Yo Fleyt / Mbed 2 deprecated VirtualForces_with_class

with class

Dependencies:   ISR_Mini-explorer mbed

Fork of VirtualForces by Georgios Tsamis

Sonar.cpp@37:b4c45e43ad29, 2017-06-11 (annotated)

Committer:
Ludwigfr
Date:
Sun Jun 11 23:22:28 2017 +0000
Revision:
37:b4c45e43ad29
Parent:
35:68f9edbb3cff
Child:
38:5ed7c79fb724
changed a few thing, notably tried to simplify the mapping funciton

Who changed what in which revision?

UserRevisionLine numberNew 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 37:b4c45e43ad29 5 Sonar::Sonar(float angleFromOrigin, float distanceXFromRobotCenter, float distanceYFromRobotCenter ){
Ludwigfr 37:b4c45e43ad29 6 this->angleFromOrigin=angleFromOrigin;
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 34:c208497dd079 15 //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 37:b4c45e43ad29 16 float Sonar::compute_probability_t(float distanceObstacleDetected, float xCell, float yCell, float xRobotWorld, float yRobotWorld, float thetaWorld){
Ludwigfr 34:c208497dd079 17 float xSonar=xRobotWorld+this->distanceX;
Ludwigfr 34:c208497dd079 18 float ySonar=yRobotWorld+this->distanceY;
Ludwigfr 34:c208497dd079 19 float distancePointToSonar=sqrt(pow(xCell-xSonar,2)+pow(yCell-ySonar,2));
Ludwigfr 37:b4c45e43ad29 20 //check if the distance between the cell and the robot is within the circle of range RADIUS_WHEELS
Ludwigfr 33:814bcd7d3cfe 21 if( distancePointToSonar < this->maxRange){
Ludwigfr 37:b4c45e43ad29 22 //float anglePointToSonar=this->compute_angle_between_vectors(xCell,yCell,xSonar,ySonar);//angle beetween the point and the sonar beam
Ludwigfr 37:b4c45e43ad29 23 float anglePointToSonar=atan2(yCell-yRobotWorld,xCell-xRobotWorld);//like world system
Ludwigfr 33:814bcd7d3cfe 24
Ludwigfr 37:b4c45e43ad29 25 float angleOriginToMidleOfBeam=thetaWorld+this->angleFromOrigin;//
Ludwigfr 33:814bcd7d3cfe 26
Ludwigfr 37:b4c45e43ad29 27 float angleDifference=anglePointToSonar-angleOriginToMidleOfBeam;
Ludwigfr 33:814bcd7d3cfe 28 //check if absolute difference between the angles is no more than Omega/2
Ludwigfr 37:b4c45e43ad29 29 if(abs(angleDifference) <= this->angleRange/2){
Ludwigfr 33:814bcd7d3cfe 30 if( distancePointToSonar < (distanceObstacleDetected - this->incertitudeRange)){
Ludwigfr 33:814bcd7d3cfe 31 //point before obstacle, probably empty
Ludwigfr 33:814bcd7d3cfe 32 /*****************************************************************************/
Ludwigfr 37:b4c45e43ad29 33 float Ea=1.f-pow((2*angleDifference)/this->angleRange,2);
Ludwigfr 33:814bcd7d3cfe 34 float Er;
Ludwigfr 33:814bcd7d3cfe 35 if(distancePointToSonar < this->minRange){
Ludwigfr 33:814bcd7d3cfe 36 //point before minimum sonar range
Ludwigfr 33:814bcd7d3cfe 37 Er=0.f;
Ludwigfr 33:814bcd7d3cfe 38 }else{
Ludwigfr 33:814bcd7d3cfe 39 //point after minimum sonar range
Ludwigfr 33:814bcd7d3cfe 40 Er=1.f-pow((distancePointToSonar-this->minRange)/(distanceObstacleDetected-this->incertitudeRange-this->minRange),2);
Ludwigfr 33:814bcd7d3cfe 41 }
Ludwigfr 33:814bcd7d3cfe 42 /*****************************************************************************/
Ludwigfr 33:814bcd7d3cfe 43 //if((1.f-Er*Ea)/2.f >1 || (1.f-Er*Ea)/2.f < 0)
Ludwigfr 37:b4c45e43ad29 44 // pc.printf("\n\r return value=%f,Er=%f,Ea=%f,angleDifference=%f",(1.f-Er*Ea)/2.f,Er,Ea,angleDifference);
Ludwigfr 33:814bcd7d3cfe 45 return (1.f-Er*Ea)/2.f;
Ludwigfr 33:814bcd7d3cfe 46 }else{
Ludwigfr 34:c208497dd079 47 //probably occuPIed
Ludwigfr 33:814bcd7d3cfe 48 /*****************************************************************************/
Ludwigfr 37:b4c45e43ad29 49 float Oa=1.f-pow((2*angleDifference)/this->angleRange,2);
Ludwigfr 33:814bcd7d3cfe 50 float Or;
Ludwigfr 33:814bcd7d3cfe 51 if( distancePointToSonar <= (distanceObstacleDetected + this->incertitudeRange)){
Ludwigfr 33:814bcd7d3cfe 52 //point between distanceObstacleDetected +- INCERTITUDE_SONAR
Ludwigfr 33:814bcd7d3cfe 53 Or=1-pow((distancePointToSonar-distanceObstacleDetected)/(this->incertitudeRange),2);
Ludwigfr 33:814bcd7d3cfe 54 }else{
Ludwigfr 33:814bcd7d3cfe 55 //point after in range of the sonar but after the zone detected
Ludwigfr 33:814bcd7d3cfe 56 Or=0;
Ludwigfr 33:814bcd7d3cfe 57 }
Ludwigfr 33:814bcd7d3cfe 58 /*****************************************************************************/
Ludwigfr 33:814bcd7d3cfe 59 //if((1+Or*Oa)/2 >1 || (1+Or*Oa)/2 < 0)
Ludwigfr 37:b4c45e43ad29 60 // pc.printf("\n\r return value=%f,Er=%f,Ea=%f,angleDifference=%f",(1+Or*Oa)/2,Or,Oa,angleDifference);
Ludwigfr 33:814bcd7d3cfe 61 return (1+Or*Oa)/2;
Ludwigfr 33:814bcd7d3cfe 62 }
Ludwigfr 33:814bcd7d3cfe 63 }
Ludwigfr 33:814bcd7d3cfe 64 }
Ludwigfr 33:814bcd7d3cfe 65 //not checked by the sonar
Ludwigfr 33:814bcd7d3cfe 66 return 0.5;
Ludwigfr 33:814bcd7d3cfe 67 }
Ludwigfr 33:814bcd7d3cfe 68
Ludwigfr 33:814bcd7d3cfe 69 //returns the angle between the vectors (x,y) and (xs,ys)
Ludwigfr 33:814bcd7d3cfe 70 float Sonar::compute_angle_between_vectors(float x, float y,float xs,float ys){
Ludwigfr 33:814bcd7d3cfe 71 //alpha angle between ->x and ->SA
Ludwigfr 33:814bcd7d3cfe 72 //vector S to A ->SA
Ludwigfr 33:814bcd7d3cfe 73 float vSAx=x-xs;
Ludwigfr 33:814bcd7d3cfe 74 float vSAy=y-ys;
Ludwigfr 33:814bcd7d3cfe 75 //norme SA
Ludwigfr 33:814bcd7d3cfe 76 float normeSA=sqrt(pow(vSAx,2)+pow(vSAy,2));
Ludwigfr 33:814bcd7d3cfe 77 //vector ->x (1,0)
Ludwigfr 33:814bcd7d3cfe 78 float cosAlpha=1*vSAy/*+0*vSAx*//normeSA;;
Ludwigfr 33:814bcd7d3cfe 79 //vector ->y (0,1)
Ludwigfr 33:814bcd7d3cfe 80 float sinAlpha=/*0*vSAy+*/1*vSAx/normeSA;//+0*vSAx;
Ludwigfr 33:814bcd7d3cfe 81 if (sinAlpha < 0)
Ludwigfr 33:814bcd7d3cfe 82 return -acos(cosAlpha);
Ludwigfr 33:814bcd7d3cfe 83 else
Ludwigfr 33:814bcd7d3cfe 84 return acos(cosAlpha);
Ludwigfr 33:814bcd7d3cfe 85 }
Ludwigfr 33:814bcd7d3cfe 86
Ludwigfr 34:c208497dd079 87 //makes the angle inAngle between 0 and 2PI
Ludwigfr 33:814bcd7d3cfe 88 float Sonar::rad_angle_check(float inAngle){
Ludwigfr 33:814bcd7d3cfe 89 //cout<<"before :"<<inAngle;
Ludwigfr 33:814bcd7d3cfe 90 if(inAngle > 0){
Ludwigfr 34:c208497dd079 91 while(inAngle > (2*PI))
Ludwigfr 34:c208497dd079 92 inAngle-=2*PI;
Ludwigfr 33:814bcd7d3cfe 93 }else{
Ludwigfr 33:814bcd7d3cfe 94 while(inAngle < 0)
Ludwigfr 34:c208497dd079 95 inAngle+=2*PI;
Ludwigfr 33:814bcd7d3cfe 96 }
Ludwigfr 33:814bcd7d3cfe 97 //cout<<" after :"<<inAngle<<endl;
Ludwigfr 33:814bcd7d3cfe 98 return inAngle;
Ludwigfr 33:814bcd7d3cfe 99 }
Ludwigfr 33:814bcd7d3cfe 100