File content as of revision 8:1150a13f6967:

#include "mbed.h"
#include "QEI.h"
#include "Odometry.h"


/*---------------------------------------------------------------------------------------------------------*/
/*---------------------------------------------------------------------------------------------------------*/
/*KalmanFilter*/
#include "EKF.h"
Mat<double> motion_bicycle2( Mat<double> state, Mat<double> command, double dt = 0.5);
Mat<double> sensor_bicycle2( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt = 0.5 );
Mat<double> jmotion_bicycle2( Mat<double> state, Mat<double> command, double dt = 0.5);
Mat<double> jsensor_bicycle2( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt = 0.5);
void measurementCallback( Mat<double>* z, Odometry* odometry);

Mat<double> bicycle(3,1);
/*---------------------------------------------------------------------------------------------------------*/
/*---------------------------------------------------------------------------------------------------------*/



int main()
{
    /*----------------------------------------------------------------------------------------------*/
    /*Odometry*/
    QEI qei_left(p15,p16,NC,1024,QEI::X4_ENCODING);
    QEI qei_right(p17,p18,NC,1024,QEI::X4_ENCODING);
    
    Odometry odometry(&qei_left,&qei_right,0.07,0.07,0.26);
    /*----------------------------------------------------------------------------------------------*/
    
    
    
    /*----------------------------------------------------------------------------------------------*/
    /*KalmanFilter*/
    double phi_max = 100;
    /*en millimetres*/
    bicycle.set((double)100, 1,1);  /*radius*/
    bicycle.set((double)100, 2,1);
    bicycle.set((double)66, 3,1);   /*entre-roue*/
    
    int nbrstate = 5;
    int nbrcontrol = 2;
    int nbrobs = 3;
    double dt = (double)0.05;
    double stdnoise = (double)0.05;

    Mat<double> initX((double)0, nbrstate, 1);  
    initX.set( (double)0, 3,1);
    
    bool extended = true;
    EKF<double> instance(nbrstate, nbrcontrol, nbrobs, dt, stdnoise, /*current state*/ initX, extended);
    
    instance.initMotion(motion_bicycle2);
    instance.initSensor(sensor_bicycle2);
    instance.initJMotion(jmotion_bicycle2);
    instance.initJSensor(jsensor_bicycle2);
    
    /*desired State : (x y theta phiright phileft)*/
    Mat<double> dX((double)0, nbrstate, 1);
    dX.set( (double)0, 1,1);
    dX.set( (double)10, 2,1);
    dX.set( (double)0, 3,1);
    dX.set( (double)0, 4,1);
    dX.set( (double)0, 5,1);    
    
    Mat<double> u(transpose( instance.getCommand()) );
    
    /*Observations*/
    Mat<double> z(3,1);
    measurementCallback(&z, &odometry);    
    
    /*----------------------------------------------------------------------------------------------*/
    
    
    
    
    /*----------------------------------------------------------------------------------------------*/
    /*Serial*/    
    Serial pc(USBTX, USBRX); // tx, rx
    /*----------------------------------------------------------------------------------------------*/
    
    while(1)
    {
        wait(1);
        pc.printf("%f : %f : %f\n",odometry.getX()*100,odometry.getY()*100,odometry.getTheta()*180/3.14);
        
        
        /*------------------------------------------------------------------------------------------*/
        /*Asservissement*/
        measurementCallback(&z, &odometry);                
        instance.measurement_Callback( z, dX );
        instance.state_Callback();
        double vd = instance.getCommand().get(1,1);
        double wd = instance.getCommand().get(2,1);
        double phi_r = bicycle.get(3,1)/bicycle.get(1,1)*(wd+vd/bicycle.get(3,1));
        double phi_l = bicycle.get(3,1)/bicycle.get(2,1)*(wd+vd/bicycle.get(3,1));
        
        phi_r = (phi_r >= phi_max ? phi_r : phi_max);
        phi_l = (phi_l >= phi_max ? phi_l : phi_max);
        
        instance.computeCommand(dX, (double)dt, -1);        
        pc.printf("command : \n phi_r = %d \n phi_l = %d \n", phi_r/phi_max*100, phi_l/phi_max*100);
         
        /*------------------------------------------------------------------------------------------*/
        
    }
}

void measurementCallback( Mat<double>* z, Odometry* odometry)
{
    z->set( (double)/*conversionUnitée mm */odometry->getX(), 1,1);
    z->set( (double)/*conversionUnitée mm*/odometry->getY(), 2,1);
    z->set( (double)/*conversionUnitée rad*/odometry->getTheta(), 3,1);    
}

Mat<double> motion_bicycle2( Mat<double> state, Mat<double> command, double dt)
{
    Mat<double> r(state);
    double v = bicycle.get(1,1)/(2*bicycle.get(3,1))*(r.get(4,1)+r.get(5,1));
    //double w = bicycle.get(1,1)/(2*bicycle.get(3,1))*(r.get(4,1)-r.get(5,1));
    
    r.set( r.get(1,1) + v*cos(r.get(3,1))*dt, 1,1);
    r.set( r.get(2,1) + v*sin(r.get(3,1))*dt, 2,1);
    
    double angle = (r.get(3,1) + dt/bicycle.get(3,1)*(r.get(4,1)-r.get(5,1)));
    if( angle < -PI)
    {
        angle = angle - PI*ceil(angle/PI);
    }
    else if( angle > PI)
    {
        angle = angle - PI*floor(angle/PI);
    }
    
    r.set( angle, 3,1);
    
    r.set( bicycle.get(3,1)/bicycle.get(1,1)*(command.get(1,1)/bicycle.get(3,1)+command.get(2,1)), 4,1);
    r.set( bicycle.get(3,1)/bicycle.get(1,1)*(command.get(1,1)/bicycle.get(3,1)-command.get(2,1)), 5,1);        
    
    return r;
}


Mat<double> sensor_bicycle2( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt)
{
    return extract(state-d_state, 1,1, 3,1);
}

Mat<double> jmotion_bicycle2( Mat<double> state, Mat<double> command, double dt)
{
    double h = numeric_limits<double>::epsilon()*10e2;
    Mat<double> var( (double)0, state.getLine(), state.getColumn());
    var.set( h, 1,1);
    Mat<double> G(motion_bicycle2(state, command, dt) - motion_bicycle2(state+var, command,dt));
    
    for(int i=2;i<=state.getLine();i++)
    {
        var.set( (double)0, i-1,1);
        var.set( h, i,1);
        G = operatorL(G, motion_bicycle2(state, command, dt) - motion_bicycle2(state+var, command,dt) );
    }       
    
    
    return (1.0/h)*G;
}

Mat<double> jsensor_bicycle2( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt)
{
    double h = numeric_limits<double>::epsilon()*10e2;
    Mat<double> var((double)0, state.getLine(), state.getColumn());
    var.set( h, 1,1);
    Mat<double> H(sensor_bicycle2(state, command, d_state, dt) - sensor_bicycle2(state+var, command, d_state, dt));
    
    for(int i=2;i<=state.getLine();i++)
    {
        var.set( (double)0, i-1,1);
        var.set( h, i,1);
        H = operatorL(H, sensor_bicycle2(state, command, d_state, dt) - sensor_bicycle2(state+var, command, d_state, dt) );
    }       
    
    
    return (1.0/h)*H;
}