ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

main.cpp@34:95b9e61c7dae, 2015-02-07 (annotated)

Committer:
Near32
Date:
Sat Feb 07 07:26:52 2015 +0000
Revision:
34:95b9e61c7dae
Parent:
32:148147c0755e
Child:
35:54b13e154801
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 0:41149573d577 1 #include "mbed.h"
Jagang 0:41149573d577 2 #include "QEI.h"
Jagang 0:41149573d577 3 #include "Odometry.h"
Jagang 23:228317fe0457 4 #include "Map.h"
Jagang 0:41149573d577 5
Near32 3:573a0dc8383f 6 /*---------------------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 7 /*---------------------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 8 /*KalmanFilter*/
Near32 3:573a0dc8383f 9 #include "EKF.h"
Near32 17:f360e21d3307 10 Mat<double> motion_bicycle3( Mat<double> state, Mat<double> command, double dt = 0.5);
Near32 17:f360e21d3307 11 Mat<double> sensor_bicycle3( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt = 0.5 );
Near32 17:f360e21d3307 12 Mat<double> jmotion_bicycle3( Mat<double> state, Mat<double> command, double dt = 0.5);
Near32 24:3c0422e1ebd6 13 Mat<double> jmotion_bicycle3_command(Mat<double> state, Mat<double> command, double dt = 0.5);
Near32 17:f360e21d3307 14 Mat<double> jsensor_bicycle3( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt = 0.5);
Near32 3:573a0dc8383f 15 void measurementCallback( Mat<double>* z, Odometry* odometry);
Near32 17:f360e21d3307 16 bool setPWM(PwmOut *servo,float p);
Near32 3:573a0dc8383f 17
Near32 3:573a0dc8383f 18 Mat<double> bicycle(3,1);
Near32 17:f360e21d3307 19 int reduc = 16;
Near32 3:573a0dc8383f 20 /*---------------------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 21 /*---------------------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 22
Near32 17:f360e21d3307 23 /*----------------------------------------------------------------------------------------------*/
Near32 17:f360e21d3307 24 /*Serial*/
Near32 17:f360e21d3307 25 Serial pcs(USBTX, USBRX); // tx, rx
Near32 17:f360e21d3307 26 /*----------------------------------------------------------------------------------------------*/
Jagang 21:5443f93819db 27
Jagang 23:228317fe0457 28 /* --- Initialisation de la liste des obstable --- */
Jagang 23:228317fe0457 29 int Obstacle::lastId = 0;
Jagang 23:228317fe0457 30
Jagang 0:41149573d577 31 int main()
Jagang 0:41149573d577 32 {
Near32 24:3c0422e1ebd6 33 pcs.printf("demarrage");
Near32 24:3c0422e1ebd6 34 //mbed
Near32 24:3c0422e1ebd6 35 /*
Near32 17:f360e21d3307 36 PwmOut pw1(p22);
Near32 17:f360e21d3307 37 DigitalOut dir1(p21);
Near32 17:f360e21d3307 38 PwmOut pw2(p24);
Near32 17:f360e21d3307 39 DigitalOut dir2(p23);
Near32 24:3c0422e1ebd6 40 */
Near32 17:f360e21d3307 41
Near32 17:f360e21d3307 42 //mbuino
Near32 17:f360e21d3307 43 /*
Near32 17:f360e21d3307 44 PwmOut pw1(P0_17);
Near32 17:f360e21d3307 45 DigitalOut dir1(P0_18);
Near32 17:f360e21d3307 46 PwmOut pw2(P0_23);
Near32 17:f360e21d3307 47 DigitalOut dir2(P0_19);
Near32 17:f360e21d3307 48 */
Near32 17:f360e21d3307 49 /*
Near32 17:f360e21d3307 50 //nucleo
Near32 17:f360e21d3307 51 PwmOut pw1(PB_8);
Near32 17:f360e21d3307 52 DigitalOut dir1(D12);
Near32 17:f360e21d3307 53 PwmOut pw2(PB_9);
Near32 17:f360e21d3307 54 DigitalOut dir2(D13);
Near32 17:f360e21d3307 55 */
Near32 24:3c0422e1ebd6 56 //nucleo
Near32 24:3c0422e1ebd6 57 PwmOut pw1(PA_0);
Near32 24:3c0422e1ebd6 58 DigitalOut dir1(PB_8);
Near32 24:3c0422e1ebd6 59 PwmOut pw2(PA_1);
Near32 24:3c0422e1ebd6 60 DigitalOut dir2(PB_9);
Near32 17:f360e21d3307 61 pw1.period_us(10);
Near32 17:f360e21d3307 62 pw2.period_us(10);
Near32 17:f360e21d3307 63
Near32 17:f360e21d3307 64
Near32 17:f360e21d3307 65 dir1.write(0);
Near32 17:f360e21d3307 66 dir2.write(0);
Near32 24:3c0422e1ebd6 67
Near32 26:54e1afed58b2 68 pw1.write(0.0);
Near32 26:54e1afed58b2 69 pw2.write(0.0);
Near32 17:f360e21d3307 70 //setPWM(&pw1,0.9);
Near32 24:3c0422e1ebd6 71 pcs.printf("mise a jour des pwm.\n");
Near32 26:54e1afed58b2 72 Timer t;
Near32 24:3c0422e1ebd6 73
Near32 3:573a0dc8383f 74 /*----------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 75 /*Odometry*/
Jagang 32:148147c0755e 76 QEI qei_left(D2,D3,NC,1024*4,QEI::X4_ENCODING);
Jagang 32:148147c0755e 77 QEI qei_right(D4,D5,NC,1024*4,QEI::X4_ENCODING);
Jagang 32:148147c0755e 78 Odometry odometry(&qei_left,&qei_right,63/2.,63/2.,280);
Near32 34:95b9e61c7dae 79 bool testOdo = true;
Near32 3:573a0dc8383f 80 /*----------------------------------------------------------------------------------------------*/
Jagang 0:41149573d577 81
Near32 3:573a0dc8383f 82
Near32 3:573a0dc8383f 83
Near32 3:573a0dc8383f 84 /*----------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 85 /*KalmanFilter*/
Near32 24:3c0422e1ebd6 86 //double phi_max = 100;
Near32 3:573a0dc8383f 87 /*en millimetres*/
Near32 26:54e1afed58b2 88 bicycle.set((double)36, 1,1); /*radius*/
Near32 26:54e1afed58b2 89 bicycle.set((double)36, 2,1);
Near32 26:54e1afed58b2 90 bicycle.set((double)220, 3,1); /*entre-roue*/
Near32 3:573a0dc8383f 91
Near32 3:573a0dc8383f 92 int nbrstate = 5;
Near32 3:573a0dc8383f 93 int nbrcontrol = 2;
Near32 17:f360e21d3307 94 int nbrobs = 5;
Near32 3:573a0dc8383f 95 double dt = (double)0.05;
Near32 8:1150a13f6967 96 double stdnoise = (double)0.05;
Near32 3:573a0dc8383f 97
Near32 3:573a0dc8383f 98 Mat<double> initX((double)0, nbrstate, 1);
Near32 3:573a0dc8383f 99 initX.set( (double)0, 3,1);
Near32 34:95b9e61c7dae 100 Mat<double> X(initX);
Near32 3:573a0dc8383f 101
Near32 3:573a0dc8383f 102 bool extended = true;
Near32 24:3c0422e1ebd6 103 bool filterOn = true;
Near32 24:3c0422e1ebd6 104 pcs.printf("mise a jour des pwm.\n");
Near32 24:3c0422e1ebd6 105 EKF<double> instance(nbrstate, nbrcontrol, nbrobs, dt, stdnoise, /*current state*/ initX, extended, filterOn);
Near32 3:573a0dc8383f 106
Near32 17:f360e21d3307 107 instance.initMotion(motion_bicycle3);
Near32 17:f360e21d3307 108 instance.initSensor(sensor_bicycle3);
Near32 17:f360e21d3307 109 instance.initJMotion(jmotion_bicycle3);
Near32 24:3c0422e1ebd6 110 //instance.initJMotionCommand(jmotion_bicycle3_command);
Near32 17:f360e21d3307 111 instance.initJSensor(jsensor_bicycle3);
Near32 3:573a0dc8383f 112
Near32 3:573a0dc8383f 113 /*desired State : (x y theta phiright phileft)*/
Near32 3:573a0dc8383f 114 Mat<double> dX((double)0, nbrstate, 1);
Near32 34:95b9e61c7dae 115 dX.set( (double)300, 1,1);
Near32 17:f360e21d3307 116 dX.set( (double)0, 2,1);
Near32 31:e60cd1c984f4 117 dX.set( (double)0, 3,1);
Near32 3:573a0dc8383f 118 dX.set( (double)0, 4,1);
Near32 3:573a0dc8383f 119 dX.set( (double)0, 5,1);
Near32 3:573a0dc8383f 120
Near32 17:f360e21d3307 121 Mat<double> ki((double)0, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 122 Mat<double> kp((double)0, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 123 Mat<double> kd((double)0, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 124 //Mat<double> kdd((double)0.0015, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 125
Near32 17:f360e21d3307 126 for(int i=1;i<=nbrstate;i++)
Near32 17:f360e21d3307 127 {
Near32 17:f360e21d3307 128 kp.set( (double)0.01, i, i);
Near32 17:f360e21d3307 129 kd.set( (double)0.0001, i, i);
Near32 17:f360e21d3307 130 ki.set( (double)0.0001, i, i);
Near32 17:f360e21d3307 131 }
Near32 17:f360e21d3307 132
Near32 17:f360e21d3307 133 instance.setKi(ki);
Near32 17:f360e21d3307 134 instance.setKp(kp);
Near32 17:f360e21d3307 135 instance.setKd(kd);
Near32 17:f360e21d3307 136 //instance.setKdd(kdd);
Near32 17:f360e21d3307 137
Near32 3:573a0dc8383f 138 Mat<double> u(transpose( instance.getCommand()) );
Near32 3:573a0dc8383f 139
Near32 3:573a0dc8383f 140 /*Observations*/
Near32 28:0a659a910771 141 /*il nous faut 5 observation : mais on n'en met à jour que 3...*/
Near32 17:f360e21d3307 142 Mat<double> z((double)0,5,1);
Near32 28:0a659a910771 143 measurementCallback(&z, &odometry);
Near32 3:573a0dc8383f 144
Near32 3:573a0dc8383f 145 /*----------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 146
Near32 3:573a0dc8383f 147
Near32 34:95b9e61c7dae 148 while(1)
Near32 26:54e1afed58b2 149 {
Near32 26:54e1afed58b2 150 t.start();
Near32 24:3c0422e1ebd6 151 //pcs.printf("%f : %f : %f\n", (double)odometry.getX()*100,(double)odometry.getY()*100,(double)odometry.getTheta()*180/3.14);
Near32 17:f360e21d3307 152
Near32 3:573a0dc8383f 153
Near32 3:573a0dc8383f 154 /*------------------------------------------------------------------------------------------*/
Near32 17:f360e21d3307 155 /*Asservissement*/
Near32 17:f360e21d3307 156
Near32 28:0a659a910771 157 measurementCallback(&z, &odometry);
Near32 28:0a659a910771 158 instance.measurement_Callback( z, dX, true );
Near32 17:f360e21d3307 159
Near32 3:573a0dc8383f 160 instance.state_Callback();
Near32 30:33e970ba1fe5 161 //instance.setX(z);
Near32 34:95b9e61c7dae 162 X = instance.getX();
Near32 30:33e970ba1fe5 163
Near32 30:33e970ba1fe5 164 //instance.computeCommand(dX, (double)dt, -2);
Near32 30:33e970ba1fe5 165 instance.computeCommand(dX, (double)t.read(), -2);
Near32 10:bca0274a007b 166 double phi_r = instance.getCommand().get(1,1);
Near32 10:bca0274a007b 167 double phi_l = instance.getCommand().get(2,1);
Near32 8:1150a13f6967 168
Near32 26:54e1afed58b2 169 double phi_max = 1.0;
Near32 30:33e970ba1fe5 170
Near32 26:54e1afed58b2 171 //pcs.printf("command : \n phi_r = %f \n phi_l = %f \n", ((double)phi_r/phi_max), ((double)phi_l/phi_max));
Near32 30:33e970ba1fe5 172 //(instance.getCommand()).afficher();
Near32 34:95b9e61c7dae 173 //blue.printf("State : \n\r");
Near32 34:95b9e61c7dae 174 //(instance.getX()).afficherMblue();
Near32 34:95b9e61c7dae 175 //blue.printf("Odometry : \n\r");
Near32 34:95b9e61c7dae 176 //z.afficherMblue();
Near32 34:95b9e61c7dae 177 blue.printf(" x : %f ;\t y : %f ;\t theta : %f ;\t phiD = %f ;\t phiG = %f \n\r",X.get(1,1),X.get(2,1),X.get(3,1), X.get(4,1), X.get(5,1) );
Near32 30:33e970ba1fe5 178 //pcs.printf("Sigma : \n\r");
Near32 30:33e970ba1fe5 179 //(instance.getSigma()).afficher();
Near32 34:95b9e61c7dae 180 //pcs.printf("Kalman Gain : \n\r");
Near32 34:95b9e61c7dae 181 //(instance.getKGain()).afficherM();
Near32 17:f360e21d3307 182
Near32 17:f360e21d3307 183
Near32 24:3c0422e1ebd6 184 if(phi_r >= 0)
Near32 24:3c0422e1ebd6 185 dir1.write(1);
Near32 24:3c0422e1ebd6 186 else
Near32 17:f360e21d3307 187 dir1.write(0);
Near32 17:f360e21d3307 188
Near32 17:f360e21d3307 189 if(phi_l <= 0)
Near32 17:f360e21d3307 190 dir2.write(0);
Near32 17:f360e21d3307 191 else
Near32 17:f360e21d3307 192 dir2.write(1);
Near32 17:f360e21d3307 193
Near32 31:e60cd1c984f4 194 if(!testOdo)
Near32 31:e60cd1c984f4 195 {
Near32 31:e60cd1c984f4 196 if(abs(phi_r/phi_max) <= 1.0)
Near32 31:e60cd1c984f4 197 {
Near32 31:e60cd1c984f4 198 //pcs.printf( "VALUE PWM 1 : %f \n", (float)abs((double)phi_r/phi_max)) ;
Near32 31:e60cd1c984f4 199 setPWM(&pw1, (float)abs((double)phi_r/phi_max));
Near32 31:e60cd1c984f4 200 }
Near32 31:e60cd1c984f4 201 else
Near32 31:e60cd1c984f4 202 {
Near32 31:e60cd1c984f4 203 pcs.printf("P1...");
Near32 31:e60cd1c984f4 204 setPWM(&pw1, (float)abs((double)phi_max/phi_max));
Near32 31:e60cd1c984f4 205 }
Near32 31:e60cd1c984f4 206
Near32 31:e60cd1c984f4 207 if(abs(phi_l/phi_max) <= 1.0)
Near32 31:e60cd1c984f4 208 {
Near32 31:e60cd1c984f4 209 //pcs.printf( "VALUE PWM 2 : %f \n", (float)abs((double)phi_l/phi_max)) ;
Near32 31:e60cd1c984f4 210 setPWM(&pw2,(float)abs((double)phi_l/phi_max));
Near32 31:e60cd1c984f4 211 }
Near32 31:e60cd1c984f4 212 else
Near32 31:e60cd1c984f4 213 {
Near32 31:e60cd1c984f4 214 pcs.printf("P2...");
Near32 31:e60cd1c984f4 215 setPWM(&pw2, (float)abs((double)phi_max/phi_max));
Near32 31:e60cd1c984f4 216 }
Near32 30:33e970ba1fe5 217 }
Near32 17:f360e21d3307 218
Near32 26:54e1afed58b2 219 //pcs.printf("\n\n----------------- Commande mise executee. ------------------ \n");
Near32 26:54e1afed58b2 220 t.stop();
Near32 26:54e1afed58b2 221 pcs.printf("%f s \n\r", t.read());
Near32 26:54e1afed58b2 222 t.reset();
Near32 30:33e970ba1fe5 223 t.start();
Near32 26:54e1afed58b2 224
Near32 26:54e1afed58b2 225 }
Near32 3:573a0dc8383f 226
Near32 26:54e1afed58b2 227
Near32 26:54e1afed58b2 228 DigitalOut led(LED1);
Near32 26:54e1afed58b2 229 while(1)
Near32 26:54e1afed58b2 230 {
Near32 26:54e1afed58b2 231 //setPWM(&pw1,0.0);
Near32 26:54e1afed58b2 232 //setPWM(&pw2,0.0);
Near32 26:54e1afed58b2 233 pw1.write(0.0);
Near32 26:54e1afed58b2 234 pw2.write(0.0);
Near32 26:54e1afed58b2 235 led = !led;
Near32 26:54e1afed58b2 236 wait(1);
Jagang 0:41149573d577 237 }
Jagang 0:41149573d577 238 }
Near32 3:573a0dc8383f 239
Near32 3:573a0dc8383f 240 void measurementCallback( Mat<double>* z, Odometry* odometry)
Near32 3:573a0dc8383f 241 {
Near32 3:573a0dc8383f 242 z->set( (double)/*conversionUnitée mm */odometry->getX(), 1,1);
Near32 3:573a0dc8383f 243 z->set( (double)/*conversionUnitée mm*/odometry->getY(), 2,1);
Near32 31:e60cd1c984f4 244 double theta = odometry->getTheta();
Near32 31:e60cd1c984f4 245 theta = atan21(sin(theta),cos(theta));
Near32 31:e60cd1c984f4 246 z->set( (double)/*conversionUnitée rad*/theta, 3,1);//odometry->getTheta(), 3,1);
Near32 30:33e970ba1fe5 247 double vx = (double)odometry->getVx();
Near32 30:33e970ba1fe5 248 double vy = (double)odometry->getVy();
Near32 30:33e970ba1fe5 249 z->set( sqrt(vx*vx+vy*vy),4,1);
Near32 30:33e970ba1fe5 250 z->set( (double)odometry->getW(),5,1);
Near32 30:33e970ba1fe5 251
Near32 31:e60cd1c984f4 252 //z->afficherM();
Near32 3:573a0dc8383f 253 }
Near32 3:573a0dc8383f 254
Near32 17:f360e21d3307 255 Mat<double> motion_bicycle3( Mat<double> state, Mat<double> command, double dt)
Near32 3:573a0dc8383f 256 {
Near32 3:573a0dc8383f 257 Mat<double> r(state);
Near32 24:3c0422e1ebd6 258 //double v = bicycle.get(1,1)/(2*bicycle.get(3,1))*(r.get(4,1)+r.get(5,1));
Near32 24:3c0422e1ebd6 259 //double w = bicycle.get(1,1)/(2*bicycle.get(3,1))*(r.get(4,1)-r.get(5,1));
Near32 24:3c0422e1ebd6 260 double v = state.get(4,1);
Near32 24:3c0422e1ebd6 261 double w = state.get(5,1);
Near32 3:573a0dc8383f 262
Near32 3:573a0dc8383f 263 r.set( r.get(1,1) + v*cos(r.get(3,1))*dt, 1,1);
Near32 3:573a0dc8383f 264 r.set( r.get(2,1) + v*sin(r.get(3,1))*dt, 2,1);
Near32 3:573a0dc8383f 265
Near32 17:f360e21d3307 266 double angle = (r.get(3,1) + dt*w);
Near32 3:573a0dc8383f 267 if( angle < -PI)
Near32 3:573a0dc8383f 268 {
Near32 3:573a0dc8383f 269 angle = angle - PI*ceil(angle/PI);
Near32 3:573a0dc8383f 270 }
Near32 3:573a0dc8383f 271 else if( angle > PI)
Near32 3:573a0dc8383f 272 {
Near32 3:573a0dc8383f 273 angle = angle - PI*floor(angle/PI);
Near32 3:573a0dc8383f 274 }
Near32 3:573a0dc8383f 275
Near32 17:f360e21d3307 276 r.set( atan21(sin(angle), cos(angle)), 3,1);
Near32 3:573a0dc8383f 277
Near32 17:f360e21d3307 278
Near32 17:f360e21d3307 279 /*----------------------------------------*/
Near32 17:f360e21d3307 280 /*Modele du moteur*/
Near32 17:f360e21d3307 281 /*----------------------------------------*/
Near32 24:3c0422e1ebd6 282 //double r1 = bicycle.get(3,1)/bicycle.get(1,1)*(command.get(1,1)/bicycle.get(3,1)+command.get(2,1));
Near32 24:3c0422e1ebd6 283 //double r2 = bicycle.get(3,1)/bicycle.get(1,1)*(command.get(1,1)/bicycle.get(3,1)-command.get(2,1));
Near32 24:3c0422e1ebd6 284 double r1 = bicycle.get(1,1)/2*(command.get(1,1)+command.get(2,1));
Near32 24:3c0422e1ebd6 285 double r2 = bicycle.get(1,1)/bicycle.get(3,1)*(command.get(1,1)-command.get(2,1));
Near32 17:f360e21d3307 286
Near32 17:f360e21d3307 287
Near32 17:f360e21d3307 288 r.set( r1, 4,1);
Near32 17:f360e21d3307 289 r.set( r2, 5,1);
Near32 17:f360e21d3307 290
Near32 17:f360e21d3307 291
Near32 17:f360e21d3307 292 /*----------------------------------------*/
Near32 17:f360e21d3307 293 /*----------------------------------------*/
Near32 3:573a0dc8383f 294
Near32 3:573a0dc8383f 295 return r;
Near32 3:573a0dc8383f 296 }
Near32 3:573a0dc8383f 297
Near32 3:573a0dc8383f 298
Near32 17:f360e21d3307 299 Mat<double> sensor_bicycle3( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt)
Near32 17:f360e21d3307 300 {
Near32 30:33e970ba1fe5 301 /*
Near32 28:0a659a910771 302 double angle = state.get(3,1);
Near32 28:0a659a910771 303 if( angle < -PI)
Near32 28:0a659a910771 304 {
Near32 28:0a659a910771 305 angle = angle - PI*ceil(angle/PI);
Near32 28:0a659a910771 306 }
Near32 28:0a659a910771 307 else if( angle > PI)
Near32 28:0a659a910771 308 {
Near32 28:0a659a910771 309 angle = angle - PI*floor(angle/PI);
Near32 28:0a659a910771 310 }
Near32 28:0a659a910771 311
Near32 28:0a659a910771 312 state.set( atan21(sin(angle), cos(angle)), 3,1);
Near32 30:33e970ba1fe5 313 */
Near32 17:f360e21d3307 314 return state;
Near32 3:573a0dc8383f 315 }
Near32 3:573a0dc8383f 316
Near32 17:f360e21d3307 317
Near32 17:f360e21d3307 318 Mat<double> jmotion_bicycle3( Mat<double> state, Mat<double> command, double dt)
Near32 3:573a0dc8383f 319 {
Near32 30:33e970ba1fe5 320 double h = sqrt(numeric_limits<double>::epsilon())*norme2(state);
Near32 3:573a0dc8383f 321 Mat<double> var( (double)0, state.getLine(), state.getColumn());
Near32 3:573a0dc8383f 322 var.set( h, 1,1);
Near32 30:33e970ba1fe5 323 Mat<double> G(motion_bicycle3(state+var, command, dt) - motion_bicycle3(state-var, command,dt));
Near32 3:573a0dc8383f 324
Near32 3:573a0dc8383f 325 for(int i=2;i<=state.getLine();i++)
Near32 3:573a0dc8383f 326 {
Near32 3:573a0dc8383f 327 var.set( (double)0, i-1,1);
Near32 3:573a0dc8383f 328 var.set( h, i,1);
Near32 30:33e970ba1fe5 329 G = operatorL(G, motion_bicycle3(state+var, command, dt) - motion_bicycle3(state-var, command,dt) );
Near32 3:573a0dc8383f 330 }
Near32 3:573a0dc8383f 331
Near32 3:573a0dc8383f 332
Near32 30:33e970ba1fe5 333 return (1.0/(2*h))*G;
Near32 3:573a0dc8383f 334 }
Near32 3:573a0dc8383f 335
Near32 24:3c0422e1ebd6 336 Mat<double> jmotion_bicycle3_command(Mat<double> state, Mat<double> command, double dt)
Near32 24:3c0422e1ebd6 337 {
Near32 30:33e970ba1fe5 338 double h = sqrt(numeric_limits<double>::epsilon())*10e2+sqrt(numeric_limits<double>::epsilon())*norme2(state);
Near32 24:3c0422e1ebd6 339 Mat<double> var( (double)0, command.getLine(), command.getColumn());
Near32 24:3c0422e1ebd6 340 var.set( h, 1,1);
Near32 24:3c0422e1ebd6 341 Mat<double> G(motion_bicycle3(state, command+var, dt) - motion_bicycle3(state, command-var,dt));
Near32 24:3c0422e1ebd6 342
Near32 24:3c0422e1ebd6 343 for(int i=2;i<=command.getLine();i++)
Near32 24:3c0422e1ebd6 344 {
Near32 24:3c0422e1ebd6 345 var.set( (double)0, i-1,1);
Near32 24:3c0422e1ebd6 346 var.set( h, i,1);
Near32 30:33e970ba1fe5 347 G = operatorL(G, motion_bicycle3(state, command+var, dt) - motion_bicycle3(state, command-var,dt) );
Near32 24:3c0422e1ebd6 348 }
Near32 24:3c0422e1ebd6 349
Near32 24:3c0422e1ebd6 350
Near32 24:3c0422e1ebd6 351 return (1.0/(2*h))*G;
Near32 24:3c0422e1ebd6 352 }
Near32 24:3c0422e1ebd6 353
Near32 17:f360e21d3307 354 Mat<double> jsensor_bicycle3( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt)
Near32 3:573a0dc8383f 355 {
Near32 30:33e970ba1fe5 356 double h = sqrt(numeric_limits<double>::epsilon())*10e2+sqrt(numeric_limits<double>::epsilon())*norme2(state);
Near32 3:573a0dc8383f 357 Mat<double> var((double)0, state.getLine(), state.getColumn());
Near32 3:573a0dc8383f 358 var.set( h, 1,1);
Near32 24:3c0422e1ebd6 359 Mat<double> H(sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt));
Near32 3:573a0dc8383f 360
Near32 3:573a0dc8383f 361 for(int i=2;i<=state.getLine();i++)
Near32 24:3c0422e1ebd6 362 {
Near32 3:573a0dc8383f 363 var.set( (double)0, i-1,1);
Near32 3:573a0dc8383f 364 var.set( h, i,1);
Near32 24:3c0422e1ebd6 365 H = operatorL(H, sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt) );
Near32 3:573a0dc8383f 366 }
Near32 3:573a0dc8383f 367
Near32 3:573a0dc8383f 368
Near32 24:3c0422e1ebd6 369 return (1.0/(2*h))*H;
Near32 30:33e970ba1fe5 370 /*
Near32 30:33e970ba1fe5 371 double h = sqrt(numeric_limits<double>::epsilon())*10e2+sqrt(numeric_limits<double>::epsilon())*norme2(state);
Near32 30:33e970ba1fe5 372 Mat<double> var((double)0, state.getLine(), state.getColumn());
Near32 30:33e970ba1fe5 373 var.set( h, 1,1);
Near32 30:33e970ba1fe5 374 Mat<double> H(sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt));
Near32 30:33e970ba1fe5 375
Near32 30:33e970ba1fe5 376 for(int i=2;i<=state.getLine();i++)
Near32 30:33e970ba1fe5 377 {
Near32 30:33e970ba1fe5 378 var.set( (double)0, i-1,1);
Near32 30:33e970ba1fe5 379 var.set( h, i,1);
Near32 30:33e970ba1fe5 380 H = operatorL(H, sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt) );
Near32 30:33e970ba1fe5 381
Near32 30:33e970ba1fe5 382 }
Near32 30:33e970ba1fe5 383
Near32 30:33e970ba1fe5 384
Near32 30:33e970ba1fe5 385 return (1.0/(2*h))*H;
Near32 30:33e970ba1fe5 386 */
Near32 17:f360e21d3307 387 }
Near32 17:f360e21d3307 388
Near32 17:f360e21d3307 389 bool setPWM(PwmOut *servo,float p)
Near32 17:f360e21d3307 390 {
Near32 17:f360e21d3307 391 if(p <= 1.0f && p >= 0.0f)
Near32 17:f360e21d3307 392 {
Near32 17:f360e21d3307 393 servo->write(p);
Near32 17:f360e21d3307 394 return true;
Near32 17:f360e21d3307 395 }
Near32 17:f360e21d3307 396
Near32 17:f360e21d3307 397 return false;
Near32 3:573a0dc8383f 398 }