mat<T> r(state);
Near32 36:54f86bc6fd80 233 //double v = bicycle.get(1,1)/(2*bicycle.get(3,1))*(r.get(4,1)+r.get(5,1));
Near32 36:54f86bc6fd80 234 //double w = bicycle.get(1,1)/(2*bicycle.get(3,1))*(r.get(4,1)-r.get(5,1));
Near32 36:54f86bc6fd80 235 T v = state.get(4,1);
Near32 36:54f86bc6fd80 236 T w = state.get(5,1);
Near32 36:54f86bc6fd80 237
Near32 36:54f86bc6fd80 238 r.set( r.get(1,1) + v*cos(r.get(3,1))*dt, 1,1);
Near32 36:54f86bc6fd80 239 r.set( r.get(2,1) + v*sin(r.get(3,1))*dt, 2,1);
Near32 36:54f86bc6fd80 240
Near32 36:54f86bc6fd80 241 T angle = (r.get(3,1) + dt*w);
Near32 36:54f86bc6fd80 242 if( angle < -PI)
Near32 36:54f86bc6fd80 243 {
Near32 36:54f86bc6fd80 244 angle = angle - PI*ceil(angle/PI);
Near32 36:54f86bc6fd80 245 }
Near32 36:54f86bc6fd80 246 else if( angle > PI)
Near32 36:54f86bc6fd80 247 {
Near32 36:54f86bc6fd80 248 angle = angle - PI*floor(angle/PI);
Near32 36:54f86bc6fd80 249 }
Near32 36:54f86bc6fd80 250
Near32 36:54f86bc6fd80 251 r.set( atan21(sin(angle), cos(angle)), 3,1);
Near32 36:54f86bc6fd80 252
Near32 36:54f86bc6fd80 253
Near32 36:54f86bc6fd80 254 /*----------------------------------------*/
Near32 36:54f86bc6fd80 255 /*Modele du moteur*/
Near32 36:54f86bc6fd80 256 /*----------------------------------------*/
Near32 36:54f86bc6fd80 257 //double r1 = bicycle.get(3,1)/bicycle.get(1,1)*(command.get(1,1)/bicycle.get(3,1)+command.get(2,1));
Near32 36:54f86bc6fd80 258 //double r2 = bicycle.get(3,1)/bicycle.get(1,1)*(command.get(1,1)/bicycle.get(3,1)-command.get(2,1));
Near32 36:54f86bc6fd80 259 T r1 = bicycle.get(1,1)/2*(command.get(1,1)+command.get(2,1));
Near32 36:54f86bc6fd80 260 T r2 = bicycle.get(1,1)/bicycle.get(3,1)*(command.get(1,1)-command.get(2,1));
Near32 36:54f86bc6fd80 261
Near32 36:54f86bc6fd80 262
Near32 36:54f86bc6fd80 263 r.set( r1, 4,1);
Near32 36:54f86bc6fd80 264 r.set( r2, 5,1);
Near32 36:54f86bc6fd80 265
Near32 36:54f86bc6fd80 266
Near32 36:54f86bc6fd80 267 /*----------------------------------------*/
Near32 36:54f86bc6fd80 268 /*----------------------------------------*/
Near32 36:54f86bc6fd80 269
Near32 36:54f86bc6fd80 270 return r;
Near32 36:54f86bc6fd80 271 }
Near32 36:54f86bc6fd80 272
Near32 36:54f86bc6fd80 273 template<typename T>
Near32 36:54f86bc6fd80 274 Mat<T> sensor_bicycle3( Mat<T> state, Mat<T> command, Mat<T> d_state, T dt)
Near32 36:54f86bc6fd80 275 {
Near32 36:54f86bc6fd80 276 /*
Near32 36:54f86bc6fd80 277 double angle = state.get(3,1);
Near32 36:54f86bc6fd80 278 if( angle < -PI)
Near32 36:54f86bc6fd80 279 {
Near32 36:54f86bc6fd80 280 angle = angle - PI*ceil(angle/PI);
Near32 36:54f86bc6fd80 281 }
Near32 36:54f86bc6fd80 282 else if( angle > PI)
Near32 36:54f86bc6fd80 283 {
Near32 36:54f86bc6fd80 284 angle = angle - PI*floor(angle/PI);
Near32 36:54f86bc6fd80 285 }
Near32 36:54f86bc6fd80 286
Near32 36:54f86bc6fd80 287 state.set( atan21(sin(angle), cos(angle)), 3,1);
Near32 36:54f86bc6fd80 288 */
Near32 36:54f86bc6fd80 289 return state;
Near32 36:54f86bc6fd80 290 }
Near32 36:54f86bc6fd80 291
Near32 36:54f86bc6fd80 292 template<typename T>
Near32 36:54f86bc6fd80 293 Mat<T> jmotion_bicycle3( Mat<T> state, Mat<T> command, T dt)
Near32 36:54f86bc6fd80 294 {
Near32 36:54f86bc6fd80 295 T h = sqrt(numeric_limits<T>::epsilon())*norme2(state)+ pow(numeric_limits<T>::epsilon(), (T)0.5);
Near32 36:54f86bc6fd80 296 Mat<T> var( (T)0, state.getLine(), state.getColumn());
Near32 36:54f86bc6fd80 297 var.set( h, 1,1);
Near32 36:54f86bc6fd80 298 Mat<T> G(motion_bicycle3(state+var, command, dt) - motion_bicycle3(state-var, command,dt));
Near32 36:54f86bc6fd80 299
Near32 36:54f86bc6fd80 300 for(int i=2;i<=state.getLine();i++)
Near32 36:54f86bc6fd80 301 {
Near32 36:54f86bc6fd80 302 var.set( (T)0, i-1,1);
Near32 36:54f86bc6fd80 303 var.set( h, i,1);
Near32 36:54f86bc6fd80 304 G = operatorL(G, motion_bicycle3(state+var, command, dt) - motion_bicycle3(state-var, command,dt) );
Near32 36:54f86bc6fd80 305 }
Near32 36:54f86bc6fd80 306
Near32 36:54f86bc6fd80 307
Near32 36:54f86bc6fd80 308 return ((T)1.0/(2*h))*G;
Near32 36:54f86bc6fd80 309 }
Near32 36:54f86bc6fd80 310
Near32 36:54f86bc6fd80 311 template<typename T>
Near32 36:54f86bc6fd80 312 Mat<T> jmotion_bicycle3_command(Mat<T> state, Mat<T> command, T dt)
Near32 36:54f86bc6fd80 313 {
Near32 36:54f86bc6fd80 314 T h = pow(numeric_limits<T>::epsilon()), (T)0.5)+sqrt(numeric_limits<T>::epsilon())*norme2(state);
Near32 36:54f86bc6fd80 315 Mat<T> var( (T)0, command.getLine(), command.getColumn());
Near32 36:54f86bc6fd80 316 var.set( h, 1,1);
Near32 36:54f86bc6fd80 317 Mat<T> G(motion_bicycle3(state, command+var, dt) - motion_bicycle3(state, command-var,dt));
Near32 36:54f86bc6fd80 318
Near32 36:54f86bc6fd80 319 for(int i=2;i<=command.getLine();i++)
Near32 36:54f86bc6fd80 320 {
Near32 36:54f86bc6fd80 321 var.set( (T)0, i-1,1);
Near32 36:54f86bc6fd80 322 var.set( h, i,1);
Near32 36:54f86bc6fd80 323 G = operatorL(G, motion_bicycle3(state, command+var, dt) - motion_bicycle3(state, command-var,dt) );
Near32 36:54f86bc6fd80 324 }
Near32 36:54f86bc6fd80 325
Near32 36:54f86bc6fd80 326
Near32 36:54f86bc6fd80 327 return (1.0/(2*h))*G;
Near32 36:54f86bc6fd80 328 }
Near32 36:54f86bc6fd80 329
Near32 36:54f86bc6fd80 330
Near32 36:54f86bc6fd80 331 template<typename T>
Near32 36:54f86bc6fd80 332 Mat<T> jsensor_bicycle3( Mat<T> state, Mat<T> command, Mat<T> d_state, T dt)
Near32 36:54f86bc6fd80 333 {
Near32 36:54f86bc6fd80 334 T h = pow(numeric_limits<T>::epsilon(), (T)0.5)+sqrt(numeric_limits<T>::epsilon())*norme2(state);
Near32 36:54f86bc6fd80 335 Mat<T> var((T)0, state.getLine(), state.getColumn());
Near32 36:54f86bc6fd80 336 var.set( h, 1,1);
Near32 36:54f86bc6fd80 337 Mat<T> H(sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt));
Near32 36:54f86bc6fd80 338
Near32 36:54f86bc6fd80 339 for(int i=2;i<=state.getLine();i++)
Near32 36:54f86bc6fd80 340 {
Near32 36:54f86bc6fd80 341 var.set( (T)0, i-1,1);
Near32 36:54f86bc6fd80 342 var.set( h, i,1);
Near32 36:54f86bc6fd80 343 H = operatorL(H, sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt) );
Near32 36:54f86bc6fd80 344 }
Near32 36:54f86bc6fd80 345
Near32 36:54f86bc6fd80 346
Near32 36:54f86bc6fd80 347 return ((T)1.0/(2*h))*H;
Near32 36:54f86bc6fd80 348 /*
Near32 36:54f86bc6fd80 349 double h = sqrt(numeric_limits<double>::epsilon())*10e2+sqrt(numeric_limits<double>::epsilon())*norme2(state);
Near32 36:54f86bc6fd80 350 Mat<double> var((double)0, state.getLine(), state.getColumn());
Near32 36:54f86bc6fd80 351 var.set( h, 1,1);
Near32 36:54f86bc6fd80 352 Mat<double> H(sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt));
Near32 36:54f86bc6fd80 353
Near32 36:54f86bc6fd80 354 for(int i=2;i<=state.getLine();i++)
Near32 36:54f86bc6fd80 355 {
Near32 36:54f86bc6fd80 356 var.set( (double)0, i-1,1);
Near32 36:54f86bc6fd80 357 var.set( h, i,1);
Near32 36:54f86bc6fd80 358 H = operatorL(H, sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt) );
Near32 36:54f86bc6fd80 359
Near32 36:54f86bc6fd80 360 }
Near32 36:54f86bc6fd80 361
Near32 36:54f86bc6fd80 362
Near32 36:54f86bc6fd80 363 return (1.0/(2*h))*H;
Near32 36:54f86bc6fd80 364 */
Near32 36:54f86bc6fd80 365 }