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with class
Dependencies: ISR_Mini-explorer mbed
Fork of VirtualForces by
Sonar.cpp@35:68f9edbb3cff, 2017-06-11 (annotated)
- Committer:
- Ludwigfr
- Date:
- Sun Jun 11 22:40:37 2017 +0000
- Revision:
- 35:68f9edbb3cff
- Parent:
- 34:c208497dd079
- Child:
- 37:b4c45e43ad29
change so every command to the robot is in world coordinate
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Ludwigfr | 33:814bcd7d3cfe | 1 | #include "Sonar.hpp" |
Ludwigfr | 33:814bcd7d3cfe | 2 | |
Ludwigfr | 34:c208497dd079 | 3 | #define PI 3.14159 |
Ludwigfr | 34:c208497dd079 | 4 | |
Ludwigfr | 34:c208497dd079 | 5 | Sonar::Sonar(float angleFromCenter, float distanceXFromRobotCenter, float distanceYFromRobotCenter ){ |
Ludwigfr | 34:c208497dd079 | 6 | this->angleFromCenter=angleFromCenter; |
Ludwigfr | 35:68f9edbb3cff | 7 | this->distanceX=distanceXFromRobotCenter; |
Ludwigfr | 35:68f9edbb3cff | 8 | this->distanceY=distanceYFromRobotCenter; |
Ludwigfr | 33:814bcd7d3cfe | 9 | this->maxRange=50;//cm |
Ludwigfr | 33:814bcd7d3cfe | 10 | this->minRange=10;//Rmin cm |
Ludwigfr | 33:814bcd7d3cfe | 11 | this->incertitudeRange=10;//cm |
Ludwigfr | 33:814bcd7d3cfe | 12 | this->angleRange=3.14159/3;//Omega rad |
Ludwigfr | 33:814bcd7d3cfe | 13 | } |
Ludwigfr | 33:814bcd7d3cfe | 14 | |
Ludwigfr | 33:814bcd7d3cfe | 15 | //ODOMETRIA MUST HAVE BEEN CALLED |
Ludwigfr | 34:c208497dd079 | 16 | //function that check if a cell A(x,y) is in the range of the front sonar S(xs,ys) (with an angle depending on the sonar used, front 0, left PI/3, right -PI/3) returns the probability it's occuPIed/empty [0;1] |
Ludwigfr | 34:c208497dd079 | 17 | float Sonar::compute_probability_t(float distanceObstacleDetected, float xCell, float yCell, float xRobotWorld, float yRobotWorld, float theta){ |
Ludwigfr | 34:c208497dd079 | 18 | float xSonar=xRobotWorld+this->distanceX; |
Ludwigfr | 34:c208497dd079 | 19 | float ySonar=yRobotWorld+this->distanceY; |
Ludwigfr | 34:c208497dd079 | 20 | float distancePointToSonar=sqrt(pow(xCell-xSonar,2)+pow(yCell-ySonar,2)); |
Ludwigfr | 33:814bcd7d3cfe | 21 | if( distancePointToSonar < this->maxRange){ |
Ludwigfr | 34:c208497dd079 | 22 | float anglePointToSonar=this->compute_angle_between_vectors(xCell,yCell,xSonar,ySonar);//angle beetween the point and the sonar beam |
Ludwigfr | 34:c208497dd079 | 23 | float alphaBeforeAdjustment=anglePointToSonar-theta-this->angleFromCenter; |
Ludwigfr | 33:814bcd7d3cfe | 24 | anglePointToSonar=rad_angle_check(alphaBeforeAdjustment);//TODO I feel you don't need to do that but I m not sure |
Ludwigfr | 33:814bcd7d3cfe | 25 | |
Ludwigfr | 34:c208497dd079 | 26 | if(alphaBeforeAdjustment>PI) |
Ludwigfr | 34:c208497dd079 | 27 | alphaBeforeAdjustment=alphaBeforeAdjustment-2*PI; |
Ludwigfr | 34:c208497dd079 | 28 | if(alphaBeforeAdjustment<-PI) |
Ludwigfr | 34:c208497dd079 | 29 | alphaBeforeAdjustment=alphaBeforeAdjustment+2*PI; |
Ludwigfr | 33:814bcd7d3cfe | 30 | |
Ludwigfr | 33:814bcd7d3cfe | 31 | //float anglePointToSonar2=atan2(y-ys,x-xs)-theta; |
Ludwigfr | 33:814bcd7d3cfe | 32 | |
Ludwigfr | 33:814bcd7d3cfe | 33 | //check if the distance between the cell and the robot is within the circle of range RADIUS_WHEELS |
Ludwigfr | 33:814bcd7d3cfe | 34 | //check if absolute difference between the angles is no more than Omega/2 |
Ludwigfr | 33:814bcd7d3cfe | 35 | if(anglePointToSonar <= this->angleRange/2 || anglePointToSonar >= this->rad_angle_check(-this->angleRange/2)){ |
Ludwigfr | 33:814bcd7d3cfe | 36 | if( distancePointToSonar < (distanceObstacleDetected - this->incertitudeRange)){ |
Ludwigfr | 33:814bcd7d3cfe | 37 | //point before obstacle, probably empty |
Ludwigfr | 33:814bcd7d3cfe | 38 | /*****************************************************************************/ |
Ludwigfr | 33:814bcd7d3cfe | 39 | float Ea=1.f-pow((2*alphaBeforeAdjustment)/this->angleRange,2); |
Ludwigfr | 33:814bcd7d3cfe | 40 | float Er; |
Ludwigfr | 33:814bcd7d3cfe | 41 | if(distancePointToSonar < this->minRange){ |
Ludwigfr | 33:814bcd7d3cfe | 42 | //point before minimum sonar range |
Ludwigfr | 33:814bcd7d3cfe | 43 | Er=0.f; |
Ludwigfr | 33:814bcd7d3cfe | 44 | }else{ |
Ludwigfr | 33:814bcd7d3cfe | 45 | //point after minimum sonar range |
Ludwigfr | 33:814bcd7d3cfe | 46 | Er=1.f-pow((distancePointToSonar-this->minRange)/(distanceObstacleDetected-this->incertitudeRange-this->minRange),2); |
Ludwigfr | 33:814bcd7d3cfe | 47 | } |
Ludwigfr | 33:814bcd7d3cfe | 48 | /*****************************************************************************/ |
Ludwigfr | 33:814bcd7d3cfe | 49 | //if((1.f-Er*Ea)/2.f >1 || (1.f-Er*Ea)/2.f < 0) |
Ludwigfr | 33:814bcd7d3cfe | 50 | // pc.printf("\n\r return value=%f,Er=%f,Ea=%f,alphaBeforeAdjustment=%f",(1.f-Er*Ea)/2.f,Er,Ea,alphaBeforeAdjustment); |
Ludwigfr | 33:814bcd7d3cfe | 51 | return (1.f-Er*Ea)/2.f; |
Ludwigfr | 33:814bcd7d3cfe | 52 | }else{ |
Ludwigfr | 34:c208497dd079 | 53 | //probably occuPIed |
Ludwigfr | 33:814bcd7d3cfe | 54 | /*****************************************************************************/ |
Ludwigfr | 34:c208497dd079 | 55 | float Oa=1.f-pow((2*alphaBeforeAdjustment)/this->angleRange,2); |
Ludwigfr | 33:814bcd7d3cfe | 56 | float Or; |
Ludwigfr | 33:814bcd7d3cfe | 57 | if( distancePointToSonar <= (distanceObstacleDetected + this->incertitudeRange)){ |
Ludwigfr | 33:814bcd7d3cfe | 58 | //point between distanceObstacleDetected +- INCERTITUDE_SONAR |
Ludwigfr | 33:814bcd7d3cfe | 59 | Or=1-pow((distancePointToSonar-distanceObstacleDetected)/(this->incertitudeRange),2); |
Ludwigfr | 33:814bcd7d3cfe | 60 | }else{ |
Ludwigfr | 33:814bcd7d3cfe | 61 | //point after in range of the sonar but after the zone detected |
Ludwigfr | 33:814bcd7d3cfe | 62 | Or=0; |
Ludwigfr | 33:814bcd7d3cfe | 63 | } |
Ludwigfr | 33:814bcd7d3cfe | 64 | /*****************************************************************************/ |
Ludwigfr | 33:814bcd7d3cfe | 65 | //if((1+Or*Oa)/2 >1 || (1+Or*Oa)/2 < 0) |
Ludwigfr | 33:814bcd7d3cfe | 66 | // pc.printf("\n\r return value=%f,Er=%f,Ea=%f,alphaBeforeAdjustment=%f",(1+Or*Oa)/2,Or,Oa,alphaBeforeAdjustment); |
Ludwigfr | 33:814bcd7d3cfe | 67 | return (1+Or*Oa)/2; |
Ludwigfr | 33:814bcd7d3cfe | 68 | } |
Ludwigfr | 33:814bcd7d3cfe | 69 | } |
Ludwigfr | 33:814bcd7d3cfe | 70 | } |
Ludwigfr | 33:814bcd7d3cfe | 71 | //not checked by the sonar |
Ludwigfr | 33:814bcd7d3cfe | 72 | return 0.5; |
Ludwigfr | 33:814bcd7d3cfe | 73 | } |
Ludwigfr | 33:814bcd7d3cfe | 74 | |
Ludwigfr | 33:814bcd7d3cfe | 75 | //returns the angle between the vectors (x,y) and (xs,ys) |
Ludwigfr | 33:814bcd7d3cfe | 76 | float Sonar::compute_angle_between_vectors(float x, float y,float xs,float ys){ |
Ludwigfr | 33:814bcd7d3cfe | 77 | //alpha angle between ->x and ->SA |
Ludwigfr | 33:814bcd7d3cfe | 78 | //vector S to A ->SA |
Ludwigfr | 33:814bcd7d3cfe | 79 | float vSAx=x-xs; |
Ludwigfr | 33:814bcd7d3cfe | 80 | float vSAy=y-ys; |
Ludwigfr | 33:814bcd7d3cfe | 81 | //norme SA |
Ludwigfr | 33:814bcd7d3cfe | 82 | float normeSA=sqrt(pow(vSAx,2)+pow(vSAy,2)); |
Ludwigfr | 33:814bcd7d3cfe | 83 | //vector ->x (1,0) |
Ludwigfr | 33:814bcd7d3cfe | 84 | float cosAlpha=1*vSAy/*+0*vSAx*//normeSA;; |
Ludwigfr | 33:814bcd7d3cfe | 85 | //vector ->y (0,1) |
Ludwigfr | 33:814bcd7d3cfe | 86 | float sinAlpha=/*0*vSAy+*/1*vSAx/normeSA;//+0*vSAx; |
Ludwigfr | 33:814bcd7d3cfe | 87 | if (sinAlpha < 0) |
Ludwigfr | 33:814bcd7d3cfe | 88 | return -acos(cosAlpha); |
Ludwigfr | 33:814bcd7d3cfe | 89 | else |
Ludwigfr | 33:814bcd7d3cfe | 90 | return acos(cosAlpha); |
Ludwigfr | 33:814bcd7d3cfe | 91 | } |
Ludwigfr | 33:814bcd7d3cfe | 92 | |
Ludwigfr | 34:c208497dd079 | 93 | //makes the angle inAngle between 0 and 2PI |
Ludwigfr | 33:814bcd7d3cfe | 94 | float Sonar::rad_angle_check(float inAngle){ |
Ludwigfr | 33:814bcd7d3cfe | 95 | //cout<<"before :"<<inAngle; |
Ludwigfr | 33:814bcd7d3cfe | 96 | if(inAngle > 0){ |
Ludwigfr | 34:c208497dd079 | 97 | while(inAngle > (2*PI)) |
Ludwigfr | 34:c208497dd079 | 98 | inAngle-=2*PI; |
Ludwigfr | 33:814bcd7d3cfe | 99 | }else{ |
Ludwigfr | 33:814bcd7d3cfe | 100 | while(inAngle < 0) |
Ludwigfr | 34:c208497dd079 | 101 | inAngle+=2*PI; |
Ludwigfr | 33:814bcd7d3cfe | 102 | } |
Ludwigfr | 33:814bcd7d3cfe | 103 | //cout<<" after :"<<inAngle<<endl; |
Ludwigfr | 33:814bcd7d3cfe | 104 | return inAngle; |
Ludwigfr | 33:814bcd7d3cfe | 105 | } |
Ludwigfr | 33:814bcd7d3cfe | 106 |