Yo Fleyt / Mbed 2 deprecated VirtualForces_with_class

with class

Dependencies:   ISR_Mini-explorer mbed

Fork of VirtualForces by Georgios Tsamis

main.cpp@32:d51928b58645, 2017-05-03 (annotated)

Committer:
Ludwigfr
Date:
Wed May 03 16:46:43 2017 +0000
Revision:
32:d51928b58645
Parent:
31:352be78e1aad
Child:
33:814bcd7d3cfe
made the function to compute the force and changed the variables for the 120x90 arena

Who changed what in which revision?

UserRevisionLine numberNew contents of line
geotsam 0:8bffb51cc345 1 #include "mbed.h"
geotsam 0:8bffb51cc345 2 #include "robot.h" // Initializes the robot. This include should be used in all main.cpp!
geotsam 0:8bffb51cc345 3 #include "math.h"
Ludwigfr 22:ebb37a249b5f 4
Ludwigfr 22:ebb37a249b5f 5 using namespace std;
AurelienBernier 4:8c56c3ba6e54 6
Ludwigfr 22:ebb37a249b5f 7 //fill initialLogValues with the values we already know (here the bordurs)
Ludwigfr 22:ebb37a249b5f 8 void fill_initial_log_values();
Ludwigfr 22:ebb37a249b5f 9 //generate a position randomly and makes the robot go there while updating the map
Ludwigfr 22:ebb37a249b5f 10 void randomize_and_map();
geotsam 29:224e9e686f7b 11 //make the robot do a pi/2 flip
geotsam 29:224e9e686f7b 12 void do_half_flip();
Ludwigfr 22:ebb37a249b5f 13 //go the the given position while updating the map
Ludwigfr 22:ebb37a249b5f 14 void go_to_point_with_angle(float target_x, float target_y, float target_angle);
Ludwigfr 22:ebb37a249b5f 15 //Updates sonar values
geotsam 24:8f4b820d8de8 16 void update_sonar_values(float leftMm, float frontMm, float rightMm);
Ludwigfr 22:ebb37a249b5f 17 //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 22:ebb37a249b5f 18 float compute_probability_t(float x, float y,float xs,float ys, float angleFromSonarPosition, float distanceObstacleDetected);
Ludwigfr 22:ebb37a249b5f 19 //print the map
Ludwigfr 22:ebb37a249b5f 20 void print_final_map();
Ludwigfr 25:572c9e9a8809 21 //print the map with the robot marked on it
Ludwigfr 25:572c9e9a8809 22 void print_final_map_with_robot_position();
geotsam 0:8bffb51cc345 23
Ludwigfr 22:ebb37a249b5f 24 //MATHS heavy functions
Ludwigfr 22:ebb37a249b5f 25 float dist(float robot_x, float robot_y, float target_x, float target_y);
Ludwigfr 22:ebb37a249b5f 26 //returns the probability [0,1] that the cell is occupied from the log value lt
Ludwigfr 22:ebb37a249b5f 27 float log_to_proba(float lt);
Ludwigfr 22:ebb37a249b5f 28 //returns the log value that the cell is occupied from the probability value [0,1]
Ludwigfr 22:ebb37a249b5f 29 float proba_to_log(float p);
Ludwigfr 22:ebb37a249b5f 30 //returns the new log value
Ludwigfr 22:ebb37a249b5f 31 float compute_log_estimation_lt(float previousLogValue,float currentProbability,float originalLogvalue );
Ludwigfr 22:ebb37a249b5f 32 //makes the angle inAngle between 0 and 2pi
Ludwigfr 22:ebb37a249b5f 33 float rad_angle_check(float inAngle);
Ludwigfr 22:ebb37a249b5f 34 //returns the angle between the vectors (x,y) and (xs,ys)
Ludwigfr 22:ebb37a249b5f 35 float compute_angle_between_vectors(float x, float y,float xs,float ys);
Ludwigfr 25:572c9e9a8809 36 float robot_center_x_in_orthonormal_x();
Ludwigfr 25:572c9e9a8809 37 float robot_center_y_in_orthonormal_y();
Ludwigfr 25:572c9e9a8809 38 float robot_sonar_front_x_in_orthonormal_x();
Ludwigfr 25:572c9e9a8809 39 float robot_sonar_front_y_in_orthonormal_y();
Ludwigfr 25:572c9e9a8809 40 float robot_sonar_right_x_in_orthonormal_x();
Ludwigfr 25:572c9e9a8809 41 float robot_sonar_right_y_in_orthonormal_y();
Ludwigfr 25:572c9e9a8809 42 float robot_sonar_left_x_in_orthonormal_x();
Ludwigfr 25:572c9e9a8809 43 float robot_sonar_left_y_in_orthonormal_y();
Ludwigfr 25:572c9e9a8809 44 float estimated_width_indice_in_orthonormal_x(int i);
Ludwigfr 25:572c9e9a8809 45 float estimated_height_indice_in_orthonormal_y(int j);
Ludwigfr 27:07bde633af72 46 void compute_angles_and_distance(float target_x, float target_y, float target_angle);
Ludwigfr 27:07bde633af72 47 void compute_linear_angular_velocities();
Ludwigfr 32:d51928b58645 48 //update foceX and forceY if necessary
Ludwigfr 32:d51928b58645 49 void updateForce(int widthIndice, int heightIndice, float range, float* forceX, float* forceY, float xRobotOrtho, float yRobotOrtho );
Ludwigfr 32:d51928b58645 50 //compute the X and Y force
Ludwigfr 32:d51928b58645 51 void compute_forceX_and_forceY(float targetX, float targetY,float forceX, float forceY);
Ludwigfr 32:d51928b58645 52
AurelienBernier 8:109314be5b68 53
Ludwigfr 22:ebb37a249b5f 54 const float pi=3.14159;
Ludwigfr 32:d51928b58645 55
Ludwigfr 32:d51928b58645 56 //CONSTANT FORCE FIELD
Ludwigfr 32:d51928b58645 57 const float FORCE_CONSTANT_REPULSION=10;//TODO tweak it
Ludwigfr 32:d51928b58645 58 const float FORCE_CONSTANT_ATTRACTION=10;//TODO tweak it
Ludwigfr 32:d51928b58645 59 const float RANGE_FORCE=50;//TODO tweak it
Ludwigfr 32:d51928b58645 60
Ludwigfr 22:ebb37a249b5f 61 //spec of the sonar
Ludwigfr 22:ebb37a249b5f 62 //TODO MEASURE THE DISTANCE on X and Y of the robot frame, between each sonar and the center of the robot and add it to calculus in updateSonarValues
geotsam 24:8f4b820d8de8 63 const float RANGE_SONAR=50;//cm
geotsam 24:8f4b820d8de8 64 const float RANGE_SONAR_MIN=10;//Rmin cm
geotsam 24:8f4b820d8de8 65 const float INCERTITUDE_SONAR=10;//cm
geotsam 24:8f4b820d8de8 66 const float ANGLE_SONAR=pi/3;//Omega rad
Ludwigfr 22:ebb37a249b5f 67
Ludwigfr 27:07bde633af72 68 //those distance and angle are approximation in need of measurements, in the orthonormal frame
geotsam 24:8f4b820d8de8 69 const float ANGLE_FRONT_TO_LEFT=10*pi/36;//50 degrees
Ludwigfr 27:07bde633af72 70 const float DISTANCE_SONAR_LEFT_X=-4;
geotsam 24:8f4b820d8de8 71 const float DISTANCE_SONAR_LEFT_Y=4;
Ludwigfr 22:ebb37a249b5f 72
geotsam 24:8f4b820d8de8 73 const float ANGLE_FRONT_TO_RIGHT=-10*pi/36;//-50 degrees
Ludwigfr 27:07bde633af72 74 const float DISTANCE_SONAR_RIGHT_X=4;
geotsam 24:8f4b820d8de8 75 const float DISTANCE_SONAR_RIGHT_Y=4;
AurelienBernier 11:e641aa08c92e 76
Ludwigfr 22:ebb37a249b5f 77 const float ANGLE_FRONT_TO_FRONT=0;
Ludwigfr 22:ebb37a249b5f 78 const float DISTANCE_SONAR_FRONT_X=0;
Ludwigfr 22:ebb37a249b5f 79 const float DISTANCE_SONAR_FRONT_Y=5;
Ludwigfr 22:ebb37a249b5f 80
Ludwigfr 22:ebb37a249b5f 81 //TODO adjust the size of the map for computation time (25*25?)
Ludwigfr 32:d51928b58645 82 const float WIDTH_ARENA=120;//cm
Ludwigfr 32:d51928b58645 83 const float HEIGHT_ARENA=90;//cm
geotsam 24:8f4b820d8de8 84
geotsam 24:8f4b820d8de8 85 //const int SIZE_MAP=25;
Ludwigfr 32:d51928b58645 86 const int NB_CELL_WIDTH=24;
Ludwigfr 32:d51928b58645 87 const int NB_CELL_HEIGHT=18;
Ludwigfr 22:ebb37a249b5f 88
Ludwigfr 27:07bde633af72 89 //position and orientation of the robot when put on the map (ODOMETRY doesn't know those) it's in the robot frame
Ludwigfr 31:352be78e1aad 90 //this configuration suppose that the robot is in the middle of the arena facing up (to be sure you can use print_final_map_with_robot_position
Ludwigfr 27:07bde633af72 91 const float DEFAULT_X=HEIGHT_ARENA/2;
Ludwigfr 27:07bde633af72 92 const float DEFAULT_Y=WIDTH_ARENA/2;
Ludwigfr 27:07bde633af72 93 const float DEFAULT_THETA=0;
Ludwigfr 22:ebb37a249b5f 94
geotsam 24:8f4b820d8de8 95 //used to create the map 250 represent the 250cm of the square where the robot is tested
geotsam 24:8f4b820d8de8 96 //float sizeCell=250/(float)SIZE_MAP;
Ludwigfr 27:07bde633af72 97 float sizeCellWidth=WIDTH_ARENA/(float)NB_CELL_WIDTH;
Ludwigfr 27:07bde633af72 98 float sizeCellHeight=HEIGHT_ARENA/(float)NB_CELL_HEIGHT;
geotsam 24:8f4b820d8de8 99
geotsam 24:8f4b820d8de8 100 float map[NB_CELL_WIDTH][NB_CELL_HEIGHT];//contains the log values for each cell
geotsam 24:8f4b820d8de8 101 float initialLogValues[NB_CELL_WIDTH][NB_CELL_HEIGHT];
Ludwigfr 22:ebb37a249b5f 102
Ludwigfr 22:ebb37a249b5f 103 //Diameter of a wheel and distance between the 2
Ludwigfr 22:ebb37a249b5f 104 const float RADIUS_WHEELS=3.25;
Ludwigfr 22:ebb37a249b5f 105 const float DISTANCE_WHEELS=7.2;
Ludwigfr 22:ebb37a249b5f 106
Ludwigfr 27:07bde633af72 107 const int MAX_SPEED=250;//TODO TWEAK THE SPEED SO IT DOES NOT FUCK UP
AurelienBernier 8:109314be5b68 108
geotsam 26:b020cf253059 109 float alpha; //angle error
geotsam 26:b020cf253059 110 float rho; //distance from target
geotsam 26:b020cf253059 111 float beta;
geotsam 26:b020cf253059 112 float kRho=12, ka=30, kb=-13; //Kappa values
geotsam 26:b020cf253059 113 float linear, angular, angular_left, angular_right;
geotsam 26:b020cf253059 114 float dt=0.5;
geotsam 26:b020cf253059 115 float temp;
geotsam 26:b020cf253059 116 float d2;
geotsam 26:b020cf253059 117 Timer t;
geotsam 26:b020cf253059 118
geotsam 26:b020cf253059 119 int speed=MAX_SPEED; // Max speed at beggining of movement
geotsam 26:b020cf253059 120
geotsam 26:b020cf253059 121 float leftMm;
geotsam 26:b020cf253059 122 float frontMm;
geotsam 26:b020cf253059 123 float rightMm;
geotsam 26:b020cf253059 124
geotsam 0:8bffb51cc345 125 int main(){
geotsam 17:caf393b63e27 126
geotsam 13:41f75c132135 127 i2c1.frequency(100000);
AurelienBernier 2:ea61e801e81f 128 initRobot(); //Initializing the robot
geotsam 0:8bffb51cc345 129 pc.baud(9600); // baud for the pc communication
geotsam 0:8bffb51cc345 130
Ludwigfr 22:ebb37a249b5f 131 measure_always_on();//TODO check if needed
geotsam 24:8f4b820d8de8 132 wait(0.5);
AurelienBernier 19:dbc5fbad4975 133
Ludwigfr 22:ebb37a249b5f 134 fill_initial_log_values();
geotsam 13:41f75c132135 135
Ludwigfr 31:352be78e1aad 136 theta=DEFAULT_THETA;
geotsam 24:8f4b820d8de8 137 X=DEFAULT_X;
geotsam 24:8f4b820d8de8 138 Y=DEFAULT_Y;
geotsam 24:8f4b820d8de8 139
Ludwigfr 27:07bde633af72 140
geotsam 29:224e9e686f7b 141 for (int i = 0; i<10; i++) {
geotsam 29:224e9e686f7b 142 randomize_and_map();
geotsam 29:224e9e686f7b 143 //print_final_map();
geotsam 29:224e9e686f7b 144 print_final_map_with_robot_position();
geotsam 29:224e9e686f7b 145 }
geotsam 29:224e9e686f7b 146 while(1){
Ludwigfr 27:07bde633af72 147 print_final_map();
geotsam 29:224e9e686f7b 148 print_final_map_with_robot_position();
geotsam 17:caf393b63e27 149 }
AurelienBernier 8:109314be5b68 150
AurelienBernier 8:109314be5b68 151 }
AurelienBernier 8:109314be5b68 152
Ludwigfr 22:ebb37a249b5f 153 //fill initialLogValues with the values we already know (here the bordurs)
Ludwigfr 22:ebb37a249b5f 154 void fill_initial_log_values(){
Ludwigfr 31:352be78e1aad 155 //Fill map, we know the border are occupied
geotsam 24:8f4b820d8de8 156 for (int i = 0; i<NB_CELL_WIDTH; i++) {
geotsam 24:8f4b820d8de8 157 for (int j = 0; j<NB_CELL_HEIGHT; j++) {
geotsam 24:8f4b820d8de8 158 if(j==0 || j==NB_CELL_HEIGHT-1 || i==0 || i==NB_CELL_WIDTH-1)
Ludwigfr 22:ebb37a249b5f 159 initialLogValues[i][j] = proba_to_log(1);
Ludwigfr 22:ebb37a249b5f 160 else
Ludwigfr 22:ebb37a249b5f 161 initialLogValues[i][j] = proba_to_log(0.5);
AurelienBernier 21:62154d644531 162 }
Ludwigfr 22:ebb37a249b5f 163 }
AurelienBernier 8:109314be5b68 164 }
AurelienBernier 8:109314be5b68 165
Ludwigfr 22:ebb37a249b5f 166 //generate a position randomly and makes the robot go there while updating the map
Ludwigfr 22:ebb37a249b5f 167 void randomize_and_map() {
geotsam 24:8f4b820d8de8 168 //TODO check that it's aurelien's work
Ludwigfr 27:07bde633af72 169 float target_x = (rand()%(int)(HEIGHT_ARENA*10))/10;//for decimal precision
Ludwigfr 27:07bde633af72 170 float target_y = (rand()%(int)(WIDTH_ARENA*10))/10;
geotsam 30:95d8d3e2b81b 171 float target_angle = 2*((float)(rand()%31416)-15708)/10000.0;
geotsam 24:8f4b820d8de8 172
geotsam 24:8f4b820d8de8 173 //TODO comment that
geotsam 24:8f4b820d8de8 174 //pc.printf("\n\r targ_X=%f", target_x);
geotsam 24:8f4b820d8de8 175 //pc.printf("\n\r targ_Y=%f", target_y);
geotsam 24:8f4b820d8de8 176 //pc.printf("\n\r targ_Angle=%f", target_angle);
geotsam 24:8f4b820d8de8 177
Ludwigfr 22:ebb37a249b5f 178 go_to_point_with_angle(target_x, target_y, target_angle);
AurelienBernier 19:dbc5fbad4975 179 }
AurelienBernier 19:dbc5fbad4975 180
geotsam 29:224e9e686f7b 181
geotsam 29:224e9e686f7b 182 void do_half_flip(){
Ludwigfr 28:f884979a02fa 183 Odometria();
geotsam 29:224e9e686f7b 184 float theta_plus_h_pi=theta+pi/2;//theta is between -pi and pi
geotsam 29:224e9e686f7b 185 if(theta_plus_h_pi > pi)
geotsam 29:224e9e686f7b 186 theta_plus_h_pi=-(2*pi-theta_plus_h_pi);
geotsam 29:224e9e686f7b 187 leftMotor(0,100);
geotsam 29:224e9e686f7b 188 rightMotor(1,100);
geotsam 29:224e9e686f7b 189 while(abs(theta_plus_h_pi-theta)>0.05){
Ludwigfr 28:f884979a02fa 190 Odometria();
geotsam 29:224e9e686f7b 191 // pc.printf("\n\r diff=%f", abs(theta_plus_pi-theta));
Ludwigfr 28:f884979a02fa 192 }
Ludwigfr 28:f884979a02fa 193 leftMotor(1,0);
Ludwigfr 28:f884979a02fa 194 rightMotor(1,0);
Ludwigfr 28:f884979a02fa 195 }
Ludwigfr 28:f884979a02fa 196
Ludwigfr 22:ebb37a249b5f 197 //go the the given position while updating the map
Ludwigfr 22:ebb37a249b5f 198 //TODO clean this procedure it's ugly as hell and too long
Ludwigfr 22:ebb37a249b5f 199 void go_to_point_with_angle(float target_x, float target_y, float target_angle) {
Ludwigfr 28:f884979a02fa 200 Odometria();
geotsam 24:8f4b820d8de8 201 alpha = atan2((target_y-Y),(target_x-X))-theta;
geotsam 24:8f4b820d8de8 202 alpha = atan(sin(alpha)/cos(alpha));
geotsam 24:8f4b820d8de8 203 rho = dist(X, Y, target_x, target_y);
geotsam 24:8f4b820d8de8 204 beta = -alpha-theta+target_angle;
geotsam 24:8f4b820d8de8 205 //beta = atan(sin(beta)/cos(beta));
Ludwigfr 27:07bde633af72 206 bool keep_going=true;
geotsam 24:8f4b820d8de8 207 do {
AurelienBernier 6:afde4b08166b 208 //Timer stuff
AurelienBernier 6:afde4b08166b 209 dt = t.read();
AurelienBernier 6:afde4b08166b 210 t.reset();
AurelienBernier 6:afde4b08166b 211 t.start();
AurelienBernier 6:afde4b08166b 212
geotsam 14:d58f2bdbf42e 213 //Updating X,Y and theta with the odometry values
geotsam 14:d58f2bdbf42e 214 Odometria();
geotsam 24:8f4b820d8de8 215 leftMm = get_distance_left_sensor();
geotsam 24:8f4b820d8de8 216 frontMm = get_distance_front_sensor();
geotsam 24:8f4b820d8de8 217 rightMm = get_distance_right_sensor();
geotsam 24:8f4b820d8de8 218
geotsam 24:8f4b820d8de8 219 //pc.printf("\n\r leftMm=%f", leftMm);
geotsam 24:8f4b820d8de8 220 //pc.printf("\n\r frontMm=%f", frontMm);
geotsam 24:8f4b820d8de8 221 //pc.printf("\n\r rightMm=%f", rightMm);
Ludwigfr 27:07bde633af72 222
Ludwigfr 27:07bde633af72 223 //if in dangerzone
geotsam 29:224e9e686f7b 224 if(frontMm < 120 || leftMm <120 || rightMm <120){
geotsam 24:8f4b820d8de8 225 leftMotor(1,0);
geotsam 24:8f4b820d8de8 226 rightMotor(1,0);
Ludwigfr 27:07bde633af72 227 update_sonar_values(leftMm, frontMm, rightMm);
geotsam 29:224e9e686f7b 228 //TODO Giorgos maybe you can also test the do_half_flip() function
geotsam 24:8f4b820d8de8 229 Odometria();
Ludwigfr 27:07bde633af72 230 //do a flip TODO
Ludwigfr 27:07bde633af72 231 keep_going=false;
geotsam 29:224e9e686f7b 232 do_half_flip();
Ludwigfr 27:07bde633af72 233 }else{
Ludwigfr 27:07bde633af72 234 //if not in danger zone continue as usual
Ludwigfr 27:07bde633af72 235 update_sonar_values(leftMm, frontMm, rightMm);
Ludwigfr 27:07bde633af72 236 compute_angles_and_distance(target_x, target_y, target_angle); //Compute the angles and the distance from target
Ludwigfr 27:07bde633af72 237 compute_linear_angular_velocities(); //Using the angles and distance, compute the velocities needed (linear & angular)
Ludwigfr 27:07bde633af72 238
Ludwigfr 27:07bde633af72 239 //pc.printf("\n\r X=%f", X);
Ludwigfr 27:07bde633af72 240 //pc.printf("\n\r Y=%f", Y);
Ludwigfr 27:07bde633af72 241
Ludwigfr 27:07bde633af72 242 //pc.printf("\n\r a_r=%f", angular_right);
Ludwigfr 27:07bde633af72 243 //pc.printf("\n\r a_l=%f", angular_left);
Ludwigfr 27:07bde633af72 244
Ludwigfr 27:07bde633af72 245 //Updating motor velocities
Ludwigfr 27:07bde633af72 246 leftMotor(1,angular_left);
Ludwigfr 27:07bde633af72 247 rightMotor(1,angular_right);
Ludwigfr 27:07bde633af72 248
Ludwigfr 27:07bde633af72 249 wait(0.2);
Ludwigfr 27:07bde633af72 250 //Timer stuff
Ludwigfr 27:07bde633af72 251 t.stop();
AurelienBernier 11:e641aa08c92e 252 }
Ludwigfr 27:07bde633af72 253 } while(d2>1 && (abs(target_angle-theta)>0.01) && keep_going);
geotsam 24:8f4b820d8de8 254
geotsam 24:8f4b820d8de8 255 //Stop at the end
geotsam 24:8f4b820d8de8 256 leftMotor(1,0);
geotsam 24:8f4b820d8de8 257 rightMotor(1,0);
Ludwigfr 22:ebb37a249b5f 258 }
Ludwigfr 22:ebb37a249b5f 259
Ludwigfr 22:ebb37a249b5f 260 //Updates sonar values
geotsam 24:8f4b820d8de8 261 void update_sonar_values(float leftMm, float frontMm, float rightMm){
Ludwigfr 22:ebb37a249b5f 262 float currProba;
Ludwigfr 25:572c9e9a8809 263 float i_in_orthonormal;
Ludwigfr 25:572c9e9a8809 264 float j_in_orthonormal;
geotsam 24:8f4b820d8de8 265 for(int i=0;i<NB_CELL_WIDTH;i++){
geotsam 24:8f4b820d8de8 266 for(int j=0;j<NB_CELL_HEIGHT;j++){
geotsam 24:8f4b820d8de8 267 //check if the point A(x,y) in the world frame is within the range of the sonar (which has the coordinates xs, ys in the world frame)
geotsam 24:8f4b820d8de8 268 //check that again
Ludwigfr 22:ebb37a249b5f 269 //compute for front sonar
Ludwigfr 25:572c9e9a8809 270 i_in_orthonormal=estimated_width_indice_in_orthonormal_x(i);
Ludwigfr 25:572c9e9a8809 271 j_in_orthonormal=estimated_height_indice_in_orthonormal_y(j);
Ludwigfr 25:572c9e9a8809 272
Ludwigfr 25:572c9e9a8809 273 currProba=compute_probability_t(i_in_orthonormal,j_in_orthonormal,robot_sonar_front_x_in_orthonormal_x(),robot_sonar_front_y_in_orthonormal_y(),ANGLE_FRONT_TO_FRONT,frontMm/10);
Ludwigfr 22:ebb37a249b5f 274 map[i][j]=map[i][j]+proba_to_log(currProba)+initialLogValues[i][j];//map is filled as map[0][0] get the data for the point closest to the origin
Ludwigfr 22:ebb37a249b5f 275 //compute for right sonar
Ludwigfr 25:572c9e9a8809 276 currProba=compute_probability_t(i_in_orthonormal,j_in_orthonormal,robot_sonar_right_x_in_orthonormal_x(),robot_sonar_right_y_in_orthonormal_y(),ANGLE_FRONT_TO_RIGHT,rightMm/10);
Ludwigfr 22:ebb37a249b5f 277 map[i][j]=map[i][j]+proba_to_log(currProba)+initialLogValues[i][j];
Ludwigfr 22:ebb37a249b5f 278 //compute for left sonar
Ludwigfr 25:572c9e9a8809 279 currProba=compute_probability_t(i_in_orthonormal,j_in_orthonormal,robot_sonar_left_x_in_orthonormal_x(),robot_sonar_left_y_in_orthonormal_y(),ANGLE_FRONT_TO_LEFT,leftMm/10);
Ludwigfr 22:ebb37a249b5f 280 map[i][j]=map[i][j]+proba_to_log(currProba)+initialLogValues[i][j];
Ludwigfr 22:ebb37a249b5f 281 }
Ludwigfr 22:ebb37a249b5f 282 }
Ludwigfr 22:ebb37a249b5f 283 }
Ludwigfr 22:ebb37a249b5f 284
Ludwigfr 25:572c9e9a8809 285 //ODOMETRIA MUST HAVE BEEN CALLED
Ludwigfr 22:ebb37a249b5f 286 //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 22:ebb37a249b5f 287 float compute_probability_t(float x, float y,float xs,float ys, float angleFromSonarPosition, float distanceObstacleDetected){
Ludwigfr 22:ebb37a249b5f 288
Ludwigfr 22:ebb37a249b5f 289 float alpha=compute_angle_between_vectors(x,y,xs,ys);//angle beetween the point and the sonar beam
geotsam 24:8f4b820d8de8 290 float alphaBeforeAdjustment=alpha-theta-angleFromSonarPosition;
Ludwigfr 22:ebb37a249b5f 291 alpha=rad_angle_check(alphaBeforeAdjustment);//TODO I feel you don't need to do that but I m not sure
Ludwigfr 22:ebb37a249b5f 292 float distancePointToSonar=sqrt(pow(x-xs,2)+pow(y-ys,2));
Ludwigfr 22:ebb37a249b5f 293
Ludwigfr 22:ebb37a249b5f 294 //check if the distance between the cell and the robot is within the circle of range RADIUS_WHEELS
Ludwigfr 22:ebb37a249b5f 295 //check if absolute difference between the angles is no more than Omega/2
Ludwigfr 22:ebb37a249b5f 296 if( distancePointToSonar < (RANGE_SONAR)&& (alpha <= ANGLE_SONAR/2 || alpha >= rad_angle_check(-ANGLE_SONAR/2))){
Ludwigfr 22:ebb37a249b5f 297 if( distancePointToSonar < (distanceObstacleDetected - INCERTITUDE_SONAR)){
Ludwigfr 22:ebb37a249b5f 298 //point before obstacle, probably empty
Ludwigfr 22:ebb37a249b5f 299 /*****************************************************************************/
Ludwigfr 22:ebb37a249b5f 300 float Ea=1.f-pow((2*alphaBeforeAdjustment)/ANGLE_SONAR,2);
Ludwigfr 22:ebb37a249b5f 301 float Er;
Ludwigfr 22:ebb37a249b5f 302 if(distancePointToSonar < RANGE_SONAR_MIN){
Ludwigfr 22:ebb37a249b5f 303 //point before minimum sonar range
Ludwigfr 22:ebb37a249b5f 304 Er=0.f;
Ludwigfr 22:ebb37a249b5f 305 }else{
Ludwigfr 22:ebb37a249b5f 306 //point after minimum sonar range
Ludwigfr 22:ebb37a249b5f 307 Er=1.f-pow((distancePointToSonar-RANGE_SONAR_MIN)/(distanceObstacleDetected-INCERTITUDE_SONAR-RANGE_SONAR_MIN),2);
Ludwigfr 22:ebb37a249b5f 308 }
Ludwigfr 22:ebb37a249b5f 309 /*****************************************************************************/
Ludwigfr 22:ebb37a249b5f 310 return (1.f-Er*Ea)/2.f;
Ludwigfr 22:ebb37a249b5f 311 }else{
Ludwigfr 22:ebb37a249b5f 312 //probably occupied
Ludwigfr 22:ebb37a249b5f 313 /*****************************************************************************/
Ludwigfr 22:ebb37a249b5f 314 float Oa=1.f-pow((2*alphaBeforeAdjustment)/ANGLE_SONAR,2);
Ludwigfr 22:ebb37a249b5f 315 float Or;
Ludwigfr 22:ebb37a249b5f 316 if( distancePointToSonar <= (distanceObstacleDetected + INCERTITUDE_SONAR)){
Ludwigfr 22:ebb37a249b5f 317 //point between distanceObstacleDetected +- INCERTITUDE_SONAR
Ludwigfr 22:ebb37a249b5f 318 Or=1-pow((distancePointToSonar-distanceObstacleDetected)/(INCERTITUDE_SONAR),2);
Ludwigfr 22:ebb37a249b5f 319 }else{
Ludwigfr 22:ebb37a249b5f 320 //point after in range of the sonar but after the zone detected
Ludwigfr 22:ebb37a249b5f 321 Or=0;
Ludwigfr 22:ebb37a249b5f 322 }
Ludwigfr 22:ebb37a249b5f 323 /*****************************************************************************/
Ludwigfr 22:ebb37a249b5f 324 return (1+Or*Oa)/2;
Ludwigfr 22:ebb37a249b5f 325 }
Ludwigfr 22:ebb37a249b5f 326 }else{
Ludwigfr 25:572c9e9a8809 327 //not checked by the sonar
Ludwigfr 22:ebb37a249b5f 328 return 0.5;
AurelienBernier 19:dbc5fbad4975 329 }
Ludwigfr 22:ebb37a249b5f 330 }
Ludwigfr 22:ebb37a249b5f 331
Ludwigfr 25:572c9e9a8809 332 void print_final_map() {
Ludwigfr 22:ebb37a249b5f 333 float currProba;
geotsam 24:8f4b820d8de8 334 pc.printf("\n\r");
geotsam 24:8f4b820d8de8 335 for (int y = NB_CELL_HEIGHT -1; y>-1; y--) {
geotsam 24:8f4b820d8de8 336 for (int x= 0; x<NB_CELL_WIDTH; x++) {
geotsam 24:8f4b820d8de8 337 currProba=log_to_proba(map[x][y]);
geotsam 24:8f4b820d8de8 338 if ( currProba < 0.5) {
geotsam 29:224e9e686f7b 339 pc.printf(" ");
Ludwigfr 22:ebb37a249b5f 340 } else {
Ludwigfr 22:ebb37a249b5f 341 if(currProba==0.5)
geotsam 24:8f4b820d8de8 342 pc.printf(" . ");
Ludwigfr 22:ebb37a249b5f 343 else
geotsam 29:224e9e686f7b 344 pc.printf(" X ");
Ludwigfr 22:ebb37a249b5f 345 }
Ludwigfr 22:ebb37a249b5f 346 }
geotsam 24:8f4b820d8de8 347 pc.printf("\n\r");
Ludwigfr 22:ebb37a249b5f 348 }
Ludwigfr 22:ebb37a249b5f 349 }
Ludwigfr 22:ebb37a249b5f 350
Ludwigfr 25:572c9e9a8809 351 void print_final_map_with_robot_position() {
geotsam 24:8f4b820d8de8 352 float currProba;
Ludwigfr 25:572c9e9a8809 353 Odometria();
Ludwigfr 25:572c9e9a8809 354 float Xrobot=robot_center_x_in_orthonormal_x();
Ludwigfr 25:572c9e9a8809 355 float Yrobot=robot_center_y_in_orthonormal_y();
Ludwigfr 25:572c9e9a8809 356
Ludwigfr 25:572c9e9a8809 357 float heightIndiceInOrthonormal;
Ludwigfr 25:572c9e9a8809 358 float widthIndiceInOrthonormal;
Ludwigfr 25:572c9e9a8809 359
Ludwigfr 27:07bde633af72 360 float widthMalus=-(3*sizeCellWidth/2);
Ludwigfr 27:07bde633af72 361 float widthBonus=sizeCellWidth/2;
Ludwigfr 25:572c9e9a8809 362
Ludwigfr 27:07bde633af72 363 float heightMalus=-(3*sizeCellHeight/2);
Ludwigfr 27:07bde633af72 364 float heightBonus=sizeCellHeight/2;
Ludwigfr 25:572c9e9a8809 365
geotsam 24:8f4b820d8de8 366 pc.printf("\n\r");
geotsam 24:8f4b820d8de8 367 for (int y = NB_CELL_HEIGHT -1; y>-1; y--) {
geotsam 24:8f4b820d8de8 368 for (int x= 0; x<NB_CELL_WIDTH; x++) {
Ludwigfr 25:572c9e9a8809 369 heightIndiceInOrthonormal=estimated_height_indice_in_orthonormal_y(y);
Ludwigfr 25:572c9e9a8809 370 widthIndiceInOrthonormal=estimated_width_indice_in_orthonormal_x(x);
Ludwigfr 27:07bde633af72 371 if(Yrobot >= (heightIndiceInOrthonormal+heightMalus) && Yrobot <= (heightIndiceInOrthonormal+heightBonus) && Xrobot >= (widthIndiceInOrthonormal+widthMalus) && Xrobot <= (widthIndiceInOrthonormal+widthBonus))
Ludwigfr 27:07bde633af72 372 pc.printf(" R ");
Ludwigfr 25:572c9e9a8809 373 else{
Ludwigfr 25:572c9e9a8809 374 currProba=log_to_proba(map[x][y]);
Ludwigfr 25:572c9e9a8809 375 if ( currProba < 0.5)
geotsam 29:224e9e686f7b 376 pc.printf(" ");
Ludwigfr 25:572c9e9a8809 377 else{
Ludwigfr 25:572c9e9a8809 378 if(currProba==0.5)
Ludwigfr 27:07bde633af72 379 pc.printf(" . ");
Ludwigfr 25:572c9e9a8809 380 else
geotsam 29:224e9e686f7b 381 pc.printf(" X ");
Ludwigfr 25:572c9e9a8809 382 }
geotsam 24:8f4b820d8de8 383 }
geotsam 24:8f4b820d8de8 384 }
geotsam 24:8f4b820d8de8 385 pc.printf("\n\r");
geotsam 24:8f4b820d8de8 386 }
geotsam 24:8f4b820d8de8 387 }
Ludwigfr 22:ebb37a249b5f 388
Ludwigfr 22:ebb37a249b5f 389 //MATHS heavy functions
Ludwigfr 22:ebb37a249b5f 390 /**********************************************************************/
Ludwigfr 22:ebb37a249b5f 391 //Distance computation function
Ludwigfr 22:ebb37a249b5f 392 float dist(float robot_x, float robot_y, float target_x, float target_y){
Ludwigfr 22:ebb37a249b5f 393 return sqrt(pow(target_y-robot_y,2) + pow(target_x-robot_x,2));
Ludwigfr 22:ebb37a249b5f 394 }
Ludwigfr 22:ebb37a249b5f 395
geotsam 24:8f4b820d8de8 396 //returns the probability [0,1] that the cell is occupied from the log valAue lt
Ludwigfr 22:ebb37a249b5f 397 float log_to_proba(float lt){
Ludwigfr 22:ebb37a249b5f 398 return 1-1/(1+exp(lt));
Ludwigfr 22:ebb37a249b5f 399 }
Ludwigfr 22:ebb37a249b5f 400
Ludwigfr 22:ebb37a249b5f 401 //returns the log value that the cell is occupied from the probability value [0,1]
Ludwigfr 22:ebb37a249b5f 402 float proba_to_log(float p){
Ludwigfr 22:ebb37a249b5f 403 return log(p/(1-p));
Ludwigfr 22:ebb37a249b5f 404 }
Ludwigfr 22:ebb37a249b5f 405
Ludwigfr 22:ebb37a249b5f 406 //returns the new log value
Ludwigfr 22:ebb37a249b5f 407 float compute_log_estimation_lt(float previousLogValue,float currentProbability,float originalLogvalue ){
Ludwigfr 22:ebb37a249b5f 408 return previousLogValue+proba_to_log(currentProbability)-originalLogvalue;
Ludwigfr 22:ebb37a249b5f 409 }
Ludwigfr 22:ebb37a249b5f 410
Ludwigfr 22:ebb37a249b5f 411 //makes the angle inAngle between 0 and 2pi
Ludwigfr 22:ebb37a249b5f 412 float rad_angle_check(float inAngle){
Ludwigfr 22:ebb37a249b5f 413 //cout<<"before :"<<inAngle;
Ludwigfr 22:ebb37a249b5f 414 if(inAngle > 0){
Ludwigfr 22:ebb37a249b5f 415 while(inAngle > (2*pi))
Ludwigfr 22:ebb37a249b5f 416 inAngle-=2*pi;
Ludwigfr 22:ebb37a249b5f 417 }else{
Ludwigfr 22:ebb37a249b5f 418 while(inAngle < 0)
Ludwigfr 22:ebb37a249b5f 419 inAngle+=2*pi;
Ludwigfr 22:ebb37a249b5f 420 }
Ludwigfr 22:ebb37a249b5f 421 //cout<<" after :"<<inAngle<<endl;
Ludwigfr 22:ebb37a249b5f 422 return inAngle;
Ludwigfr 22:ebb37a249b5f 423 }
Ludwigfr 22:ebb37a249b5f 424
Ludwigfr 22:ebb37a249b5f 425 //returns the angle between the vectors (x,y) and (xs,ys)
Ludwigfr 22:ebb37a249b5f 426 float compute_angle_between_vectors(float x, float y,float xs,float ys){
Ludwigfr 22:ebb37a249b5f 427 //alpha angle between ->x and ->SA
Ludwigfr 22:ebb37a249b5f 428 //vector S to A ->SA
Ludwigfr 22:ebb37a249b5f 429 float vSAx=x-xs;
Ludwigfr 22:ebb37a249b5f 430 float vSAy=y-ys;
Ludwigfr 22:ebb37a249b5f 431 //norme SA
Ludwigfr 22:ebb37a249b5f 432 float normeSA=sqrt(pow(vSAx,2)+pow(vSAy,2));
Ludwigfr 22:ebb37a249b5f 433 //vector ->x (1,0)
Ludwigfr 22:ebb37a249b5f 434 float cosAlpha=1*vSAy/*+0*vSAx*//normeSA;;
Ludwigfr 22:ebb37a249b5f 435 //vector ->y (0,1)
Ludwigfr 22:ebb37a249b5f 436 float sinAlpha=/*0*vSAy+*/1*vSAx/normeSA;//+0*vSAx;
Ludwigfr 22:ebb37a249b5f 437 if (sinAlpha < 0)
Ludwigfr 22:ebb37a249b5f 438 return -acos(cosAlpha);
Ludwigfr 22:ebb37a249b5f 439 else
Ludwigfr 22:ebb37a249b5f 440 return acos(cosAlpha);
Ludwigfr 25:572c9e9a8809 441 }
Ludwigfr 25:572c9e9a8809 442
Ludwigfr 25:572c9e9a8809 443 float robot_center_x_in_orthonormal_x(){
Ludwigfr 27:07bde633af72 444 return NB_CELL_WIDTH*sizeCellWidth-Y;
Ludwigfr 25:572c9e9a8809 445 }
Ludwigfr 25:572c9e9a8809 446
Ludwigfr 25:572c9e9a8809 447 float robot_center_y_in_orthonormal_y(){
Ludwigfr 27:07bde633af72 448 return X;
Ludwigfr 25:572c9e9a8809 449 }
Ludwigfr 25:572c9e9a8809 450
Ludwigfr 25:572c9e9a8809 451 float robot_sonar_front_x_in_orthonormal_x(){
Ludwigfr 27:07bde633af72 452 return robot_center_x_in_orthonormal_x()+DISTANCE_SONAR_FRONT_X;
Ludwigfr 25:572c9e9a8809 453 }
Ludwigfr 25:572c9e9a8809 454 float robot_sonar_front_y_in_orthonormal_y(){
Ludwigfr 27:07bde633af72 455 return robot_center_y_in_orthonormal_y()+DISTANCE_SONAR_FRONT_Y;
Ludwigfr 25:572c9e9a8809 456 }
Ludwigfr 25:572c9e9a8809 457
Ludwigfr 25:572c9e9a8809 458 float robot_sonar_right_x_in_orthonormal_x(){
Ludwigfr 27:07bde633af72 459 return robot_center_x_in_orthonormal_x()+DISTANCE_SONAR_RIGHT_X;
Ludwigfr 25:572c9e9a8809 460 }
Ludwigfr 25:572c9e9a8809 461 float robot_sonar_right_y_in_orthonormal_y(){
Ludwigfr 27:07bde633af72 462 return robot_center_y_in_orthonormal_y()+DISTANCE_SONAR_RIGHT_Y;
Ludwigfr 25:572c9e9a8809 463 }
Ludwigfr 25:572c9e9a8809 464
Ludwigfr 25:572c9e9a8809 465 float robot_sonar_left_x_in_orthonormal_x(){
Ludwigfr 27:07bde633af72 466 return robot_center_x_in_orthonormal_x()+DISTANCE_SONAR_LEFT_X;
Ludwigfr 25:572c9e9a8809 467 }
Ludwigfr 25:572c9e9a8809 468 float robot_sonar_left_y_in_orthonormal_y(){
Ludwigfr 27:07bde633af72 469 return robot_center_y_in_orthonormal_y()+DISTANCE_SONAR_LEFT_Y;
Ludwigfr 25:572c9e9a8809 470 }
Ludwigfr 25:572c9e9a8809 471
Ludwigfr 25:572c9e9a8809 472 float estimated_width_indice_in_orthonormal_x(int i){
Ludwigfr 27:07bde633af72 473 return sizeCellWidth/2+i*sizeCellWidth;
Ludwigfr 25:572c9e9a8809 474 }
Ludwigfr 25:572c9e9a8809 475 float estimated_height_indice_in_orthonormal_y(int j){
Ludwigfr 27:07bde633af72 476 return sizeCellHeight/2+j*sizeCellHeight;
geotsam 26:b020cf253059 477 }
geotsam 26:b020cf253059 478
geotsam 26:b020cf253059 479 void compute_angles_and_distance(float target_x, float target_y, float target_angle){
geotsam 26:b020cf253059 480 alpha = atan2((target_y-Y),(target_x-X))-theta;
geotsam 26:b020cf253059 481 alpha = atan(sin(alpha)/cos(alpha));
geotsam 26:b020cf253059 482 rho = dist(X, Y, target_x, target_y);
geotsam 26:b020cf253059 483 d2 = rho;
geotsam 26:b020cf253059 484 beta = -alpha-theta+target_angle;
geotsam 26:b020cf253059 485
geotsam 26:b020cf253059 486 //Computing angle error and distance towards the target value
geotsam 26:b020cf253059 487 rho += dt*(-kRho*cos(alpha)*rho);
geotsam 26:b020cf253059 488 temp = alpha;
geotsam 26:b020cf253059 489 alpha += dt*(kRho*sin(alpha)-ka*alpha-kb*beta);
geotsam 26:b020cf253059 490 beta += dt*(-kRho*sin(temp));
Ludwigfr 27:07bde633af72 491 //pc.printf("\n\r d2=%f", d2);
Ludwigfr 27:07bde633af72 492 //pc.printf("\n\r dt=%f", dt);
geotsam 26:b020cf253059 493 }
geotsam 26:b020cf253059 494
geotsam 26:b020cf253059 495 void compute_linear_angular_velocities(){
geotsam 26:b020cf253059 496 //Computing linear and angular velocities
geotsam 26:b020cf253059 497 if(alpha>=-1.5708 && alpha<=1.5708){
geotsam 26:b020cf253059 498 linear=kRho*rho;
geotsam 26:b020cf253059 499 angular=ka*alpha+kb*beta;
geotsam 26:b020cf253059 500 }
geotsam 26:b020cf253059 501 else{
geotsam 26:b020cf253059 502 linear=-kRho*rho;
geotsam 26:b020cf253059 503 angular=-ka*alpha-kb*beta;
geotsam 26:b020cf253059 504 }
geotsam 26:b020cf253059 505 angular_left=(linear-0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS;
geotsam 26:b020cf253059 506 angular_right=(linear+0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS;
geotsam 26:b020cf253059 507
geotsam 26:b020cf253059 508 //Slowing down at the end for more precision
geotsam 26:b020cf253059 509 // if (d2<25) {
geotsam 26:b020cf253059 510 // speed = d2*30;
geotsam 26:b020cf253059 511 // }
geotsam 26:b020cf253059 512
geotsam 26:b020cf253059 513 //Normalize speed for motors
geotsam 26:b020cf253059 514 if(angular_left>angular_right) {
geotsam 26:b020cf253059 515 angular_right=speed*angular_right/angular_left;
geotsam 26:b020cf253059 516 angular_left=speed;
geotsam 26:b020cf253059 517 } else {
geotsam 26:b020cf253059 518 angular_left=speed*angular_left/angular_right;
geotsam 26:b020cf253059 519 angular_right=speed;
geotsam 26:b020cf253059 520 }
Ludwigfr 32:d51928b58645 521 }
Ludwigfr 32:d51928b58645 522
Ludwigfr 32:d51928b58645 523
Ludwigfr 32:d51928b58645 524 void updateForce(int widthIndice, int heightIndice, float range, float* forceX, float* forceY, float xRobotOrtho, float yRobotOrtho ){
Ludwigfr 32:d51928b58645 525
Ludwigfr 32:d51928b58645 526 //get the coordonate of the map and the robot in the ortonormal frame
Ludwigfr 32:d51928b58645 527 float xCenterCell=estimated_width_indice_in_orthonormal_x(widthIndice);
Ludwigfr 32:d51928b58645 528 float yCenterCell=estimated_height_indice_in_orthonormal_y(heightIndice);
Ludwigfr 32:d51928b58645 529 //compute the distance beetween the cell and the robot
Ludwigfr 32:d51928b58645 530 float distanceCellToRobot=sqrt(pow(xCenterCell-xRobotOrtho,2)+pow(yCenterCell-yRobotOrtho,2));
Ludwigfr 32:d51928b58645 531 //check if the cell is in range
Ludwigfr 32:d51928b58645 532 if(distanceCellToRobot <= (range)) {
Ludwigfr 32:d51928b58645 533 float probaCell=log_to_proba(map[widthIndice][heightIndice]);
Ludwigfr 32:d51928b58645 534 float xForceComputed=FORCE_CONSTANT_REPULSION*probaCell*(xCenterCell-xRobotOrtho)/pow(distanceCellToRobot,3);
Ludwigfr 32:d51928b58645 535 float yForceComputed=FORCE_CONSTANT_REPULSION*probaCell*(yCenterCell-yRobotOrtho)/pow(distanceCellToRobot,3);
Ludwigfr 32:d51928b58645 536 *forceX+=xForceComputed;
Ludwigfr 32:d51928b58645 537 *forceY+=yForceComputed;
Ludwigfr 32:d51928b58645 538 }
Ludwigfr 32:d51928b58645 539 }
Ludwigfr 32:d51928b58645 540
Ludwigfr 32:d51928b58645 541 void compute_forceX_and_forceY(float targetX, float targetY,float forceX, float forceY){
Ludwigfr 32:d51928b58645 542 float xRobotOrtho=robot_center_x_in_orthonormal_x();
Ludwigfr 32:d51928b58645 543 float yRobotOrtho=robot_center_y_in_orthonormal_y();
Ludwigfr 32:d51928b58645 544 for(int i=0;i<NB_CELL_WIDTH;i++){
Ludwigfr 32:d51928b58645 545 for(int j=0;j<NB_CELL_HEIGHT;j++){
Ludwigfr 32:d51928b58645 546 updateForce(i,j,RANGE_FORCE,&forceX,&forceY,xRobotOrtho,yRobotOrtho);
Ludwigfr 32:d51928b58645 547 }
Ludwigfr 32:d51928b58645 548 }
Ludwigfr 32:d51928b58645 549 //update with attraction force
Ludwigfr 32:d51928b58645 550 forceX+=FORCE_CONSTANT_ATTRACTION*(targetX-xRobotOrtho)/sqrt(pow(targetX-xRobotOrtho,2)+pow(targetY-yRobotOrtho,2));
Ludwigfr 32:d51928b58645 551 forceY+=FORCE_CONSTANT_ATTRACTION*(targetY-yRobotOrtho)/sqrt(pow(targetX-xRobotOrtho,2)+pow(targetY-yRobotOrtho,2));
Ludwigfr 32:d51928b58645 552 float amplitude=sqrt(pow(forceX,2)+pow(forceY,2));
Ludwigfr 32:d51928b58645 553 forceX=forceX/amplitude;
Ludwigfr 32:d51928b58645 554 forceY=forceY/amplitude;
geotsam 24:8f4b820d8de8 555 }