ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

main.cpp@30:33e970ba1fe5, 2015-02-01 (annotated)

Committer:
Near32
Date:
Sun Feb 01 19:29:14 2015 +0000
Revision:
30:33e970ba1fe5
Parent:
28:0a659a910771
Child:
31:e60cd1c984f4
Kalman Filter : Noise handling with Normal Distribution (for measurement only).; Odometry : velocities.; Test runned : ; - odometry checking : problem : drift... (changed the frequency of the ticker, doesn't seem to fix the problem ?); -

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*/
Near32 28:0a659a910771 76 QEI qei_left(D2,D3,NC,1024,QEI::X4_ENCODING);
Near32 28:0a659a910771 77 QEI qei_right(D4,D5,NC,1024,QEI::X4_ENCODING);
Jagang 27:5f441ecda140 78 Odometry odometry(&qei_left,&qei_right,0.07,0.07,0.26);
Near32 3:573a0dc8383f 79 /*----------------------------------------------------------------------------------------------*/
Jagang 0:41149573d577 80
Near32 3:573a0dc8383f 81
Near32 3:573a0dc8383f 82
Near32 3:573a0dc8383f 83 /*----------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 84 /*KalmanFilter*/
Near32 24:3c0422e1ebd6 85 //double phi_max = 100;
Near32 3:573a0dc8383f 86 /*en millimetres*/
Near32 26:54e1afed58b2 87 bicycle.set((double)36, 1,1); /*radius*/
Near32 26:54e1afed58b2 88 bicycle.set((double)36, 2,1);
Near32 26:54e1afed58b2 89 bicycle.set((double)220, 3,1); /*entre-roue*/
Near32 3:573a0dc8383f 90
Near32 3:573a0dc8383f 91 int nbrstate = 5;
Near32 3:573a0dc8383f 92 int nbrcontrol = 2;
Near32 17:f360e21d3307 93 int nbrobs = 5;
Near32 3:573a0dc8383f 94 double dt = (double)0.05;
Near32 8:1150a13f6967 95 double stdnoise = (double)0.05;
Near32 3:573a0dc8383f 96
Near32 3:573a0dc8383f 97 Mat<double> initX((double)0, nbrstate, 1);
Near32 3:573a0dc8383f 98 initX.set( (double)0, 3,1);
Near32 3:573a0dc8383f 99
Near32 3:573a0dc8383f 100 bool extended = true;
Near32 24:3c0422e1ebd6 101 bool filterOn = true;
Near32 24:3c0422e1ebd6 102 pcs.printf("mise a jour des pwm.\n");
Near32 24:3c0422e1ebd6 103 EKF<double> instance(nbrstate, nbrcontrol, nbrobs, dt, stdnoise, /*current state*/ initX, extended, filterOn);
Near32 3:573a0dc8383f 104
Near32 17:f360e21d3307 105 instance.initMotion(motion_bicycle3);
Near32 17:f360e21d3307 106 instance.initSensor(sensor_bicycle3);
Near32 17:f360e21d3307 107 instance.initJMotion(jmotion_bicycle3);
Near32 24:3c0422e1ebd6 108 //instance.initJMotionCommand(jmotion_bicycle3_command);
Near32 17:f360e21d3307 109 instance.initJSensor(jsensor_bicycle3);
Near32 3:573a0dc8383f 110
Near32 3:573a0dc8383f 111 /*desired State : (x y theta phiright phileft)*/
Near32 3:573a0dc8383f 112 Mat<double> dX((double)0, nbrstate, 1);
Near32 30:33e970ba1fe5 113 dX.set( (double)10, 1,1);
Near32 17:f360e21d3307 114 dX.set( (double)0, 2,1);
Near32 30:33e970ba1fe5 115 dX.set( (double)PI/2, 3,1);
Near32 3:573a0dc8383f 116 dX.set( (double)0, 4,1);
Near32 3:573a0dc8383f 117 dX.set( (double)0, 5,1);
Near32 3:573a0dc8383f 118
Near32 17:f360e21d3307 119 Mat<double> ki((double)0, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 120 Mat<double> kp((double)0, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 121 Mat<double> kd((double)0, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 122 //Mat<double> kdd((double)0.0015, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 123
Near32 17:f360e21d3307 124 for(int i=1;i<=nbrstate;i++)
Near32 17:f360e21d3307 125 {
Near32 17:f360e21d3307 126 kp.set( (double)0.01, i, i);
Near32 17:f360e21d3307 127 kd.set( (double)0.0001, i, i);
Near32 17:f360e21d3307 128 ki.set( (double)0.0001, i, i);
Near32 17:f360e21d3307 129 }
Near32 17:f360e21d3307 130
Near32 17:f360e21d3307 131 instance.setKi(ki);
Near32 17:f360e21d3307 132 instance.setKp(kp);
Near32 17:f360e21d3307 133 instance.setKd(kd);
Near32 17:f360e21d3307 134 //instance.setKdd(kdd);
Near32 17:f360e21d3307 135
Near32 3:573a0dc8383f 136 Mat<double> u(transpose( instance.getCommand()) );
Near32 3:573a0dc8383f 137
Near32 3:573a0dc8383f 138 /*Observations*/
Near32 28:0a659a910771 139 /*il nous faut 5 observation : mais on n'en met à jour que 3...*/
Near32 17:f360e21d3307 140 Mat<double> z((double)0,5,1);
Near32 28:0a659a910771 141 measurementCallback(&z, &odometry);
Near32 3:573a0dc8383f 142
Near32 3:573a0dc8383f 143 /*----------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 144
Near32 3:573a0dc8383f 145
Near32 30:33e970ba1fe5 146 while(abs(instance.getX().get(1,1)-50) > 10)
Near32 26:54e1afed58b2 147 {
Near32 26:54e1afed58b2 148 t.start();
Near32 24:3c0422e1ebd6 149 //pcs.printf("%f : %f : %f\n", (double)odometry.getX()*100,(double)odometry.getY()*100,(double)odometry.getTheta()*180/3.14);
Near32 17:f360e21d3307 150
Near32 3:573a0dc8383f 151
Near32 3:573a0dc8383f 152 /*------------------------------------------------------------------------------------------*/
Near32 17:f360e21d3307 153 /*Asservissement*/
Near32 17:f360e21d3307 154
Near32 28:0a659a910771 155 measurementCallback(&z, &odometry);
Near32 28:0a659a910771 156 instance.measurement_Callback( z, dX, true );
Near32 17:f360e21d3307 157
Near32 3:573a0dc8383f 158 instance.state_Callback();
Near32 30:33e970ba1fe5 159 //instance.setX(z);
Near32 30:33e970ba1fe5 160
Near32 30:33e970ba1fe5 161 //instance.computeCommand(dX, (double)dt, -2);
Near32 30:33e970ba1fe5 162 instance.computeCommand(dX, (double)t.read(), -2);
Near32 10:bca0274a007b 163 double phi_r = instance.getCommand().get(1,1);
Near32 10:bca0274a007b 164 double phi_l = instance.getCommand().get(2,1);
Near32 8:1150a13f6967 165
Near32 26:54e1afed58b2 166 double phi_max = 1.0;
Near32 30:33e970ba1fe5 167
Near32 26:54e1afed58b2 168 //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 169 //(instance.getCommand()).afficher();
Near32 30:33e970ba1fe5 170 pcs.printf("State : \n\r");
Near32 30:33e970ba1fe5 171 (instance.getX()).afficherM();
Near32 30:33e970ba1fe5 172 //pcs.printf("Sigma : \n\r");
Near32 30:33e970ba1fe5 173 //(instance.getSigma()).afficher();
Near32 30:33e970ba1fe5 174 pcs.printf("Kalman Gain : \n\r");
Near32 30:33e970ba1fe5 175 (instance.getKGain()).afficherM();
Near32 17:f360e21d3307 176
Near32 17:f360e21d3307 177
Near32 24:3c0422e1ebd6 178 if(phi_r >= 0)
Near32 24:3c0422e1ebd6 179 dir1.write(1);
Near32 24:3c0422e1ebd6 180 else
Near32 17:f360e21d3307 181 dir1.write(0);
Near32 17:f360e21d3307 182
Near32 17:f360e21d3307 183 if(phi_l <= 0)
Near32 17:f360e21d3307 184 dir2.write(0);
Near32 17:f360e21d3307 185 else
Near32 17:f360e21d3307 186 dir2.write(1);
Near32 17:f360e21d3307 187
Near32 30:33e970ba1fe5 188 if(abs(phi_r/phi_max) <= 1.0)
Near32 26:54e1afed58b2 189 {
Near32 26:54e1afed58b2 190 //pcs.printf( "VALUE PWM 1 : %f \n", (float)abs((double)phi_r/phi_max)) ;
Near32 22:80fdb12c167f 191 setPWM(&pw1, (float)abs((double)phi_r/phi_max));
Near32 26:54e1afed58b2 192 }
Near32 17:f360e21d3307 193 else
Near32 30:33e970ba1fe5 194 {
Near32 24:3c0422e1ebd6 195 pcs.printf("P1...");
Near32 30:33e970ba1fe5 196 setPWM(&pw1, (float)abs((double)phi_max/phi_max));
Near32 30:33e970ba1fe5 197 }
Near32 17:f360e21d3307 198
Near32 30:33e970ba1fe5 199 if(abs(phi_l/phi_max) <= 1.0)
Near32 26:54e1afed58b2 200 {
Near32 26:54e1afed58b2 201 //pcs.printf( "VALUE PWM 2 : %f \n", (float)abs((double)phi_l/phi_max)) ;
Near32 22:80fdb12c167f 202 setPWM(&pw2,(float)abs((double)phi_l/phi_max));
Near32 26:54e1afed58b2 203 }
Near32 17:f360e21d3307 204 else
Near32 30:33e970ba1fe5 205 {
Near32 17:f360e21d3307 206 pcs.printf("P2...");
Near32 30:33e970ba1fe5 207 setPWM(&pw2, (float)abs((double)phi_max/phi_max));
Near32 30:33e970ba1fe5 208 }
Near32 17:f360e21d3307 209
Near32 26:54e1afed58b2 210 //pcs.printf("\n\n----------------- Commande mise executee. ------------------ \n");
Near32 26:54e1afed58b2 211 t.stop();
Near32 26:54e1afed58b2 212 pcs.printf("%f s \n\r", t.read());
Near32 26:54e1afed58b2 213 t.reset();
Near32 30:33e970ba1fe5 214 t.start();
Near32 26:54e1afed58b2 215
Near32 26:54e1afed58b2 216 }
Near32 3:573a0dc8383f 217
Near32 26:54e1afed58b2 218
Near32 26:54e1afed58b2 219 DigitalOut led(LED1);
Near32 26:54e1afed58b2 220 while(1)
Near32 26:54e1afed58b2 221 {
Near32 26:54e1afed58b2 222 //setPWM(&pw1,0.0);
Near32 26:54e1afed58b2 223 //setPWM(&pw2,0.0);
Near32 26:54e1afed58b2 224 pw1.write(0.0);
Near32 26:54e1afed58b2 225 pw2.write(0.0);
Near32 26:54e1afed58b2 226 led = !led;
Near32 26:54e1afed58b2 227 wait(1);
Jagang 0:41149573d577 228 }
Jagang 0:41149573d577 229 }
Near32 3:573a0dc8383f 230
Near32 3:573a0dc8383f 231 void measurementCallback( Mat<double>* z, Odometry* odometry)
Near32 3:573a0dc8383f 232 {
Near32 3:573a0dc8383f 233 z->set( (double)/*conversionUnitée mm */odometry->getX(), 1,1);
Near32 3:573a0dc8383f 234 z->set( (double)/*conversionUnitée mm*/odometry->getY(), 2,1);
Near32 30:33e970ba1fe5 235 z->set( (double)/*conversionUnitée rad*/odometry->getTheta(), 3,1);
Near32 30:33e970ba1fe5 236 double vx = (double)odometry->getVx();
Near32 30:33e970ba1fe5 237 double vy = (double)odometry->getVy();
Near32 30:33e970ba1fe5 238 z->set( sqrt(vx*vx+vy*vy),4,1);
Near32 30:33e970ba1fe5 239 z->set( (double)odometry->getW(),5,1);
Near32 30:33e970ba1fe5 240
Near32 30:33e970ba1fe5 241 z->afficherM();
Near32 3:573a0dc8383f 242 }
Near32 3:573a0dc8383f 243
Near32 17:f360e21d3307 244 Mat<double> motion_bicycle3( Mat<double> state, Mat<double> command, double dt)
Near32 3:573a0dc8383f 245 {
Near32 3:573a0dc8383f 246 Mat<double> r(state);
Near32 24:3c0422e1ebd6 247 //double v = bicycle.get(1,1)/(2*bicycle.get(3,1))*(r.get(4,1)+r.get(5,1));
Near32 24:3c0422e1ebd6 248 //double w = bicycle.get(1,1)/(2*bicycle.get(3,1))*(r.get(4,1)-r.get(5,1));
Near32 24:3c0422e1ebd6 249 double v = state.get(4,1);
Near32 24:3c0422e1ebd6 250 double w = state.get(5,1);
Near32 3:573a0dc8383f 251
Near32 3:573a0dc8383f 252 r.set( r.get(1,1) + v*cos(r.get(3,1))*dt, 1,1);
Near32 3:573a0dc8383f 253 r.set( r.get(2,1) + v*sin(r.get(3,1))*dt, 2,1);
Near32 3:573a0dc8383f 254
Near32 17:f360e21d3307 255 double angle = (r.get(3,1) + dt*w);
Near32 3:573a0dc8383f 256 if( angle < -PI)
Near32 3:573a0dc8383f 257 {
Near32 3:573a0dc8383f 258 angle = angle - PI*ceil(angle/PI);
Near32 3:573a0dc8383f 259 }
Near32 3:573a0dc8383f 260 else if( angle > PI)
Near32 3:573a0dc8383f 261 {
Near32 3:573a0dc8383f 262 angle = angle - PI*floor(angle/PI);
Near32 3:573a0dc8383f 263 }
Near32 3:573a0dc8383f 264
Near32 17:f360e21d3307 265 r.set( atan21(sin(angle), cos(angle)), 3,1);
Near32 3:573a0dc8383f 266
Near32 17:f360e21d3307 267
Near32 17:f360e21d3307 268 /*----------------------------------------*/
Near32 17:f360e21d3307 269 /*Modele du moteur*/
Near32 17:f360e21d3307 270 /*----------------------------------------*/
Near32 24:3c0422e1ebd6 271 //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 272 //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 273 double r1 = bicycle.get(1,1)/2*(command.get(1,1)+command.get(2,1));
Near32 24:3c0422e1ebd6 274 double r2 = bicycle.get(1,1)/bicycle.get(3,1)*(command.get(1,1)-command.get(2,1));
Near32 17:f360e21d3307 275
Near32 17:f360e21d3307 276
Near32 17:f360e21d3307 277 r.set( r1, 4,1);
Near32 17:f360e21d3307 278 r.set( r2, 5,1);
Near32 17:f360e21d3307 279
Near32 17:f360e21d3307 280
Near32 17:f360e21d3307 281 /*----------------------------------------*/
Near32 17:f360e21d3307 282 /*----------------------------------------*/
Near32 3:573a0dc8383f 283
Near32 3:573a0dc8383f 284 return r;
Near32 3:573a0dc8383f 285 }
Near32 3:573a0dc8383f 286
Near32 3:573a0dc8383f 287
Near32 17:f360e21d3307 288 Mat<double> sensor_bicycle3( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt)
Near32 17:f360e21d3307 289 {
Near32 30:33e970ba1fe5 290 /*
Near32 28:0a659a910771 291 double angle = state.get(3,1);
Near32 28:0a659a910771 292 if( angle < -PI)
Near32 28:0a659a910771 293 {
Near32 28:0a659a910771 294 angle = angle - PI*ceil(angle/PI);
Near32 28:0a659a910771 295 }
Near32 28:0a659a910771 296 else if( angle > PI)
Near32 28:0a659a910771 297 {
Near32 28:0a659a910771 298 angle = angle - PI*floor(angle/PI);
Near32 28:0a659a910771 299 }
Near32 28:0a659a910771 300
Near32 28:0a659a910771 301 state.set( atan21(sin(angle), cos(angle)), 3,1);
Near32 30:33e970ba1fe5 302 */
Near32 17:f360e21d3307 303 return state;
Near32 3:573a0dc8383f 304 }
Near32 3:573a0dc8383f 305
Near32 17:f360e21d3307 306
Near32 17:f360e21d3307 307 Mat<double> jmotion_bicycle3( Mat<double> state, Mat<double> command, double dt)
Near32 3:573a0dc8383f 308 {
Near32 30:33e970ba1fe5 309 double h = sqrt(numeric_limits<double>::epsilon())*norme2(state);
Near32 3:573a0dc8383f 310 Mat<double> var( (double)0, state.getLine(), state.getColumn());
Near32 3:573a0dc8383f 311 var.set( h, 1,1);
Near32 30:33e970ba1fe5 312 Mat<double> G(motion_bicycle3(state+var, command, dt) - motion_bicycle3(state-var, command,dt));
Near32 3:573a0dc8383f 313
Near32 3:573a0dc8383f 314 for(int i=2;i<=state.getLine();i++)
Near32 3:573a0dc8383f 315 {
Near32 3:573a0dc8383f 316 var.set( (double)0, i-1,1);
Near32 3:573a0dc8383f 317 var.set( h, i,1);
Near32 30:33e970ba1fe5 318 G = operatorL(G, motion_bicycle3(state+var, command, dt) - motion_bicycle3(state-var, command,dt) );
Near32 3:573a0dc8383f 319 }
Near32 3:573a0dc8383f 320
Near32 3:573a0dc8383f 321
Near32 30:33e970ba1fe5 322 return (1.0/(2*h))*G;
Near32 3:573a0dc8383f 323 }
Near32 3:573a0dc8383f 324
Near32 24:3c0422e1ebd6 325 Mat<double> jmotion_bicycle3_command(Mat<double> state, Mat<double> command, double dt)
Near32 24:3c0422e1ebd6 326 {
Near32 30:33e970ba1fe5 327 double h = sqrt(numeric_limits<double>::epsilon())*10e2+sqrt(numeric_limits<double>::epsilon())*norme2(state);
Near32 24:3c0422e1ebd6 328 Mat<double> var( (double)0, command.getLine(), command.getColumn());
Near32 24:3c0422e1ebd6 329 var.set( h, 1,1);
Near32 24:3c0422e1ebd6 330 Mat<double> G(motion_bicycle3(state, command+var, dt) - motion_bicycle3(state, command-var,dt));
Near32 24:3c0422e1ebd6 331
Near32 24:3c0422e1ebd6 332 for(int i=2;i<=command.getLine();i++)
Near32 24:3c0422e1ebd6 333 {
Near32 24:3c0422e1ebd6 334 var.set( (double)0, i-1,1);
Near32 24:3c0422e1ebd6 335 var.set( h, i,1);
Near32 30:33e970ba1fe5 336 G = operatorL(G, motion_bicycle3(state, command+var, dt) - motion_bicycle3(state, command-var,dt) );
Near32 24:3c0422e1ebd6 337 }
Near32 24:3c0422e1ebd6 338
Near32 24:3c0422e1ebd6 339
Near32 24:3c0422e1ebd6 340 return (1.0/(2*h))*G;
Near32 24:3c0422e1ebd6 341 }
Near32 24:3c0422e1ebd6 342
Near32 17:f360e21d3307 343 Mat<double> jsensor_bicycle3( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt)
Near32 3:573a0dc8383f 344 {
Near32 30:33e970ba1fe5 345 double h = sqrt(numeric_limits<double>::epsilon())*10e2+sqrt(numeric_limits<double>::epsilon())*norme2(state);
Near32 3:573a0dc8383f 346 Mat<double> var((double)0, state.getLine(), state.getColumn());
Near32 3:573a0dc8383f 347 var.set( h, 1,1);
Near32 24:3c0422e1ebd6 348 Mat<double> H(sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt));
Near32 3:573a0dc8383f 349
Near32 3:573a0dc8383f 350 for(int i=2;i<=state.getLine();i++)
Near32 24:3c0422e1ebd6 351 {
Near32 3:573a0dc8383f 352 var.set( (double)0, i-1,1);
Near32 3:573a0dc8383f 353 var.set( h, i,1);
Near32 24:3c0422e1ebd6 354 H = operatorL(H, sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt) );
Near32 3:573a0dc8383f 355 }
Near32 3:573a0dc8383f 356
Near32 3:573a0dc8383f 357
Near32 24:3c0422e1ebd6 358 return (1.0/(2*h))*H;
Near32 30:33e970ba1fe5 359 /*
Near32 30:33e970ba1fe5 360 double h = sqrt(numeric_limits<double>::epsilon())*10e2+sqrt(numeric_limits<double>::epsilon())*norme2(state);
Near32 30:33e970ba1fe5 361 Mat<double> var((double)0, state.getLine(), state.getColumn());
Near32 30:33e970ba1fe5 362 var.set( h, 1,1);
Near32 30:33e970ba1fe5 363 Mat<double> H(sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt));
Near32 30:33e970ba1fe5 364
Near32 30:33e970ba1fe5 365 for(int i=2;i<=state.getLine();i++)
Near32 30:33e970ba1fe5 366 {
Near32 30:33e970ba1fe5 367 var.set( (double)0, i-1,1);
Near32 30:33e970ba1fe5 368 var.set( h, i,1);
Near32 30:33e970ba1fe5 369 H = operatorL(H, sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt) );
Near32 30:33e970ba1fe5 370
Near32 30:33e970ba1fe5 371 }
Near32 30:33e970ba1fe5 372
Near32 30:33e970ba1fe5 373
Near32 30:33e970ba1fe5 374 return (1.0/(2*h))*H;
Near32 30:33e970ba1fe5 375 */
Near32 17:f360e21d3307 376 }
Near32 17:f360e21d3307 377
Near32 17:f360e21d3307 378 bool setPWM(PwmOut *servo,float p)
Near32 17:f360e21d3307 379 {
Near32 17:f360e21d3307 380 if(p <= 1.0f && p >= 0.0f)
Near32 17:f360e21d3307 381 {
Near32 17:f360e21d3307 382 servo->write(p);
Near32 17:f360e21d3307 383 return true;
Near32 17:f360e21d3307 384 }
Near32 17:f360e21d3307 385
Near32 17:f360e21d3307 386 return false;
Near32 3:573a0dc8383f 387 }