Yo Fleyt
with class
Dependencies: ISR_Mini-explorer mbed
Fork of
VirtualForces
by 
Georgios Tsamis
Diff: MiniExplorerCoimbra.cpp
- Revision:
- 35:68f9edbb3cff
- Parent:
- 34:c208497dd079
- Child:
- 37:b4c45e43ad29
--- a/MiniExplorerCoimbra.cpp Fri Jun 09 14:30:21 2017 +0000
+++ b/MiniExplorerCoimbra.cpp Sun Jun 11 22:40:37 2017 +0000
@@ -3,14 +3,14 @@
#define PI 3.14159
-MiniExplorerCoimbra::MiniExplorerCoimbra(float defaultX, float defaultY, float defaultTheta):map(200,200,20,20),sonarLeft(10*PI/36,-4,4),sonarFront(0,0,5),sonarRight(-10*PI/36,4,4){
+MiniExplorerCoimbra::MiniExplorerCoimbra(float defaultXWorld, float defaultYWorld, float defaultThetaWorld):map(200,200,20,20),sonarLeft(10*PI/36,-4,4),sonarFront(0,0,5),sonarRight(-10*PI/36,4,4){
i2c1.frequency(100000);
initRobot(); //Initializing the robot
pc.baud(9600); // baud for the pc communication
measure_always_on();//TODO check if needed
- this->setXYTheta(defaultX,defaultY,defaultTheta);
+ this->setXYThetaAndXYThetaWorld(defaultXWorld,defaultYWorld,defaultThetaWorld);
this->radiusWheels=3.25;
this->distanceWheels=7.2;
@@ -25,10 +25,26 @@
this->repulsionConstantForce=1;
}
-void MiniExplorerCoimbra::setXYTheta(float x, float y, float theta){
- X=x;
- Y=y;
- theta=theta;
+void MiniExplorerCoimbra::setXYThetaAndXYThetaWorld(float defaultXWorld, float defaultYWorld, float defaultThetaWorld){
+ this->xWorld=defaultXWorld;
+ this->yWorld=defaultYWorld;
+ this->thetaWorld=defaultThetaWorld;
+ X=defaultYWorld;
+ Y=-defaultXWorld;
+ if(defaultThetaWorld < -PI/2)
+ theta=PI/2+PI-defaultThetaWorld;
+ else
+ theta=defaultThetaWorld-PI/2;
+}
+
+void MiniExplorerCoimbra::myOdometria(){
+ Odometria();
+ this->xWorld=-Y;
+ this->yWorld=X;
+ if(theta >PI/2)
+ this->thetaWorld=-PI+(theta-PI/2);
+ else
+ this->thetaWorld=theta+PI/2;
}
//generate a position randomly and makes the robot go there while updating the map
@@ -44,21 +60,21 @@
if(signOfY < 1)
signOfY=-1;
- float targetX = movementOnX*signOfX;
- float targetY = movementOnY*signOfY;
- float targetAngle = 2*((float)(rand()%31416)-15708)/10000.0;
- this->go_to_point_with_angle(targetX, targetY, targetAngle);
+ float targetXWorld = movementOnX*signOfX;
+ float targetYWorld = movementOnY*signOfY;
+ float targetAngleWorld = 2*((float)(rand()%31416)-15708)/10000.0;
+ this->go_to_point_with_angle(targetXWorld, targetYWorld, targetAngleWorld);
}
-//go the the given position while updating the map
-void MiniExplorerCoimbra::go_to_point_with_angle(float targetX, float targetY, float targetAngle) {
- bool keep_going=true;
+//move of targetXWorld and targetYWorld ending in a targetAngleWorld
+void MiniExplorerCoimbra::go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld) {
+ bool keepGoing=true;
float leftMm;
float frontMm;
float rightMm;
float dt;
Timer t;
- float d2;
+ float distanceToTarget;
do {
//Timer stuff
dt = t.read();
@@ -66,7 +82,7 @@
t.start();
//Updating X,Y and theta with the odometry values
- Odometria();
+ this->myOdometria();
leftMm = get_distance_left_sensor();
frontMm = get_distance_front_sensor();
rightMm = get_distance_right_sensor();
@@ -77,102 +93,56 @@
rightMotor(1,0);
this->update_sonar_values(leftMm, frontMm, rightMm);
//TODO Giorgos maybe you can also test the do_half_flip() function
- Odometria();
+ this->myOdometria();
//do a flip TODO
- keep_going=false;
+ keepGoing=false;
this->do_half_flip();
}else{
//if not in danger zone continue as usual
this->update_sonar_values(leftMm, frontMm, rightMm);
//Updating motor velocities
- d2=this->update_angular_speed_wheels_go_to_point_with_angle(targetX,targetY,targetAngle,dt);
+ distanceToTarget=this->update_angular_speed_wheels_go_to_point_with_angle(targetXWorld,targetYWorld,targetAngleWorld,dt);
wait(0.2);
//Timer stuff
t.stop();
- pc.printf("\n\r dist to target= %f",d2);
+ pc.printf("\n\r dist to target= %f",distanceToTarget);
}
- } while(d2>1 && (abs(targetAngle-theta)>0.01) && keep_going);
+ } while(distanceToTarget>1 && (abs(targetAngleWorld-this->thetaWorld)>0.01) && keepGoing);
//Stop at the end
leftMotor(1,0);
rightMotor(1,0);
}
-void MiniExplorerCoimbra::update_sonar_values(float leftMm,float frontMm,float rightMm){
- float xWorldCell;
- float yWorldCell;
- float xRobotWorld=this->get_converted_robot_X_into_world();
- float yRobotWorld=this->get_converted_robot_Y_into_world();
- for(int i=0;i<this->map.nbCellWidth;i++){
- for(int j=0;j<this->map.nbCellHeight;j++){
- xWorldCell=this->map.cell_width_coordinate_to_world(i);
- yWorldCell=this->map.cell_height_coordinate_to_world(j);
- //compute_probability_t(float distanceObstacleDetected, float x, float y, float[2] robotCoordinatesInWorld)
- this->map.update_cell_value(i,j,this->sonarRight.compute_probability_t(rightMm,xWorldCell,yWorldCell,xRobotWorld,yRobotWorld,theta));
- this->map.update_cell_value(i,j,this->sonarLeft.compute_probability_t(leftMm,xWorldCell,yWorldCell,xRobotWorld,yWorldCell,theta));
- this->map.update_cell_value(i,j,this->sonarFront.compute_probability_t(frontMm,xWorldCell,yWorldCell,xRobotWorld,yWorldCell,theta));
-
- }
- }
-}
-
-float MiniExplorerCoimbra::get_converted_robot_X_into_world(){
- //x world coordinate
- return this->map.nbCellWidth*this->map.sizeCellWidth-Y;
-}
-
-float MiniExplorerCoimbra::get_converted_robot_Y_into_world(){
- //y worldcoordinate
- return X;
-}
-
-void MiniExplorerCoimbra::do_half_flip(){
- Odometria();
- float theta_plus_h_pi=theta+PI/2;//theta is between -PI and PI
- if(theta_plus_h_pi > PI)
- theta_plus_h_pi=-(2*PI-theta_plus_h_pi);
- leftMotor(0,100);
- rightMotor(1,100);
- while(abs(theta_plus_h_pi-theta)>0.05){
- Odometria();
- // pc.printf("\n\r diff=%f", abs(theta_plus_pi-theta));
- }
- leftMotor(1,0);
- rightMotor(1,0);
-}
-
-//Distance computation function
-float MiniExplorerCoimbra::dist(float robotX, float robotY, float targetX, float targetY){
- //pc.printf("%f, %f, %f, %f",robotX,robotY,targetX,targetY);
- return sqrt(pow(targetY-robotY,2) + pow(targetX-robotX,2));
-}
-
-float MiniExplorerCoimbra::update_angular_speed_wheels_go_to_point_with_angle(float targetX, float targetY, float targetAngle, float dt){
+float MiniExplorerCoimbra::update_angular_speed_wheels_go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld, float dt){
//compute_angles_and_distance
- float alpha = atan2((targetY-Y),(targetX-X))-theta;
- alpha = atan(sin(alpha)/cos(alpha));
- float rho = this->dist(X, Y, targetX, targetY);
- float d2 = rho;
- float beta = -alpha-theta+targetAngle;
+ //atan2 take the deplacement on x and the deplacement on y as parameters
+ float angleToPoint = atan2((targetYWorld-this->yWorld),(targetXWorld-this->xWorld))-this->thetaWorld;
+ angleToPoint = atan(sin(angleToPoint)/cos(angleToPoint));
+ //rho is the distance to the point of arrival
+ float rho = dist(targetXWorld,targetYWorld,this->xWorld,this->yWorld);
+ float distanceToTarget = rho;
+ //TODO check that
+ float beta = targetAngleWorld-angleToPoint-this->thetaWorld;
//Computing angle error and distance towards the target value
- rho += dt*(-this->khro*cos(alpha)*rho);
- float temp = alpha;
- alpha += dt*(this->khro*sin(alpha)-this->ka*alpha-this->kb*beta);
+ rho += dt*(-this->khro*cos(angleToPoint)*rho);
+ float temp = angleToPoint;
+ angleToPoint += dt*(this->khro*sin(angleToPoint)-this->ka*angleToPoint-this->kb*beta);
beta += dt*(-this->khro*sin(temp));
//Computing linear and angular velocities
float linear;
float angular;
- if(alpha>=-1.5708 && alpha<=1.5708){
+ if(angleToPoint>=-1.5708 && angleToPoint<=1.5708){
linear=this->khro*rho;
- angular=this->ka*alpha+this->kb*beta;
+ angular=this->ka*angleToPoint+this->kb*beta;
}
else{
linear=-this->khro*rho;
- angular=-this->ka*alpha-this->kb*beta;
+ angular=-this->ka*angleToPoint-this->kb*beta;
}
float angular_left=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels;
float angular_right=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels;
@@ -190,12 +160,39 @@
leftMotor(1,angular_left);
rightMotor(1,angular_right);
- return d2;
+ return distanceToTarget;
}
+void MiniExplorerCoimbra::update_sonar_values(float leftMm,float frontMm,float rightMm){
+ float xWorldCell;
+ float yWorldCell;
+ for(int i=0;i<this->map.nbCellWidth;i++){
+ for(int j=0;j<this->map.nbCellHeight;j++){
+ xWorldCell=this->map.cell_width_coordinate_to_world(i);
+ yWorldCell=this->map.cell_height_coordinate_to_world(j);
+ //compute_probability_t(float distanceObstacleDetected, float x, float y, float[2] robotCoordinatesInWorld)
+ this->map.update_cell_value(i,j,this->sonarRight.compute_probability_t(rightMm,xWorldCell,yWorldCell,this->xWorld,this->yWorld,theta));
+ this->map.update_cell_value(i,j,this->sonarLeft.compute_probability_t(leftMm,xWorldCell,yWorldCell,this->xWorld,yWorldCell,theta));
+ this->map.update_cell_value(i,j,this->sonarFront.compute_probability_t(frontMm,xWorldCell,yWorldCell,this->xWorld,yWorldCell,theta));
+
+ }
+ }
+}
+
+//Distance computation function
+float MiniExplorerCoimbra::dist(float x1, float y1, float x2, float y2){
+ return sqrt(pow(y2-y1,2) + pow(x2-x1,2));
+}
+
+//use virtual force field
void MiniExplorerCoimbra::try_to_reach_target(float targetXWorld,float targetYWorld){
//atan2 gives the angle beetween PI and -PI
- float angleToTarget=atan2(targetXWorld,targetYWorld);
+ this->myOdometria();
+ /*
+ float deplacementOnXWorld=targetXWorld-this->xWorld;
+ float deplacementOnYWorld=targetYWorld-this->yWorld;
+ */
+ float angleToTarget=atan2(targetXWorld-this->xWorld,targetYWorld-this->yWorld);
turn_to_target(angleToTarget);
bool reached=false;
int print=0;
@@ -205,15 +202,7 @@
if(print==10){
leftMotor(1,0);
rightMotor(1,0);
- /*
- pc.printf("\r\n theta=%f", theta);
- pc.printf("\r\n IN ORTHO:");
- pc.printf("\r\n X Robot=%f", this->get_converted_robot_X_into_world());
- pc.printf("\r\n Y Robot=%f", this->get_converted_robot_Y_into_world());
- pc.printf("\r\n X Target=%f", targetXWorld);
- pc.printf("\r\n Y Target=%f", targetYWorld);
- */
- this->print_final_map_with_robot_position_and_target(X,Y,targetXWorld,targetYWorld);
+ this->print_final_map_with_robot_position_and_target(targetXWorld,targetYWorld);
print=0;
}else
print+=1;
@@ -230,10 +219,10 @@
float line_b;
float line_c;
//Updating X,Y and theta with the odometry values
- float forceX=0;
- float forceY=0;
+ float forceXWorld=0;
+ float forceYWorld=0;
//we update the odometrie
- Odometria();
+ this->myOdometria();
//we check the sensors
float leftMm = get_distance_left_sensor();
float frontMm = get_distance_front_sensor();
@@ -241,64 +230,58 @@
//update the probabilities values
this->update_sonar_values(leftMm, frontMm, rightMm);
//we compute the force on X and Y
- this->compute_forceX_and_forceY(&forceX, &forceY,targetXWorld,targetYWorld);
+ this->compute_forceX_and_forceY(&forceXWorld, &forceYWorld,targetXWorld,targetYWorld);
//we compute a new ine
- this->calculate_line(forceX, forceY, &line_a,&line_b,&line_c);
+ this->calculate_line(forceXWorld, forceYWorld, &line_a,&line_b,&line_c);
//Updating motor velocities
this->go_to_line(line_a,line_b,line_c,targetXWorld,targetYWorld);
//wait(0.1);
- Odometria();
- if(dist(this->get_converted_robot_X_into_world(),this->get_converted_robot_Y_into_world(),targetXWorld,targetYWorld)<10)
+ this->myOdometria();
+ if(dist(this->xWorld,this->yWorld,targetXWorld,targetYWorld)<10)
*reached=true;
}
//compute the force on X and Y
-void MiniExplorerCoimbra::compute_forceX_and_forceY(float* forceX, float* forceY, float targetXWorld, float targetYWorld){
- float xRobotWorld=this->get_converted_robot_X_into_world();
- float yRobotWorld=this->get_converted_robot_Y_into_world();
-
+void MiniExplorerCoimbra::compute_forceX_and_forceY(float* forceXWorld, float* forceYWorld, float targetXWorld, float targetYWorld){
float forceRepulsionComputedX=0;
float forceRepulsionComputedY=0;
//for each cell of the map we compute a force of repulsion
for(int i=0;i<this->map.nbCellWidth;i++){
for(int j=0;j<this->map.nbCellHeight;j++){
- this->update_force(i,j,&forceRepulsionComputedX,&forceRepulsionComputedY,xRobotWorld,yRobotWorld);
+ this->update_force(i,j,&forceRepulsionComputedX,&forceRepulsionComputedY);
}
}
//update with attraction force
- *forceX=+forceRepulsionComputedX;
- *forceY=+forceRepulsionComputedY;
- float distanceTargetRobot=sqrt(pow(targetXWorld-xRobotWorld,2)+pow(targetYWorld-yRobotWorld,2));
+ *forceXWorld=+forceRepulsionComputedX;
+ *forceYWorld=+forceRepulsionComputedY;
+ float distanceTargetRobot=sqrt(pow(targetXWorld-this->xWorld,2)+pow(targetYWorld-this->yWorld,2));
if(distanceTargetRobot != 0){
- *forceX-=this->attractionConstantForce*(targetXWorld-xRobotWorld)/distanceTargetRobot;
- *forceY-=this->attractionConstantForce*(targetYWorld-yRobotWorld)/distanceTargetRobot;
+ *forceXWorld-=this->attractionConstantForce*(targetXWorld-this->xWorld)/distanceTargetRobot;
+ *forceYWorld-=this->attractionConstantForce*(targetYWorld-this->yWorld)/distanceTargetRobot;
}
- float amplitude=sqrt(pow(*forceX,2)+pow(*forceY,2));
+ float amplitude=sqrt(pow(*forceXWorld,2)+pow(*forceYWorld,2));
if(amplitude!=0){//avoid division by 0 if forceX and forceY == 0
- *forceX=*forceX/amplitude;
- *forceY=*forceY/amplitude;
+ *forceXWorld=*forceXWorld/amplitude;
+ *forceYWorld=*forceYWorld/amplitude;
}
}
-void MiniExplorerCoimbra::update_force(int widthIndice, int heightIndice, float* forceX, float* forceY, float xRobotWorld, float yRobotWorld ){
+void MiniExplorerCoimbra::update_force(int widthIndice, int heightIndice, float* forceRepulsionComputedX, float* forceRepulsionComputedY ){
//get the coordonate of the map and the robot in the ortonormal space
float xWorldCell=this->map.cell_width_coordinate_to_world(widthIndice);
float yWorldCell=this->map.cell_height_coordinate_to_world(heightIndice);
-
//compute the distance beetween the cell and the robot
- float distanceCellToRobot=sqrt(pow(xWorldCell-xRobotWorld,2)+pow(yWorldCell-yRobotWorld,2));
+ float distanceCellToRobot=sqrt(pow(xWorldCell-this->xWorld,2)+pow(yWorldCell-this->yWorld,2));
//check if the cell is in range
if(distanceCellToRobot <= this->rangeForce) {
float probaCell=this->map.get_proba_cell(widthIndice,heightIndice);
- float xForceComputed=this->repulsionConstantForce*probaCell*(xWorldCell-xRobotWorld)/pow(distanceCellToRobot,3);
- float yForceComputed=this->repulsionConstantForce*probaCell*(yWorldCell-yRobotWorld)/pow(distanceCellToRobot,3);
- *forceX+=xForceComputed;
- *forceY+=yForceComputed;
+ *forceRepulsionComputedX+=this->repulsionConstantForce*probaCell*(xWorldCell-this->xWorld)/pow(distanceCellToRobot,3);
+ *forceRepulsionComputedY+=this->repulsionConstantForce*probaCell*(yWorldCell-this->yWorld)/pow(distanceCellToRobot,3);
}
}
-//robotX and robotY are from Odometria, calculate line_a, line_b and line_c
+//robotX and robotY are from this->myOdometria(), calculate line_a, line_b and line_c
void MiniExplorerCoimbra::calculate_line(float forceX, float forceY, float *line_a, float *line_b, float *line_c){
/*
in the teachers maths it is
@@ -309,7 +292,7 @@
because a*x+b*y+c=0
a impact the vertical and b the horizontal
and he has to put them like this because
- Robot space: orthonormal space:
+ Robot space: World space:
^ ^
|x |y
<- R O ->
@@ -319,7 +302,7 @@
*line_a=forceX;
*line_b=forceY;
//because the line computed always pass by the robot center we dont need lince_c
- //*line_c=forceX*yRobotWorld+forceY*xRobotWorld;
+ //*line_c=forceX*this->yWorld+forceY*this->xWorld;
*line_c=0;
}
@@ -330,41 +313,23 @@
float linear;
float angular;
- bool direction=true;
+ //atan2 use the deplacement on X and the deplacement on Y
+ float angleToTarget=atan2(targetXWorld-this->xWorld,targetYWorld-this->yWorld);
+ bool aligned=false;
+
+ //this condition is passed if the target is in the same direction as the robot orientation
+ if((angleToTarget>0 && this->thetaWorld > 0) || (angleToTarget<0 && this->thetaWorld <0))
+ aligned=true;
- //take as parameter how much the robot is supposed to move on x and y (world)
- float angleToTarget=atan2(targetXWorld-this->get_converted_robot_X_into_world(),targetYWorld-this->get_converted_robot_Y_into_world());
- bool inFront=true;
- if(angleToTarget < 0)//the target is in front
- inFront=false;
-
- if(theta > 0){
- //the robot is oriented to the left
- if(theta > PI/2){
- //the robot is oriented lower left
- if(inFront)
- direction=false;//robot and target not oriented the same way
- }else{
- //the robot is oriented upper left
- if(!inFront)
- direction=false;//robot and target not oriented the same way
- }
- }else{
- //the robot is oriented to the right
- if(theta < -PI/2){
- //the robot is oriented lower right
- if(inFront)
- direction=false;//robot and target not oriented the same way
- }else{
- //the robot is oriented upper right
- if(!inFront)
- direction=false;//robot and target not oriented the same way
- }
- }
- //pc.printf("\r\n Target is in front");
-
+ //line angle is beetween pi/2 and -pi/2
+ /*
+ ax+by+c=0 (here c==0)
+ y=x*-a/b
+ if a*b > 0, the robot is going down
+ if a*b <0, the robot is going up
+ */
if(line_b!=0){
- if(!direction)
+ if(!aligned)
lineAngle=atan(-line_a/line_b);
else
lineAngle=atan(line_a/-line_b);
@@ -374,7 +339,7 @@
}
//Computing angle error
- angleError = lineAngle-theta;
+ angleError = lineAngle-this->thetaWorld;//TODO that I m not sure
angleError = atan(sin(angleError)/cos(angleError));
//Calculating velocities
@@ -397,28 +362,12 @@
rightMotor(this->sign2(angularRight),abs(angularRight));
}
-//return 1 if positiv, -1 if negativ
-float MiniExplorerCoimbra::sign1(float value){
- if(value>=0)
- return 1;
- else
- return -1;
-}
-
-//return 1 if positiv, 0 if negativ
-int MiniExplorerCoimbra::sign2(float value){
- if(value>=0)
- return 1;
- else
- return 0;
-}
-
/*angleToTarget is obtained through atan2 so it s:
< 0 if the angle is bettween PI and 2pi on a trigo circle
> 0 if it is between 0 and PI
*/
void MiniExplorerCoimbra::turn_to_target(float angleToTarget){
- Odometria();
+ this->myOdometria();
float theta_plus_h_pi=theta+PI/2;//theta is between -PI and PI
if(theta_plus_h_pi > PI)
theta_plus_h_pi=-(2*PI-theta_plus_h_pi);
@@ -430,7 +379,7 @@
rightMotor(0,1);
}
while(abs(angleToTarget-theta_plus_h_pi)>0.05){
- Odometria();
+ this->myOdometria();
theta_plus_h_pi=theta+PI/2;//theta is between -PI and PI
if(theta_plus_h_pi > PI)
theta_plus_h_pi=-(2*PI-theta_plus_h_pi);
@@ -440,31 +389,23 @@
rightMotor(1,0);
}
+void MiniExplorerCoimbra::do_half_flip(){
+ this->myOdometria();
+ float theta_plus_h_pi=theta+PI/2;//theta is between -PI and PI
+ if(theta_plus_h_pi > PI)
+ theta_plus_h_pi=-(2*PI-theta_plus_h_pi);
+ leftMotor(0,100);
+ rightMotor(1,100);
+ while(abs(theta_plus_h_pi-theta)>0.05){
+ this->myOdometria();
+ // pc.printf("\n\r diff=%f", abs(theta_plus_pi-theta));
+ }
+ leftMotor(1,0);
+ rightMotor(1,0);
+}
-/*
-//x and y passed are TargetNotMap
-float get_error_angles(float x, float y,float theta){
- float angleBeetweenRobotAndTarget=atan2(y,x);
- if(y > 0){
- if(angleBeetweenRobotAndTarget < PI/2)//up right
- angleBeetweenRobotAndTarget=-PI/2+angleBeetweenRobotAndTarget;
- else//up right
- angleBeetweenRobotAndTarget=angleBeetweenRobotAndTarget-PI/2;
- }else{
- if(angleBeetweenRobotAndTarget > -PI/2)//lower right
- angleBeetweenRobotAndTarget=angleBeetweenRobotAndTarget-PI/2;
- else//lower left
- angleBeetweenRobotAndTarget=2*PI+angleBeetweenRobotAndTarget-PI/2;
- }
- return angleBeetweenRobotAndTarget-theta;
-}
-*/
-
-
-void MiniExplorerCoimbra::print_final_map_with_robot_position(float robot_x,float robot_y) {
+void MiniExplorerCoimbra::print_final_map_with_robot_position() {
float currProba;
- float Xrobot=this->map.robot_x_coordinate_in_world(robot_x,robot_y);
- float Yrobot=this->map.robot_y_coordinate_in_world(robot_x,robot_y);
float heightIndiceInOrthonormal;
float widthIndiceInOrthonormal;
@@ -480,7 +421,7 @@
for (int x= 0; x<this->map.nbCellWidth; x++) {
heightIndiceInOrthonormal=this->map.cell_height_coordinate_to_world(y);
widthIndiceInOrthonormal=this->map.cell_width_coordinate_to_world(x);
- if(Yrobot >= (heightIndiceInOrthonormal+heightMalus) && Yrobot <= (heightIndiceInOrthonormal+heightBonus) && Xrobot >= (widthIndiceInOrthonormal+widthMalus) && Xrobot <= (widthIndiceInOrthonormal+widthBonus))
+ if(this->yWorld >= (heightIndiceInOrthonormal+heightMalus) && this->yWorld <= (heightIndiceInOrthonormal+heightBonus) && this->xWorld >= (widthIndiceInOrthonormal+widthMalus) && this->xWorld <= (widthIndiceInOrthonormal+widthBonus))
pc.printf(" R ");
else{
currProba=this->map.log_to_proba(this->map.cellsLogValues[x][y]);
@@ -498,10 +439,8 @@
}
}
-void MiniExplorerCoimbra::print_final_map_with_robot_position_and_target(float robot_x,float robot_y,float targetXWorld, float targetYWorld) {
+void MiniExplorerCoimbra::print_final_map_with_robot_position_and_target(float targetXWorld, float targetYWorld) {
float currProba;
- float Xrobot=this->map.robot_x_coordinate_in_world(robot_x,robot_y);
- float Yrobot=this->map.robot_y_coordinate_in_world(robot_x,robot_y);
float heightIndiceInOrthonormal;
float widthIndiceInOrthonormal;
@@ -517,7 +456,7 @@
for (int x= 0; x<this->map.nbCellWidth; x++) {
heightIndiceInOrthonormal=this->map.cell_height_coordinate_to_world(y);
widthIndiceInOrthonormal=this->map.cell_width_coordinate_to_world(x);
- if(Yrobot >= (heightIndiceInOrthonormal+heightMalus) && Yrobot <= (heightIndiceInOrthonormal+heightBonus) && Xrobot >= (widthIndiceInOrthonormal+widthMalus) && Xrobot <= (widthIndiceInOrthonormal+widthBonus))
+ if(this->yWorld >= (heightIndiceInOrthonormal+heightMalus) && this->yWorld <= (heightIndiceInOrthonormal+heightBonus) && this->xWorld >= (widthIndiceInOrthonormal+widthMalus) && this->xWorld <= (widthIndiceInOrthonormal+widthBonus))
pc.printf(" R ");
else{
if(targetYWorld >= (heightIndiceInOrthonormal+heightMalus) && targetYWorld <= (heightIndiceInOrthonormal+heightBonus) && targetXWorld >= (widthIndiceInOrthonormal+widthMalus) && targetXWorld <= (widthIndiceInOrthonormal+widthBonus))
@@ -557,3 +496,49 @@
pc.printf("\n\r");
}
}
+
+//return 1 if positiv, -1 if negativ
+float MiniExplorerCoimbra::sign1(float value){
+ if(value>=0)
+ return 1;
+ else
+ return -1;
+}
+
+//return 1 if positiv, 0 if negativ
+int MiniExplorerCoimbra::sign2(float value){
+ if(value>=0)
+ return 1;
+ else
+ return 0;
+}
+
+/*UNUSED
+float MiniExplorerCoimbra::get_converted_robot_X_into_world(){
+ //x world coordinate
+ return this->map.nbCellWidth*this->map.sizeCellWidth-Y;
+}
+
+float MiniExplorerCoimbra::get_converted_robot_Y_into_world(){
+ //y worldcoordinate
+ return X;
+}
+
+
+//x and y passed are TargetNotMap
+float get_error_angles(float x, float y,float theta){
+ float angleBeetweenRobotAndTarget=atan2(y,x);
+ if(y > 0){
+ if(angleBeetweenRobotAndTarget < PI/2)//up right
+ angleBeetweenRobotAndTarget=-PI/2+angleBeetweenRobotAndTarget;
+ else//up right
+ angleBeetweenRobotAndTarget=angleBeetweenRobotAndTarget-PI/2;
+ }else{
+ if(angleBeetweenRobotAndTarget > -PI/2)//lower right
+ angleBeetweenRobotAndTarget=angleBeetweenRobotAndTarget-PI/2;
+ else//lower left
+ angleBeetweenRobotAndTarget=2*PI+angleBeetweenRobotAndTarget-PI/2;
+ }
+ return angleBeetweenRobotAndTarget-theta;
+}
+*/
\ No newline at end of file