Revision 0:9f7ee7ed13e4, committed 2017-06-26

Comitter:

Ludwigfr

Date:

Mon Jun 26 12:05:20 2017 +0000

Commit message:

this version should work, though it would be nice to test all the lab demo; there's also some code on the 4th lab at the end of MiniExplorerCoimbra.cpp

Changed in this revision

diff -r 000000000000 -r 9f7ee7ed13e4 ISR_Mini-explorer.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ISR_Mini-explorer.lib	Mon Jun 26 12:05:20 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/ISR/code/ISR_Mini-explorer/#15a30802e719

diff -r 000000000000 -r 9f7ee7ed13e4 Map.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Map.cpp	Mon Jun 26 12:05:20 2017 +0000
@@ -0,0 +1,177 @@
+#include "Map.hpp"
+
+Map::Map(float widthRealMap, float heightRealMap, int nbCellWidth, int nbCellHeight){
+	this->widthRealMap=widthRealMap;
+	this->heightRealMap=heightRealMap;
+	this->nbCellWidth=nbCellWidth;
+	this->nbCellHeight=nbCellHeight;
+	this->sizeCellWidth=widthRealMap/(float)nbCellWidth;
+	this->sizeCellHeight=heightRealMap/(float)nbCellHeight;
+	
+	this->cellsLogValues= new float*[nbCellWidth];
+	for(int i = 0; i < nbCellWidth; ++i)
+    	this->cellsLogValues[i] = new float[nbCellHeight];
+    	
+	this->initialLogValues= new float*[nbCellWidth];
+	for(int i = 0; i < nbCellWidth; ++i)
+    	this->initialLogValues[i] = new float[nbCellHeight];
+    	
+	this->fill_initialLogValues();
+}
+
+//fill initialLogValues with the values we already know (here the bordurs)
+void Map::fill_initialLogValues(){
+    //Fill map, we know the border are occupied
+    for (int i = 0; i<this->nbCellWidth; i++) {
+        for (int j = 0; j<this->nbCellHeight; j++) {
+            if(j==0 || j==this->nbCellHeight-1 || i==0 || i==this->nbCellWidth-1)
+                this->initialLogValues[i][j] = this->proba_to_log(1);
+            else
+                this->initialLogValues[i][j] = this->proba_to_log(0.5);
+        }
+    }
+}
+
+void Map::fill_map_with_initial(){
+	for (int i = 0; i<this->nbCellWidth; i++) {
+        for (int j = 0; j<this->nbCellHeight; j++) {
+            this->cellsLogValues[i][j] = initialLogValues[i][j];
+        }
+    }
+}
+
+//returns the probability [0,1] that the cell is occupied from the log valAue lt
+float Map::log_to_proba(float lt){
+    return 1-1/(1+exp(lt));
+}
+
+void Map::update_cell_value(int widthIndice,int heightIndice ,float proba){
+    this->cellsLogValues[widthIndice][heightIndice]=this->cellsLogValues[widthIndice][heightIndice]+this->proba_to_log(proba)+this->initialLogValues[widthIndice][heightIndice];//map is filled as map[0][0] get the data for the point closest to the origin
+}
+
+float Map::cell_width_coordinate_to_world(int i){
+	return this->sizeCellWidth/2+i*this->sizeCellWidth;
+}
+
+float Map::cell_height_coordinate_to_world(int j){
+	return this->sizeCellHeight/2+j*this->sizeCellHeight;
+}
+
+float Map::get_proba_cell(int widthIndice, int heightIndice){
+	return  this->log_to_proba(this->cellsLogValues[widthIndice][heightIndice]);
+}
+
+//returns the log value that the cell is occupied from the probability value [0,1]
+float Map::proba_to_log(float p){
+    return log(p/(1-p));
+}
+
+/*
+
+float Map::robot_x_coordinate_in_world(float robot_x, float robot_y){
+    return this->nbCellWidth*this->sizeCellWidth-robot_y;
+}
+
+float Map::robot_y_coordinate_in_world(float robot_x, float robot_y){
+    return robot_x;
+}
+
+
+void MiniExplorerCoimbra::print_final_map() {
+    float currProba;
+    pc.printf("\n\r");
+    for (int y = this->nbCellHeight -1; y>-1; y--) {
+        for (int x= 0; x<this->nbCellWidth; x++) {
+                currProba=this->log_to_proba(this->cellsLogValues[x][y]);
+            if ( currProba < 0.5) {
+                pc.printf("   ");
+            } else {
+                if(currProba==0.5)
+                    pc.printf(" . ");
+                else
+                    pc.printf(" X ");
+            }
+        }
+        pc.printf("\n\r");
+    }
+}
+
+
+void Map::print_final_map_with_robot_position(float robot_x,float robot_y) {
+    float currProba;
+    float Xrobot=this->robot_x_coordinate_in_world(robot_x,robot_y);
+    float Yrobot=this->robot_y_coordinate_in_world(robot_x,robot_y);
+    
+    float heightIndiceInOrthonormal;
+    float widthIndiceInOrthonormal;
+    
+    float widthMalus=-(3*sizeCellWidth/2);
+    float widthBonus=sizeCellWidth/2;
+    
+    float heightMalus=-(3*sizeCellHeight/2);
+    float heightBonus=sizeCellHeight/2;
+
+    pc.printf("\n\r");
+    for (int y = this->nbCellHeight -1; y>-1; y--) {
+        for (int x= 0; x<this->nbCellWidth; x++) {
+            heightIndiceInOrthonormal=this->cell_height_coordinate_to_world(y);
+            widthIndiceInOrthonormal=this->cell_width_coordinate_to_world(x);
+            if(Yrobot >= (heightIndiceInOrthonormal+heightMalus) && Yrobot <= (heightIndiceInOrthonormal+heightBonus) && Xrobot >= (widthIndiceInOrthonormal+widthMalus) && Xrobot <= (widthIndiceInOrthonormal+widthBonus))                    
+                pc.printf(" R ");
+            else{
+                currProba=this->log_to_proba(this->cellsLogValues[x][y]);
+                if ( currProba < 0.5)
+                    pc.printf("   ");
+                else{
+                    if(currProba==0.5)
+                        pc.printf(" . ");
+                    else
+                        pc.printf(" X ");
+                } 
+            }
+        }
+        pc.printf("\n\r");
+    }
+}
+
+void Map::print_final_map_with_robot_position_and_target(float robot_x,float robot_y,float targetXWorld, float targetYWorld) {
+    float currProba;
+    float Xrobot=this->robot_x_coordinate_in_world(robot_x,robot_y);
+    float Yrobot=this->robot_y_coordinate_in_world(robot_x,robot_y);
+    
+    float heightIndiceInOrthonormal;
+    float widthIndiceInOrthonormal;
+    
+    float widthMalus=-(3*sizeCellWidth/2);
+    float widthBonus=sizeCellWidth/2;
+    
+    float heightMalus=-(3*sizeCellHeight/2);
+    float heightBonus=sizeCellHeight/2;
+
+    pc.printf("\n\r");
+    for (int y = this->nbCellHeight -1; y>-1; y--) {
+        for (int x= 0; x<this->nbCellWidth; x++) {
+            heightIndiceInOrthonormal=this->cell_height_coordinate_to_world(y);
+            widthIndiceInOrthonormal=this->cell_width_coordinate_to_world(x);
+            if(Yrobot >= (heightIndiceInOrthonormal+heightMalus) && Yrobot <= (heightIndiceInOrthonormal+heightBonus) && Xrobot >= (widthIndiceInOrthonormal+widthMalus) && Xrobot <= (widthIndiceInOrthonormal+widthBonus))
+                pc.printf(" R ");
+            else{
+                if(targetYWorld >= (heightIndiceInOrthonormal+heightMalus) && targetYWorld <= (heightIndiceInOrthonormal+heightBonus) && targetXWorld >= (widthIndiceInOrthonormal+widthMalus) && targetXWorld <= (widthIndiceInOrthonormal+widthBonus))                    
+                    pc.printf(" T ");
+                else{
+                    currProba=this->log_to_proba(this->cellsLogValues[x][y]);
+                    if ( currProba < 0.5)
+                        pc.printf("   ");
+                    else{
+                        if(currProba==0.5)
+                            pc.printf(" . ");
+                        else
+                            pc.printf(" X ");
+                    } 
+                }
+            }
+        }
+        pc.printf("\n\r");
+    }
+}
+*/
\ No newline at end of file

diff -r 000000000000 -r 9f7ee7ed13e4 Map.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Map.hpp	Mon Jun 26 12:05:20 2017 +0000
@@ -0,0 +1,80 @@
+#ifndef MAP_HPP
+#define MAP_HPP
+
+#include<math.h>
+
+/*
+Robot coordinate system:      World coordinate system:
+      ^                                 ^
+      |x                                |y
+   <--R                                 O-->
+    y                                    x
+
+Screen coordinate system
+   x
+ O--->
+y|
+ v
+ 
+how the float[2] arrays stock the position 
+Start at 0,0 end top right
+^
+|heightIndice
+|
+_____>
+widthIndice
+*/
+
+
+class Map {
+
+public:
+    float widthRealMap;
+    float heightRealMap;
+    int nbCellWidth;
+    int nbCellHeight;
+    float sizeCellWidth;
+    float sizeCellHeight;
+    float** cellsLogValues;
+    float** initialLogValues;
+
+    Map(float widthRealMap, float heightRealMap, int nbCellWidth, int nbCellHeight);
+    
+    float cell_width_coordinate_to_world(int i);
+
+    float cell_height_coordinate_to_world(int j);
+    
+    float get_proba_cell(int widthIndice, int heightIndice);
+    
+    void fill_map_with_initial();
+    
+    //Updates map value
+    void update_cell_value(int widthIndice,int heightIndice ,float proba);
+        
+    //returns the probability [0,1] that the cell is occupied from the log valAue lt
+    float log_to_proba(float lt);
+
+    //returns the log value that the cell is occupied from the probability value [0,1]
+    float proba_to_log(float p);
+    
+    private:
+    
+    //fill initialLogValues with the values we already know (here the bordurs)
+    void fill_initialLogValues();
+    
+    /*
+    
+    float robot_x_coordinate_in_world(float robot_x, float robot_y);
+
+    float robot_y_coordinate_in_world(float robot_x, float robot_y);
+    
+    void print_final_map();
+
+    void print_final_map_with_robot_position(float robot_x,float robot_y);
+
+    void print_final_map_with_robot_position_and_target(float robot_x,float robot_y,float targetXWolrd, float targetYWorld);
+    */
+}; 
+
+#endif
+

diff -r 000000000000 -r 9f7ee7ed13e4 MiniExplorerCoimbra.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MiniExplorerCoimbra.cpp	Mon Jun 26 12:05:20 2017 +0000
@@ -0,0 +1,1016 @@
+#include "MiniExplorerCoimbra.hpp"
+#include "robot.h"
+
+#define PI 3.14159
+
+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->setXYThetaAndXYThetaWorld(defaultXWorld,defaultYWorld,defaultThetaWorld);
+    this->radiusWheels=3.25;
+    this->distanceWheels=7.2; 
+    
+    this->khro=12;
+    this->ka=30;
+    this->kb=-13;
+    this->kv=200;
+    this->kh=200;
+
+    this->rangeForce=30;
+    this->attractionConstantForce=10000;
+    this->repulsionConstantForce=1;
+} 
+
+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
+void MiniExplorerCoimbra::randomize_and_map() {
+    //TODO check that it's aurelien's work
+    float movementOnX=rand()%(int)(this->map.widthRealMap/2);
+    float movementOnY=rand()%(int)(this->map.heightRealMap/2);
+    
+    float signOfX=rand()%2;
+    if(signOfX < 1)
+        signOfX=-1;
+    float signOfY=rand()%2;
+    if(signOfY  < 1)
+        signOfY=-1;
+        
+    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);
+}
+
+//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 distanceToTarget;
+    do {
+        //Timer stuff
+        dt = t.read();
+        t.reset();
+        t.start();
+        
+        //Updating X,Y and theta with the odometry values
+        this->myOdometria();
+       	leftMm = get_distance_left_sensor();
+    	frontMm = get_distance_front_sensor();
+    	rightMm = get_distance_right_sensor();
+
+        //if in dangerzone 
+        if((frontMm < 150 && frontMm > 0)|| (leftMm <150 && leftMm > 0) || (rightMm <150 && rightMm > 0) ){
+            leftMotor(1,0);
+            rightMotor(1,0);
+            this->update_sonar_values(leftMm, frontMm, rightMm);
+            //TODO Giorgos maybe you can also test the do_half_flip() function
+            this->myOdometria();
+            //do a flip TODO
+            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
+            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",distanceToTarget);
+        }
+    } while(distanceToTarget>1 && (abs(targetAngleWorld-this->thetaWorld)>0.01) && keepGoing);
+
+    //Stop at the end
+    leftMotor(1,0);
+    rightMotor(1,0);
+}
+
+float MiniExplorerCoimbra::update_angular_speed_wheels_go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld, float dt){
+    //compute_angles_and_distance
+    //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(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(angleToPoint>=-1.5708 && angleToPoint<=1.5708){
+        linear=this->khro*rho;
+        angular=this->ka*angleToPoint+this->kb*beta;
+    }
+    else{
+        linear=-this->khro*rho;
+        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;
+    
+    //Normalize speed for motors
+    if(angular_left>angular_right) {
+        angular_right=this->speed*angular_right/angular_left;
+        angular_left=this->speed;
+    } else {
+        angular_left=this->speed*angular_left/angular_right;
+        angular_right=this->speed;
+    }
+
+    //compute_linear_angular_velocities 
+    leftMotor(1,angular_left);
+    rightMotor(1,angular_right);
+    
+    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);
+        	this->map.update_cell_value(i,j,this->sonarRight.compute_probability_t(rightMm/10,xWorldCell,yWorldCell,this->xWorld,this->yWorld,this->thetaWorld));
+        	this->map.update_cell_value(i,j,this->sonarLeft.compute_probability_t(leftMm/10,xWorldCell,yWorldCell,this->xWorld,this->yWorld,this->thetaWorld));
+        	this->map.update_cell_value(i,j,this->sonarFront.compute_probability_t(frontMm/10,xWorldCell,yWorldCell,this->xWorld,this->yWorld,this->thetaWorld));
+
+       	}
+    }
+}
+
+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);    
+}
+
+//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
+    this->myOdometria();
+    /*
+    float deplacementOnXWorld=targetXWorld-this->xWorld;
+    float deplacementOnYWorld=targetYWorld-this->yWorld;
+    */
+    float angleToTarget=atan2(targetYWorld-this->yWorld,targetXWorld-this->xWorld);
+    turn_to_target(angleToTarget);
+    bool reached=false;
+    int print=0;
+    while (!reached) {
+        this->vff(&reached,targetXWorld,targetYWorld);
+        //test_got_to_line(&reached);
+        if(print==10){
+            leftMotor(1,0);
+            rightMotor(1,0);
+            this->print_map_with_robot_position_and_target(targetXWorld,targetYWorld);
+            print=0;
+        }else
+            print+=1;
+    }
+    //Stop at the end
+    leftMotor(1,0);
+    rightMotor(1,0);
+    pc.printf("\r\n target reached");
+    wait(3);//
+}
+
+void MiniExplorerCoimbra::vff(bool* reached, float targetXWorld, float targetYWorld){
+    float line_a;
+    float line_b;
+    float line_c;
+    //Updating X,Y and theta with the odometry values
+    float forceXWorld=0;
+    float forceYWorld=0;
+    //we update the odometrie
+    this->myOdometria();
+    //we check the sensors
+    float leftMm = get_distance_left_sensor();
+    float frontMm = get_distance_front_sensor();
+    float rightMm = get_distance_right_sensor();
+    //update the probabilities values 
+    this->update_sonar_values(leftMm, frontMm, rightMm);
+    //we compute the force on X and Y
+    this->compute_forceX_and_forceY(&forceXWorld, &forceYWorld,targetXWorld,targetYWorld);
+    //we compute a new ine
+    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);
+    this->myOdometria();
+    if(dist(this->xWorld,this->yWorld,targetXWorld,targetYWorld)<10)
+        *reached=true;
+}
+
+/*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){
+    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);
+     if(angleToTarget>0){   
+        leftMotor(0,1);
+        rightMotor(1,1);
+    }else{
+        leftMotor(1,1);
+        rightMotor(0,1);
+    }
+    while(abs(angleToTarget-theta_plus_h_pi)>0.05){
+        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);
+        //pc.printf("\n\r diff=%f", abs(angleToTarget-theta_plus_h_pi));
+    }
+    leftMotor(1,0);
+    rightMotor(1,0);    
+}
+
+
+void MiniExplorerCoimbra::print_map_with_robot_position_and_target(float targetXWorld, float targetYWorld) {
+    float currProba;
+    
+    float heightIndiceInOrthonormal;
+    float widthIndiceInOrthonormal;
+    
+    float widthMalus=-(3*this->map.sizeCellWidth/2);
+    float widthBonus=this->map.sizeCellWidth/2;
+    
+    float heightMalus=-(3*this->map.sizeCellHeight/2);
+    float heightBonus=this->map.sizeCellHeight/2;
+
+    pc.printf("\n\r");
+    for (int y = this->map.nbCellHeight -1; y>-1; y--) {
+        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(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))                    
+                    pc.printf(" T ");
+                else{
+                    currProba=this->map.log_to_proba(this->map.cellsLogValues[x][y]);
+                    if ( currProba < 0.5)
+                        pc.printf("   ");
+                    else{
+                        if(currProba==0.5)
+                            pc.printf(" . ");
+                        else
+                            pc.printf(" X ");
+                    } 
+                }
+            }
+        }
+        pc.printf("\n\r");
+    }
+}
+
+
+//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 
+    
+    *line_a=forceY;
+    *line_b=-forceX;
+    
+    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:      World space:
+      ^                 ^
+      |x                |y
+   <- R                 O ->
+    y                     x
+    but since our forceX, forceY are already computed in the orthonormal space I m not sure we need to 
+    */
+    *line_a=forceX;
+    *line_b=forceY;
+    //because the line computed always pass by the robot center we dont need lince_c
+    //*line_c=forceX*this->yWorld+forceY*this->xWorld;    
+    *line_c=0;
+}
+//compute the force on X and Y
+void MiniExplorerCoimbra::compute_forceX_and_forceY(float* forceXWorld, float* forceYWorld, float targetXWorld, float targetYWorld){
+	float forceRepulsionComputedX=0;
+	float forceRepulsionComputedY=0;
+	     for(int i=0;i<this->map.nbCellWidth;i++){	//for each cell of the map we compute a force of repulsion
+        for(int j=0;j<this->map.nbCellHeight;j++){
+            this->update_force(i,j,&forceRepulsionComputedX,&forceRepulsionComputedY);
+        }
+    }
+    //update with attraction force
+    *forceXWorld=+forceRepulsionComputedX;
+    *forceYWorld=+forceRepulsionComputedY;
+    float distanceTargetRobot=sqrt(pow(targetXWorld-this->xWorld,2)+pow(targetYWorld-this->yWorld,2));
+    if(distanceTargetRobot != 0){
+        *forceXWorld-=this->attractionConstantForce*(targetXWorld-this->xWorld)/distanceTargetRobot;
+        *forceYWorld-=this->attractionConstantForce*(targetYWorld-this->yWorld)/distanceTargetRobot;
+    }
+    float amplitude=sqrt(pow(*forceXWorld,2)+pow(*forceYWorld,2));
+    if(amplitude!=0){//avoid division by 0 if forceX and forceY  == 0
+        *forceXWorld=*forceXWorld/amplitude;
+        *forceYWorld=*forceYWorld/amplitude;
+    }
+}
+
+//currently line_c is not used
+void MiniExplorerCoimbra::go_to_line(float line_a, float line_b, float line_c,float targetXWorld, float targetYWorld){
+    float lineAngle;
+    float angleError;
+    float linear;
+    float angular; 
+    
+    //atan2 use the deplacement on X and the deplacement on Y
+    float angleToTarget=atan2(targetYWorld-this->yWorld,targetXWorld-this->xWorld);
+    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;
+    
+    //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(!aligned)
+            lineAngle=atan(-line_a/line_b);
+        else
+            lineAngle=atan(line_a/-line_b);
+    }
+    else{
+        lineAngle=1.5708;
+    }
+    
+    //Computing angle error
+    angleError = lineAngle-this->thetaWorld;//TODO that I m not sure
+    angleError = atan(sin(angleError)/cos(angleError));
+
+    //Calculating velocities
+    linear=this->kv*(3.1416);
+    angular=this->kh*angleError;
+
+    float angularLeft=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels;
+    float angularRight=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels;
+    
+    //Normalize speed for motors
+    if(abs(angularLeft)>abs(angularRight)) {  
+        angularRight=this->speed*abs(angularRight/angularLeft)*this->sign1(angularRight);
+        angularLeft=this->speed*this->sign1(angularLeft);
+    }
+    else {
+        angularLeft=this->speed*abs(angularLeft/angularRight)*this->sign1(angularLeft);
+        angularRight=this->speed*this->sign1(angularRight);
+    }
+    leftMotor(this->sign2(angularLeft),abs(angularLeft));
+    rightMotor(this->sign2(angularRight),abs(angularRight));
+}
+
+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-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);
+        *forceRepulsionComputedX+=this->repulsionConstantForce*probaCell*(xWorldCell-this->xWorld)/pow(distanceCellToRobot,3);
+        *forceRepulsionComputedY+=this->repulsionConstantForce*probaCell*(yWorldCell-this->yWorld)/pow(distanceCellToRobot,3);
+    }
+}
+
+//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;
+}
+
+/*
+void MiniExplorerCoimbra::test_procedure_lab_4(){
+    this->map.fill_map_with_initial();
+    float xEstimatedK=this->xWorld;
+    float yEstimatedK=this->yWorld;
+    float thetaWorldEstimatedK = this->thetaWorld;
+    float distanceMoved;
+    float angleMoved;
+    float PreviousCovarianceOdometricPositionEstimate[3][3];
+    PreviousCovarianceOdometricPositionEstimate[0][0]=0;
+    PreviousCovarianceOdometricPositionEstimate[0][1]=0;
+    PreviousCovarianceOdometricPositionEstimate[0][2]=0;
+    PreviousCovarianceOdometricPositionEstimate[1][0]=0;
+    PreviousCovarianceOdometricPositionEstimate[1][1]=0;
+    PreviousCovarianceOdometricPositionEstimate[1][2]=0;
+    PreviousCovarianceOdometricPositionEstimate[2][0]=0;
+    PreviousCovarianceOdometricPositionEstimate[2][1]=0;
+    PreviousCovarianceOdometricPositionEstimate[2][2]=0;
+    while(1){
+        distanceMoved=50;
+        angleMoved=0;
+        this->go_straight_line(50);
+        wait(1);
+        procedure_lab_4(xEstimatedK,yEstimatedK,thetaWorldEstimatedK,distanceMoved,angleMoved,PreviousCovarianceOdometricPositionEstimate);
+        pc.printf("\n\r x:%f,y:%f,theta:%f",this->xWorld,this->yWorld,this->thetaWorld);
+        pc.printf("\n\r xEstim:%f,yEstim:%f,thetaEstim:%f",xEstimatedK,yEstimatedK,thetaWorldEstimatedK);
+        this->turn_to_target(PI/2);
+        distanceMoved=0;
+        angleMoved=PI/2;
+        procedure_lab_4(xEstimatedK,yEstimatedK,thetaWorldEstimatedK,distanceMoved,angleMoved,PreviousCovarianceOdometricPositionEstimate);
+        pc.printf("\n\r x:%f,y:%f,theta:%f",this->xWorld,this->yWorld,this->thetaWorld);
+        pc.printf("\n\r xEstim:%f,yEstim:%f,thetaEstim:%f",xEstimatedK,yEstimatedK,thetaWorldEstimatedK);
+    }
+}
+
+void MiniExplorerCoimbra::go_straight_line(float distanceCm){
+	leftMotor(1,1);
+	rightMotor(1,1);
+	float xEstimated=this->xWorld+distanceCm*cos(this->thetaWorld);
+    float yEstimated=this->yWorld+distanceCm*sin(this->thetaWorld);
+	while(1){
+		this->myOdometria();
+		if(abs(xEstimated-this->xWorld) < 0.1 && abs(yEstimated-this->yWorld) < 0.1)
+			break;
+	}
+	leftMotor(1,0);
+	rightMotor(1,0);
+}
+
+//compute predicted localisation (assume movements are either straight lines or pure rotation), update PreviousCovarianceOdometricPositionEstimate
+//TODO tweak constant rewritte it good
+void MiniExplorerCoimbra::procedure_lab_4(float xEstimatedK,float yEstimatedK, float thetaWorldEstimatedK, float distanceMoved, float angleMoved, float PreviousCovarianceOdometricPositionEstimate[3][3]){
+
+    float distanceMovedByLeftWheel=distanceMoved/2;
+    float distanceMovedByRightWheel=distanceMoved/2;
+    if(angleMoved !=0){
+        //TODO check that not sure
+        distanceMovedByLeftWheel=-angleMoved/(2*this->distanceWheels);
+        distanceMovedByRightWheel=angleMoved/(2*this->distanceWheels);
+    }else{
+        distanceMovedByLeftWheel=distanceMoved/2;
+        distanceMovedByRightWheel=distanceMoved/2;
+    }
+        
+    float xEstimatedKNext=xEstimatedK+distanceMoved*cos(angleMoved);
+    float yEstimatedKNext=yEstimatedK+distanceMoved*sin(angleMoved);
+    float thetaWorldEstimatedKNext=thetaWorldEstimatedK+angleMoved;
+    
+    float kRight=0.1;//error constant 
+    float kLeft=0.1;//error constant 
+    float motionIncrementCovarianceMatrix[2][2];
+    motionIncrementCovarianceMatrix[0][0]=kRight*abs(distanceMovedByRightWheel);
+    motionIncrementCovarianceMatrix[0][1]=0;
+    motionIncrementCovarianceMatrix[1][0]=0;
+    motionIncrementCovarianceMatrix[1][1]=kLeft*abs(distanceMovedByLeftWheel);
+    
+    float jacobianFp[3][3];
+    jacobianFp[0][0]=1;
+    jacobianFp[0][1]=0;
+    jacobianFp[0][2]=-distanceMoved*sin(thetaWorldEstimatedK+angleMoved/2);
+    jacobianFp[1][0]=0;
+    jacobianFp[1][1]=1;
+    jacobianFp[1][2]=distanceMoved*cos(thetaWorldEstimatedK+angleMoved/2);;
+    jacobianFp[2][0]=0;
+    jacobianFp[2][1]=0;
+    jacobianFp[2][2]=1;
+    
+    float jacobianFpTranspose[3][3];
+    jacobianFpTranspose[0][0]=1;
+    jacobianFpTranspose[0][1]=0;
+    jacobianFpTranspose[0][2]=0;
+    jacobianFpTranspose[1][0]=0;
+    jacobianFpTranspose[1][1]=1;
+    jacobianFpTranspose[1][2]=0;
+    jacobianFpTranspose[2][0]=-distanceMoved*sin(thetaWorldEstimatedK+angleMoved/2);
+    jacobianFpTranspose[2][1]=distanceMoved*cos(thetaWorldEstimatedK+angleMoved/2);
+    jacobianFpTranspose[2][2]=1;
+    
+    float jacobianFDeltarl[3][2];
+    jacobianFDeltarl[0][0]=(1/2)*cos(thetaWorldEstimatedK+angleMoved/2)-(distanceMoved/(2*this->distanceWheels))*sin(thetaWorldEstimatedK+angleMoved/2);
+    jacobianFDeltarl[0][1]=(1/2)*cos(thetaWorldEstimatedK+angleMoved/2)+(distanceMoved/(2*this->distanceWheels))*sin(thetaWorldEstimatedK+angleMoved/2);
+    jacobianFDeltarl[1][0]=(1/2)*sin(thetaWorldEstimatedK+angleMoved/2)+(distanceMoved/(2*this->distanceWheels))*cos(thetaWorldEstimatedK+angleMoved/2);
+    jacobianFDeltarl[1][1]=(1/2)*sin(thetaWorldEstimatedK+angleMoved/2)-(distanceMoved/(2*this->distanceWheels))*cos(thetaWorldEstimatedK+angleMoved/2);
+    jacobianFDeltarl[2][0]=1/this->distanceWheels;
+    jacobianFDeltarl[2][1]=-1/this->distanceWheels;
+    
+    float jacobianFDeltarlTranspose[2][3];//1,3,5;2,4,6
+    jacobianFDeltarlTranspose[0][0]=(1/2)*cos(thetaWorldEstimatedK+angleMoved/2)-(distanceMoved/(2*this->distanceWheels))*sin(thetaWorldEstimatedK+angleMoved/2);
+    jacobianFDeltarlTranspose[0][1]=(1/2)*sin(thetaWorldEstimatedK+angleMoved/2)+(distanceMoved/(2*this->distanceWheels))*cos(thetaWorldEstimatedK+angleMoved/2);
+    jacobianFDeltarlTranspose[0][2]=1/this->distanceWheels;
+    jacobianFDeltarlTranspose[1][0]=(1/2)*cos(thetaWorldEstimatedK+angleMoved/2)+(distanceMoved/(2*this->distanceWheels))*sin(thetaWorldEstimatedK+angleMoved/2);
+    jacobianFDeltarlTranspose[1][1]=(1/2)*sin(thetaWorldEstimatedK+angleMoved/2)-(distanceMoved/(2*this->distanceWheels))*cos(thetaWorldEstimatedK+angleMoved/2);
+    jacobianFDeltarlTranspose[1][2]=-1/this->distanceWheels;
+    
+    float tempMatrix3_3[3][3];
+    int i;
+    int j;
+    int k;
+    for( i = 0; i < 3; ++i){//mult 3*3, 3*3
+        for(j = 0; j < 3; ++j){
+            for(k = 0; k < 3; ++k){
+                tempMatrix3_3[i][j] += jacobianFp[i][k] * PreviousCovarianceOdometricPositionEstimate[k][j];
+            }
+        }
+    }
+    float sndTempMatrix3_3[3][3];
+    for(i = 0; i < 3; ++i){//mult 3*3, 3*3
+        for(j = 0; j < 3; ++j){
+            for(k = 0; k < 3; ++k){
+                sndTempMatrix3_3[i][j] += tempMatrix3_3[i][k] * jacobianFpTranspose[k][j];
+            }
+        }
+    }
+    float tempMatrix3_2[3][2];
+    for(i = 0; i < 3; ++i){//mult 3*2 , 2,2
+        for(j = 0; j < 2; ++j){
+            for(k = 0; k < 2; ++k){
+                tempMatrix3_2[i][j] += jacobianFDeltarl[i][k] * motionIncrementCovarianceMatrix[k][j];
+            }
+        }
+    }
+    float thrdTempMatrix3_3[3][3];
+    for(i = 0; i < 3; ++i){//mult 3*2 , 2,3
+        for(j = 0; j < 3; ++j){
+            for(k = 0; k < 2; ++k){
+                thrdTempMatrix3_3[i][j] += tempMatrix3_2[i][k] * jacobianFDeltarlTranspose[k][j];
+            }
+        }
+    }
+    float newCovarianceOdometricPositionEstimate[3][3];
+    for(i = 0; i < 3; ++i){//add 3*3 , 3*3
+        for(j = 0; j < 3; ++j){
+            newCovarianceOdometricPositionEstimate[i][j]=sndTempMatrix3_3[i][j]+thrdTempMatrix3_3[i][j];
+        }
+    }
+    
+    //check measurements from sonars, see if they passed the validation gate
+    float leftCm = get_distance_left_sensor()/10;
+    float frontCm = get_distance_front_sensor()/10;
+    float rightCm = get_distance_right_sensor()/10;
+    //if superior to sonar range, put the value to sonar max range + 1
+    if(leftCm > this->sonarLeft.maxRange)
+        leftCm=this->sonarLeft.maxRange;
+    if(frontCm > this->sonarFront.maxRange)
+        frontCm=this->sonarFront.maxRange;
+    if(rightCm > this->sonarRight.maxRange)
+        rightCm=this->sonarRight.maxRange;
+    //get the estimated measure we should have according to our knowledge of the map and the previously computed localisation
+    float leftCmEstimated=this->sonarLeft.maxRange;
+    float frontCmEstimated=this->sonarFront.maxRange;
+    float rightCmEstimated=this->sonarRight.maxRange;
+    float xWorldCell;
+    float yWorldCell;
+    float currDistance;
+    float xClosestCellLeft;
+    float yClosestCellLeft;
+    float xClosestCellFront;
+    float yClosestCellFront;
+    float xClosestCellRight;
+    float yClosestCellRight;
+    for(int i=0;i<this->map.nbCellWidth;i++){
+        for(int j=0;j<this->map.nbCellHeight;j++){
+            //check if occupied, if not discard
+            if(this->map.get_proba_cell(i,j)==1){
+                //check if in sonar range
+                xWorldCell=this->map.cell_width_coordinate_to_world(i);
+                yWorldCell=this->map.cell_height_coordinate_to_world(j);
+                //check left
+                currDistance=this->sonarLeft.isInRange(xWorldCell,yWorldCell,xEstimatedKNext,yEstimatedKNext,thetaWorldEstimatedKNext);           
+                if((currDistance < this->sonarLeft.maxRange) && currDistance!=-1){
+                    //check if distance is lower than previous, update lowest if so
+                    if(currDistance < leftCmEstimated){
+                        leftCmEstimated= currDistance;
+                        xClosestCellLeft=xWorldCell;
+                        yClosestCellLeft=yWorldCell;
+                    }
+            	}
+                //check front
+                currDistance=this->sonarFront.isInRange(xWorldCell,yWorldCell,xEstimatedKNext,yEstimatedKNext,thetaWorldEstimatedKNext);           
+                if((currDistance < this->sonarFront.maxRange) && currDistance!=-1){
+                    //check if distance is lower than previous, update lowest if so
+                    if(currDistance < frontCmEstimated){
+                        frontCmEstimated= currDistance;
+                        xClosestCellFront=xWorldCell;
+                        yClosestCellFront=yWorldCell;
+                    }
+                }
+                //check right
+                currDistance=this->sonarRight.isInRange(xWorldCell,yWorldCell,xEstimatedKNext,yEstimatedKNext,thetaWorldEstimatedKNext);              
+                if((currDistance < this->sonarRight.maxRange) && currDistance!=-1){
+                    //check if distance is lower than previous, update lowest if so
+                    if(currDistance < rightCmEstimated){
+                        rightCmEstimated= currDistance;
+                        xClosestCellRight=xWorldCell;
+                        yClosestCellRight=yWorldCell;
+                    }
+                }
+            }
+        }
+    }
+    //get the innoncation: the value of the difference between the actual measure and what we anticipated
+    float innovationLeft=leftCm-leftCmEstimated;
+    float innovationFront=frontCm-frontCmEstimated;
+    float innovationRight=-rightCm-rightCmEstimated;
+    //compute jacobian of observation
+    float jacobianOfObservationLeft[3];
+    float jacobianOfObservationRight[3];
+    float jacobianOfObservationFront[3];
+    float xSonarLeft=xEstimatedKNext+this->sonarLeft.distanceX;
+    float ySonarLeft=yEstimatedKNext+this->sonarLeft.distanceY;
+    //left
+    jacobianOfObservationLeft[0]=(xSonarLeft-xClosestCellLeft)/leftCmEstimated;
+    jacobianOfObservationLeft[1]=(ySonarLeft-yClosestCellLeft)/leftCmEstimated;
+    jacobianOfObservationLeft[2]=(xClosestCellLeft-xSonarLeft)*(xSonarLeft*sin(thetaWorldEstimatedKNext)+ySonarLeft*cos(thetaWorldEstimatedKNext))+(yClosestCellLeft-ySonarLeft)*(-xSonarLeft*cos(thetaWorldEstimatedKNext)+ySonarLeft*sin(thetaWorldEstimatedKNext));
+    //front
+    float xSonarFront=xEstimatedKNext+this->sonarFront.distanceX;
+    float ySonarFront=yEstimatedKNext+this->sonarFront.distanceY;
+    jacobianOfObservationFront[0]=(xSonarFront-xClosestCellFront)/frontCmEstimated;
+    jacobianOfObservationFront[1]=(ySonarFront-yClosestCellFront)/frontCmEstimated;
+    jacobianOfObservationFront[2]=(xClosestCellFront-xSonarFront)*(xSonarFront*sin(thetaWorldEstimatedKNext)+ySonarFront*cos(thetaWorldEstimatedKNext))+(yClosestCellFront-ySonarFront)*(-xSonarFront*cos(thetaWorldEstimatedKNext)+ySonarFront*sin(thetaWorldEstimatedKNext));
+    //right
+    float xSonarRight=xEstimatedKNext+this->sonarRight.distanceX;
+    float ySonarRight=yEstimatedKNext+this->sonarRight.distanceY;
+    jacobianOfObservationRight[0]=(xSonarRight-xClosestCellRight)/rightCmEstimated;
+    jacobianOfObservationRight[1]=(ySonarRight-yClosestCellRight)/rightCmEstimated;
+    jacobianOfObservationRight[2]=(xClosestCellRight-xSonarRight)*(xSonarRight*sin(thetaWorldEstimatedKNext)+ySonarRight*cos(thetaWorldEstimatedKNext))+(yClosestCellRight-ySonarRight)*(-xSonarRight*cos(thetaWorldEstimatedKNext)+ySonarRight*sin(thetaWorldEstimatedKNext));
+
+    //left
+    float TempMatrix3_3InnovationLeft[3];
+    TempMatrix3_3InnovationLeft[0]=jacobianOfObservationLeft[0]*newCovarianceOdometricPositionEstimate[0][0]+jacobianOfObservationLeft[1]*newCovarianceOdometricPositionEstimate[1][0]+jacobianOfObservationLeft[2]*newCovarianceOdometricPositionEstimate[2][0];
+    TempMatrix3_3InnovationLeft[1]=jacobianOfObservationLeft[0]*newCovarianceOdometricPositionEstimate[0][1]+jacobianOfObservationLeft[1]*newCovarianceOdometricPositionEstimate[1][1]+jacobianOfObservationLeft[2]*newCovarianceOdometricPositionEstimate[2][1];
+    TempMatrix3_3InnovationLeft[2]=jacobianOfObservationLeft[0]*newCovarianceOdometricPositionEstimate[0][2]+jacobianOfObservationLeft[1]*newCovarianceOdometricPositionEstimate[1][2]+jacobianOfObservationLeft[2]*newCovarianceOdometricPositionEstimate[2][2];
+    float innovationConvarianceLeft=TempMatrix3_3InnovationLeft[0]*jacobianOfObservationLeft[0]+TempMatrix3_3InnovationLeft[1]*jacobianOfObservationLeft[1]+TempMatrix3_3InnovationLeft[2]*jacobianOfObservationLeft[2];
+    //front
+    float TempMatrix3_3InnovationFront[3];
+    TempMatrix3_3InnovationFront[0]=jacobianOfObservationFront[0]*newCovarianceOdometricPositionEstimate[0][0]+jacobianOfObservationFront[1]*newCovarianceOdometricPositionEstimate[1][0]+jacobianOfObservationFront[2]*newCovarianceOdometricPositionEstimate[2][0];
+    TempMatrix3_3InnovationFront[1]=jacobianOfObservationFront[0]*newCovarianceOdometricPositionEstimate[0][1]+jacobianOfObservationFront[1]*newCovarianceOdometricPositionEstimate[1][1]+jacobianOfObservationFront[2]*newCovarianceOdometricPositionEstimate[2][1];
+    TempMatrix3_3InnovationFront[2]=jacobianOfObservationFront[0]*newCovarianceOdometricPositionEstimate[0][2]+jacobianOfObservationFront[1]*newCovarianceOdometricPositionEstimate[1][2]+jacobianOfObservationFront[2]*newCovarianceOdometricPositionEstimate[2][2];
+    float innovationConvarianceFront=TempMatrix3_3InnovationFront[0]*jacobianOfObservationFront[0]+TempMatrix3_3InnovationFront[1]*jacobianOfObservationFront[1]+TempMatrix3_3InnovationFront[2]*jacobianOfObservationFront[2];
+    //right
+    float TempMatrix3_3InnovationRight[3];
+    TempMatrix3_3InnovationRight[0]=jacobianOfObservationRight[0]*newCovarianceOdometricPositionEstimate[0][0]+jacobianOfObservationRight[1]*newCovarianceOdometricPositionEstimate[1][0]+jacobianOfObservationRight[2]*newCovarianceOdometricPositionEstimate[2][0];
+    TempMatrix3_3InnovationRight[1]=jacobianOfObservationRight[0]*newCovarianceOdometricPositionEstimate[0][1]+jacobianOfObservationRight[1]*newCovarianceOdometricPositionEstimate[1][1]+jacobianOfObservationRight[2]*newCovarianceOdometricPositionEstimate[2][1];
+    TempMatrix3_3InnovationRight[2]=jacobianOfObservationRight[0]*newCovarianceOdometricPositionEstimate[0][2]+jacobianOfObservationRight[1]*newCovarianceOdometricPositionEstimate[1][2]+jacobianOfObservationRight[2]*newCovarianceOdometricPositionEstimate[2][2];
+    float innovationConvarianceRight=TempMatrix3_3InnovationRight[0]*jacobianOfObservationRight[0]+TempMatrix3_3InnovationRight[1]*jacobianOfObservationRight[1]+TempMatrix3_3InnovationRight[2]*jacobianOfObservationRight[2];
+    
+    //check if it pass the validation gate 
+    float gateScoreLeft=innovationLeft*innovationLeft/innovationConvarianceLeft;
+    float gateScoreFront=innovationFront*innovationFront/innovationConvarianceFront;
+    float gateScoreRight=innovationRight*innovationRight/innovationConvarianceRight;
+    int leftPassed=0;
+    int frontPassed=0;
+    int rightPassed=0;
+    int e=10;//constant 
+    if(gateScoreLeft < e)
+        leftPassed=1;
+    if(gateScoreFront < e)
+        frontPassed=10;
+    if(gateScoreRight < e)
+        rightPassed=100;
+    //for those who passed
+    //compute composite innovation
+    float compositeInnovation[3];
+    int nbPassed=leftPassed+frontPassed+rightPassed;
+    switch(nbPassed){
+        case 0://none
+            compositeInnovation[0]=0;
+            compositeInnovation[1]=0;
+            compositeInnovation[2]=0;
+            break;
+        case 1://left
+            compositeInnovation[0]=innovationLeft;
+            compositeInnovation[1]=0;
+            compositeInnovation[2]=0;
+            break;
+        case 10://front
+            compositeInnovation[0]=0;
+            compositeInnovation[1]=innovationFront;
+            compositeInnovation[2]=0;
+            break;
+        case 11://left and front
+            compositeInnovation[0]=innovationLeft;
+            compositeInnovation[1]=innovationFront;
+            compositeInnovation[2]=0;
+            break;
+        case 100://right
+            compositeInnovation[0]=0;
+            compositeInnovation[1]=0;
+            compositeInnovation[2]=innovationRight;
+            break;
+        case 101://right and left
+            compositeInnovation[0]=innovationLeft;
+            compositeInnovation[1]=0;
+            compositeInnovation[2]=innovationRight;
+            break;
+        case 110://right and front
+            compositeInnovation[0]=0;
+            compositeInnovation[1]=innovationFront;
+            compositeInnovation[2]=innovationRight;
+            break;
+        case 111://right front and left
+            compositeInnovation[0]=innovationLeft;
+            compositeInnovation[1]=innovationFront;
+            compositeInnovation[2]=innovationRight;
+            break;
+    }
+    //compute composite measurement Jacobian
+    float *compositeMeasurementJacobian;
+    switch(nbPassed){
+        case 0://none
+            break;
+        case 1://left
+            //compositeMeasurementJacobian = jacobianOfObservationLeft
+            break;
+        case 10://front
+            //compositeMeasurementJacobian = jacobianOfObservationFront
+            break;
+        case 11://left and front
+            compositeMeasurementJacobian=new float[6];
+            compositeMeasurementJacobian[0]= jacobianOfObservationLeft[0];
+            compositeMeasurementJacobian[1]= jacobianOfObservationLeft[1];
+            compositeMeasurementJacobian[2]= jacobianOfObservationLeft[2];
+            compositeMeasurementJacobian[3]= jacobianOfObservationFront[0];
+            compositeMeasurementJacobian[4]= jacobianOfObservationFront[1];
+            compositeMeasurementJacobian[5]= jacobianOfObservationFront[2];
+            break;
+        case 100://right
+            //compositeMeasurementJacobian = jacobianOfObservationRight
+            break;
+        case 101://right and left
+            compositeMeasurementJacobian=new float[6];
+            compositeMeasurementJacobian[0]= jacobianOfObservationLeft[0];
+            compositeMeasurementJacobian[1]= jacobianOfObservationLeft[1];
+            compositeMeasurementJacobian[2]= jacobianOfObservationLeft[2];
+            compositeMeasurementJacobian[3]= jacobianOfObservationRight[0];
+            compositeMeasurementJacobian[4]= jacobianOfObservationRight[1];
+            compositeMeasurementJacobian[5]= jacobianOfObservationRight[2];
+    
+            break;
+        case 110://right and front
+            compositeMeasurementJacobian=new float[6];
+            compositeMeasurementJacobian[0]= jacobianOfObservationFront[0];
+            compositeMeasurementJacobian[1]= jacobianOfObservationFront[1];
+            compositeMeasurementJacobian[2]= jacobianOfObservationFront[2];
+            compositeMeasurementJacobian[3]= jacobianOfObservationRight[0];
+            compositeMeasurementJacobian[4]= jacobianOfObservationRight[1];
+            compositeMeasurementJacobian[5]= jacobianOfObservationRight[2];
+    
+            break;
+        case 111://right front and left
+            compositeMeasurementJacobian=new float[9];
+            compositeMeasurementJacobian[0]= jacobianOfObservationLeft[0];
+            compositeMeasurementJacobian[1]= jacobianOfObservationLeft[1];
+            compositeMeasurementJacobian[2]= jacobianOfObservationLeft[2];
+            compositeMeasurementJacobian[3]= jacobianOfObservationFront[0];
+            compositeMeasurementJacobian[4]= jacobianOfObservationFront[1];
+            compositeMeasurementJacobian[5]= jacobianOfObservationFront[2];
+            compositeMeasurementJacobian[6]= jacobianOfObservationRight[0];
+            compositeMeasurementJacobian[7]= jacobianOfObservationRight[1];
+            compositeMeasurementJacobian[8]= jacobianOfObservationRight[2];
+            break;
+    }
+    //compute composite innovation covariance TODO dont have time, I assume you can just multiply them, can also simply all this easily
+    float compositeInnovationCovariance;
+    switch(nbPassed){
+        case 0://none
+            compositeInnovationCovariance=1;
+            break;
+        case 1://left
+            compositeInnovationCovariance = innovationConvarianceLeft;
+            
+            break;
+        case 10://front
+            compositeInnovationCovariance = innovationConvarianceFront;
+            break;
+        case 11://left and front
+            compositeInnovationCovariance=innovationConvarianceLeft*innovationConvarianceFront;
+    
+            break;
+        case 100://right
+            compositeInnovationCovariance = innovationConvarianceRight;
+            break;
+        case 101://right and left
+            compositeInnovationCovariance=innovationConvarianceLeft*innovationConvarianceRight;
+            break;
+        case 110://right and front
+            compositeInnovationCovariance=innovationConvarianceFront*innovationConvarianceRight;
+    
+    
+            break;
+        case 111://right front and left
+            compositeInnovationCovariance=innovationConvarianceLeft*innovationConvarianceFront*innovationConvarianceRight;
+      
+            break;
+    }
+    
+    //compute kalman gain
+    float kalmanGain[3][3];
+    switch(nbPassed){
+        //mult nbSonarPassed*3 , 3*3
+        case 0://none
+            break;
+        case 1://left
+            
+            for(i = 0; i < 3; ++i){//mult 3*3, 3*1
+                for(j = 0; j < 1; ++j){
+                    for(k = 0; k < 3; ++k){
+                        kalmanGain[i][j] += newCovarianceOdometricPositionEstimate[i][k] * compositeInnovationCovariance[k];
+                    }
+                }
+            }
+            
+            break;
+        case 10://front
+            for(i = 0; i < 3; ++i){//mult 3*3, 3*1
+                for(j = 0; j < 1; ++j){
+                    for(k = 0; k < 3; ++k){
+                        kalmanGain[i][j] += newCovarianceOdometricPositionEstimate[i][k] * compositeInnovationCovariance[k];
+                    }
+                }
+            }
+            break;
+        case 11://left and front
+            for(i = 0; i < 3; ++i){//mult 3*3, 3*2
+                for(j = 0; j < 2; ++j){
+                    for(k = 0; k < 3; ++k){
+                        kalmanGain[i][j] += newCovarianceOdometricPositionEstimate[i][k] * compositeInnovationCovariance[k+j*3];
+                    }
+                }
+            }
+    
+            break;
+        case 100://right
+            for(i = 0; i < 3; ++i){//mult 3*3, 3*1
+                for(j = 0; j < 1; ++j){
+                    for(k = 0; k < 3; ++k){
+                        kalmanGain[i][j] += newCovarianceOdometricPositionEstimate[i][k] * compositeInnovationCovariance[k];
+                    }
+                }
+            }
+            break;
+        case 101://right and left
+            for(i = 0; i < 3; ++i){//mult 3*3, 3*2
+                for(j = 0; j < 2; ++j){
+                    for(k = 0; k < 3; ++k){
+                        kalmanGain[i][j] += newCovarianceOdometricPositionEstimate[i][k] * compositeInnovationCovariance[k+j*3];
+                    }
+                }
+            }
+    
+            break;
+        case 110://right and front
+            for(i = 0; i < 3; ++i){//mult 3*3, 3*2
+                for(j = 0; j < 2; ++j){
+                    for(k = 0; k < 3; ++k){
+                        kalmanGain[i][j] += newCovarianceOdometricPositionEstimate[i][k] * compositeInnovationCovariance[k+j*3];
+                    }
+                }
+            }
+    
+    
+            break;
+        case 111://right front and left
+            for(i = 0; i < 3; ++i){//mult 3*3, 3*3
+                for(j = 0; j < 3; ++j){
+                    for(k = 0; k < 3; ++k){
+                        kalmanGain[i][j] += newCovarianceOdometricPositionEstimate[i][k] * compositeInnovationCovariance[k+j*3];
+                    }
+                }
+            }
+      
+            break;
+    }
+    
+    for(i = 0; i < 3; ++i){//mult 3*3, 3*3
+        for(j = 0; j < 3; ++j){
+            kalmanGain[i][j] = kalmanGain[i][j]/compositeInnovationCovariance;
+        }
+    }
+    //compute kalman gain * composite innovation
+    //mult 3*3 , 3*1
+    float result3_1[3];
+    for(i = 0; i < 3; ++i){//mult 3*3, 3*1
+        for(k = 0; k < 3; ++k){
+            result3_1[i] += kalmanGain[i][k] * compositeInnovation[k];
+        }
+    }
+    //compute updated robot position estimate
+    float xEstimatedKLast=xEstimatedKNext+result3_1[0];
+    float yEstimatedKLast=yEstimatedKNext+result3_1[1];
+    float thetaWorldEstimatedKLast=thetaWorldEstimatedKNext+result3_1[2];
+    //store the resultant covariance for next estimation
+
+    float kalmanGainTranspose[3][3];
+    kalmanGainTranspose[0][0]=kalmanGain[0][0];
+    kalmanGainTranspose[0][1]=kalmanGain[1][0];
+    kalmanGainTranspose[0][2]=kalmanGain[2][0];
+    kalmanGainTranspose[1][0]=kalmanGain[0][1];
+    kalmanGainTranspose[1][1]=kalmanGain[1][1];
+    kalmanGainTranspose[1][2]=kalmanGain[2][1];
+    kalmanGainTranspose[2][0]=kalmanGain[0][2];
+    kalmanGainTranspose[2][1]=kalmanGain[1][2];
+    kalmanGainTranspose[2][2]=kalmanGain[2][2];
+    
+    //mult 3*3 , 3*3
+    float fithTempMatrix3_3[3][3];
+    for(i = 0; i < 3; ++i){//mult 3*3 , 3*3
+        for(j = 0; j < 3; ++j){
+            for(k = 0; k < 3; ++k){
+                fithTempMatrix3_3[i][j] += kalmanGain[i][k] * kalmanGainTranspose[k][j];
+            }
+        }
+    }
+    for(i = 0; i < 3; ++i){//add 3*3 , 3*3
+        for(j = 0; j < 3; ++j){
+            fithTempMatrix3_3[i][j]=fithTempMatrix3_3[i][j]*compositeInnovationCovariance;
+        }
+    }
+    float covariancePositionEsimatedLast[3][3];
+    for(i = 0; i < 3; ++i){//add 3*3 , 3*3
+        for(j = 0; j < 3; ++j){
+            covariancePositionEsimatedLast[i][j]=fithTempMatrix3_3[i][j]+newCovarianceOdometricPositionEstimate[i][j];
+        }
+    }
+    //update PreviousCovarianceOdometricPositionEstimate
+    for(i = 0; i < 3; ++i){
+        for(j = 0; j < 3; ++j){
+            PreviousCovarianceOdometricPositionEstimate[i][j]=covariancePositionEsimatedLast[i][j];
+        }
+    }
+    
+    xEstimatedK=xEstimatedKLast;
+    yEstimatedK=yEstimatedKLast;
+    thetaWorldEstimatedK=thetaWorldEstimatedKLast;
+}
+*/
\ No newline at end of file

diff -r 000000000000 -r 9f7ee7ed13e4 MiniExplorerCoimbra.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MiniExplorerCoimbra.hpp	Mon Jun 26 12:05:20 2017 +0000
@@ -0,0 +1,107 @@
+#ifndef MINIEXPLORERCOIMBRA_HPP
+#define MINIEXPLORERCOIMBRA_HPP
+
+#include "Map.hpp"
+#include "Sonar.hpp"
+#include<math.h>
+
+	/*
+Robot coordinate system:      			World coordinate system:
+      ^                 							^
+      |x                							|y
+   <--R                 							O-->
+    y                     							x
+    
+angles from pi/2 to 3pi/2->0 to pi              angles from 0 to pi->0 to pi 
+angles from pi/2 to -pi/2->0 to -pi				angles from pi to 2pi-> -pi to 0
+
+	The idea is that for every command to the robot we use to world coodinate system 
+*/
+
+class MiniExplorerCoimbra {
+	
+	public:
+	float xWorld;
+	float yWorld;
+	float thetaWorld;
+	Map map;
+	Sonar sonarLeft;
+	Sonar sonarFront;
+	Sonar sonarRight;
+	float speed;
+	float radiusWheels;
+	float distanceWheels; 
+	float khro;
+	float ka;
+	float kb;
+	float kv;
+	float kh;
+
+	float rangeForce;
+	float attractionConstantForce;
+	float repulsionConstantForce;
+
+	MiniExplorerCoimbra(float defaultXWorld, float defaultYWorld, float defaultThetaWorld);
+	
+	//generate a position randomly and makes the robot go there while updating the map
+	void randomize_and_map();
+	
+	//move of targetXWorld and targetYWorld ending in a targetAngleWorld
+	void go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld);
+	
+	//use virtual force field
+	void try_to_reach_target(float targetXWorld,float targetYWorld);
+	
+	
+	void test_procedure_lab_4();
+	
+	private:
+	
+	void myOdometria();
+	
+	void setXYThetaAndXYThetaWorld(float defaultXWorld, float defaultYWorld, float defaultThetaWorld);
+	
+	float update_angular_speed_wheels_go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld, float dt);
+	
+	void update_sonar_values(float leftMm,float frontMm,float rightMm);
+	
+	void do_half_flip();
+	
+	//Distance computation function
+	float dist(float x1, float y1, float x2, float y2);
+	
+	/*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 turn_to_target(float angleToTarget);
+	
+	void print_map_with_robot_position_and_target(float targetXWorld, float targetYWorld);
+	
+	void vff(bool* reached, float targetXWorld, float targetYWorld);
+	
+	//compute the force on X and Y
+	void compute_forceX_and_forceY(float* forceXWorld, float* forceYWorld, float targetXWorld, float targetYWorld);
+	
+	void calculate_line(float forceX, float forceY, float *line_a, float *line_b, float *line_c);
+	
+	//currently line_c is not used
+	void go_to_line(float line_a, float line_b, float line_c,float targetXWorld, float targetYWorld);
+	
+	void update_force(int widthIndice, int heightIndice, float* forceRepulsionComputedX, float* forceRepulsionComputedY );
+
+	//return 1 if positiv, -1 if negativ
+	float sign1(float value);
+	
+	//return 1 if positiv, 0 if negativ
+	int sign2(float value);
+	
+	void go_straight_line(float distanceCm);
+	
+	void procedure_lab_4(float xEstimatedK,float yEstimatedK, float thetaWorldEstimatedK, float distanceMoved, float angleMoved, float PreviousCovarianceOdometricPositionEstimate[3][3]);
+
+};
+
+
+#endif
+

diff -r 000000000000 -r 9f7ee7ed13e4 Sonar.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sonar.cpp	Mon Jun 26 12:05:20 2017 +0000
@@ -0,0 +1,129 @@
+#include "Sonar.hpp"
+
+#define PI 3.14159
+
+Sonar::Sonar(float angleFromCenter, float distanceXFromRobotCenter, float distanceYFromRobotCenter ){
+	this->angleFromCenter=angleFromCenter;
+	this->distanceX=distanceXFromRobotCenter;
+	this->distanceY=distanceYFromRobotCenter;
+	this->maxRange=50;//cm
+	this->minRange=10;//Rmin cm
+	this->incertitudeRange=10;//cm
+	this->angleRange=3.14159/3;//Omega rad
+}
+
+//return distance sonar to cell if in range, -1 if not
+float Sonar::isInRange(float xCell, float yCell, float xRobotWorld, float yRobotWorld, float thetaWorld){
+	float xSonar=xRobotWorld+this->distanceX;
+	float ySonar=yRobotWorld+this->distanceY;	
+	float distanceCellToSonar=sqrt(pow(xCell-xSonar,2)+pow(yCell-ySonar,2));
+	
+	//check if the distance between the cell and the robot is within the circle of range RADIUS_WHEELS
+    if( distanceCellToSonar < this->maxRange){
+        //float anglePointToSonar=this->compute_angle_between_vectors(xCell,yCell,xSonar,ySonar);//angle beetween the point and the sonar beam
+        float angleCellToSonar=atan2(yCell-yRobotWorld,xCell-xRobotWorld);//like world system
+        
+       	       	float angleOriginToMidleOfBeam=thetaWorld+this->angleFromCenter;//
+
+        float angleDifference=angleCellToSonar-angleOriginToMidleOfBeam;
+        if(angleDifference > PI)
+            angleDifference=angleDifference-2*PI;
+        if(angleDifference < -PI)
+            angleDifference=angleDifference+2*PI;
+        //check if absolute difference between the angles is no more than Omega/2
+        if(angleDifference > 0 && angleDifference <= this->angleRange/2 ||angleDifference < 0 && angleDifference >= -this->angleRange/2 ){
+        	return distanceCellToSonar;
+        }
+    }
+    return -1;
+}
+
+//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]
+float Sonar::compute_probability_t(float distanceObstacleDetected, float xCell, float yCell, float xRobotWorld, float yRobotWorld, float thetaWorld){
+	float xSonar=xRobotWorld+this->distanceX;
+	float ySonar=yRobotWorld+this->distanceY;
+    float distancePointToSonar=sqrt(pow(xCell-xSonar,2)+pow(yCell-ySonar,2));
+    //check if the distance between the cell and the robot is within the circle of range RADIUS_WHEELS
+    if( distancePointToSonar < this->maxRange){
+        //float anglePointToSonar=this->compute_angle_between_vectors(xCell,yCell,xSonar,ySonar);//angle beetween the point and the sonar beam
+        float anglePointToSonar=atan2(yCell-yRobotWorld,xCell-xRobotWorld);//like world system
+        
+       	       	float angleOriginToMidleOfBeam=thetaWorld+this->angleFromCenter;//
+
+        float angleDifference=anglePointToSonar-angleOriginToMidleOfBeam;
+        if(angleDifference > PI)
+            angleDifference=angleDifference-2*PI;
+        if(angleDifference < -PI)
+            angleDifference=angleDifference+2*PI;
+        //check if absolute difference between the angles is no more than Omega/2
+        if(angleDifference > 0 && angleDifference <= this->angleRange/2 ||angleDifference < 0 && angleDifference >= -this->angleRange/2 ){
+
+            if( distancePointToSonar < (distanceObstacleDetected - this->incertitudeRange)){
+            //point before obstacle, probably empty
+            /*****************************************************************************/
+                float Ea=1.f-pow((2*angleDifference)/this->angleRange,2);
+                float Er;
+                if(distancePointToSonar < this->minRange){
+                    //point before minimum sonar range
+                    Er=0.f;
+                }else{
+                    //point after minimum sonar range
+                    Er=1.f-pow((distancePointToSonar-this->minRange)/(distanceObstacleDetected-this->incertitudeRange-this->minRange),2);
+                }
+             /*****************************************************************************/
+                //if((1.f-Er*Ea)/2.f >1 || (1.f-Er*Ea)/2.f < 0)
+                //    pc.printf("\n\r return value=%f,Er=%f,Ea=%f,angleDifference=%f",(1.f-Er*Ea)/2.f,Er,Ea,angleDifference);
+                return (1.f-Er*Ea)/2.f;
+            }else{
+                //probably occuPIed
+            /*****************************************************************************/
+                float Oa=1.f-pow((2*angleDifference)/this->angleRange,2);
+                float Or;
+                if( distancePointToSonar <= (distanceObstacleDetected + this->incertitudeRange)){
+                    //point between distanceObstacleDetected +- INCERTITUDE_SONAR
+                    Or=1-pow((distancePointToSonar-distanceObstacleDetected)/(this->incertitudeRange),2);
+                }else{
+                    //point after in range of the sonar but after the zone detected
+                    Or=0;
+                }
+            /*****************************************************************************/
+                //if((1+Or*Oa)/2 >1 || (1+Or*Oa)/2 < 0)
+                //    pc.printf("\n\r return value=%f,Er=%f,Ea=%f,angleDifference=%f",(1+Or*Oa)/2,Or,Oa,angleDifference);
+                return (1+Or*Oa)/2;
+            }
+        }   
+    }
+    //not checked by the sonar
+    return 0.5;
+}
+
+//returns the angle between the vectors (x,y) and (xs,ys)
+float Sonar::compute_angle_between_vectors(float x, float y,float xs,float ys){
+    //alpha angle between ->x and ->SA
+    //vector S to A ->SA
+    float vSAx=x-xs;
+    float vSAy=y-ys;
+    //norme SA
+    float normeSA=sqrt(pow(vSAx,2)+pow(vSAy,2));
+    //vector ->x (1,0)
+    float cosAlpha=1*vSAy/*+0*vSAx*//normeSA;;
+    //vector ->y (0,1)
+    float sinAlpha=/*0*vSAy+*/1*vSAx/normeSA;//+0*vSAx;
+    if (sinAlpha < 0)
+        return -acos(cosAlpha);
+    else
+        return acos(cosAlpha);
+}
+
+//makes the angle inAngle between 0 and 2PI
+float Sonar::rad_angle_check(float inAngle){
+    if(inAngle > 0){
+        while(inAngle > (2*PI))
+            inAngle-=2*PI;
+    }else{
+        while(inAngle < 0)
+            inAngle+=2*PI;
+    }
+    return inAngle;
+}
+

diff -r 000000000000 -r 9f7ee7ed13e4 Sonar.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sonar.hpp	Mon Jun 26 12:05:20 2017 +0000
@@ -0,0 +1,36 @@
+#ifndef SONAR_HPP
+#define SONAR_HPP
+
+#include<math.h>
+
+class Sonar {
+
+	public:
+	float maxRange;//cm
+	float minRange;//Rmin cm
+	float incertitudeRange;//cm
+	float angleRange;//Omega rad
+	float angleFromCenter;
+	float distanceX;
+	float distanceY;
+	
+	//the distance are in the world coordinates
+	Sonar(float angleFromCenter, float distanceXFromRobotCenter, float distanceYFromRobotCenter );
+
+	float compute_probability_t(float distanceObstacleDetected, float xCell, float yCell, float xRobotWorld, float yRobotWorld, float theta);
+	
+	//return distance sonar to cell if in range, -1 if not
+	float isInRange(float xCell, float yCell, float xRobotWorld, float yRobotWorld, float thetaWorld);
+	
+	private:
+	
+	//returns the angle between the vectors (x,y) and (xs,ys)
+	float compute_angle_between_vectors(float x, float y,float xs,float ys);
+
+	//makes the angle inAngle between 0 and 2pi
+	float rad_angle_check(float inAngle);
+
+};
+
+#endif
+

diff -r 000000000000 -r 9f7ee7ed13e4 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jun 26 12:05:20 2017 +0000
@@ -0,0 +1,11 @@
+#include "MiniExplorerCoimbra.hpp"
+
+int main(){ 
+    MiniExplorerCoimbra myRobot(0,0,0);
+    //test lab2
+    //myRobot.randomize_and_map();
+    //test lab3
+    //myRobot.try_to_reach_target(50,30);
+    return 0;
+}
+

diff -r 000000000000 -r 9f7ee7ed13e4 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Jun 26 12:05:20 2017 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/mbed_official/code/mbed/builds/64910690c574
\ No newline at end of file