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test morning
Dependencies: ISR_Mini-explorer mbed
Fork of roboticLab_withclass_3_July by
MiniExplorerCoimbra.cpp@14:696187e74411, 2017-07-12 (annotated)
- Committer:
- Ludwigfr
- Date:
- Wed Jul 12 18:08:07 2017 +0000
- Revision:
- 14:696187e74411
- Parent:
- 13:b0ddd71e8f08
lol
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Ludwigfr | 0:9f7ee7ed13e4 | 1 | #include "MiniExplorerCoimbra.hpp" |
Ludwigfr | 0:9f7ee7ed13e4 | 2 | #include "robot.h" |
Ludwigfr | 0:9f7ee7ed13e4 | 3 | |
Ludwigfr | 0:9f7ee7ed13e4 | 4 | #define PI 3.14159 |
Ludwigfr | 0:9f7ee7ed13e4 | 5 | |
Ludwigfr | 9:1cc27f33d3e1 | 6 | MiniExplorerCoimbra::MiniExplorerCoimbra(float defaultXWorld, float defaultYWorld, float defaultThetaWorld, float widthRealMap, float heightRealMap):map(widthRealMap,heightRealMap,12,8),sonarLeft(10*PI/36,-4,4),sonarFront(0,0,5),sonarRight(-10*PI/36,4,4),covariancePositionEstimationK(3,3){ |
Ludwigfr | 0:9f7ee7ed13e4 | 7 | i2c1.frequency(100000); |
Ludwigfr | 0:9f7ee7ed13e4 | 8 | initRobot(); //Initializing the robot |
Ludwigfr | 0:9f7ee7ed13e4 | 9 | pc.baud(9600); // baud for the pc communication |
Ludwigfr | 0:9f7ee7ed13e4 | 10 | |
Ludwigfr | 0:9f7ee7ed13e4 | 11 | measure_always_on();//TODO check if needed |
Ludwigfr | 0:9f7ee7ed13e4 | 12 | |
Ludwigfr | 0:9f7ee7ed13e4 | 13 | this->setXYThetaAndXYThetaWorld(defaultXWorld,defaultYWorld,defaultThetaWorld); |
Ludwigfr | 0:9f7ee7ed13e4 | 14 | this->radiusWheels=3.25; |
Ludwigfr | 14:696187e74411 | 15 | this->distanceWheels=7.18; |
Ludwigfr | 0:9f7ee7ed13e4 | 16 | |
Ludwigfr | 8:072a76960e27 | 17 | //go to point |
geotsam | 1:20f48907c726 | 18 | this->k_linear=10; |
geotsam | 1:20f48907c726 | 19 | this->k_angular=200; |
Ludwigfr | 8:072a76960e27 | 20 | |
Ludwigfr | 8:072a76960e27 | 21 | //go to point with angle |
Ludwigfr | 8:072a76960e27 | 22 | this->khro=0.3; |
Ludwigfr | 8:072a76960e27 | 23 | this->ka=0.8; |
Ludwigfr | 8:072a76960e27 | 24 | this->kb=-0.36; |
Ludwigfr | 8:072a76960e27 | 25 | this->kv=200;//velocity |
Ludwigfr | 8:072a76960e27 | 26 | |
Ludwigfr | 8:072a76960e27 | 27 | //go to line kh > 0, kd > 0 (200,5), dont turn to line enough, (10,10) turn on itself, |
Ludwigfr | 8:072a76960e27 | 28 | this->kh=650; |
Ludwigfr | 8:072a76960e27 | 29 | this->kd=10;//previous 5 |
Ludwigfr | 8:072a76960e27 | 30 | |
geotsam | 1:20f48907c726 | 31 | this->speed=300; |
Ludwigfr | 0:9f7ee7ed13e4 | 32 | |
Ludwigfr | 14:696187e74411 | 33 | this->rangeForce=75; |
Ludwigfr | 14:696187e74411 | 34 | this->attractionConstantForce=4; |
Ludwigfr | 9:1cc27f33d3e1 | 35 | //-90 ok with attraction impacted by distance |
Ludwigfr | 14:696187e74411 | 36 | this->repulsionConstantForce=-200; |
Ludwigfr | 5:19f24c363418 | 37 | |
Ludwigfr | 14:696187e74411 | 38 | this->D_cm=0; |
Ludwigfr | 14:696187e74411 | 39 | this->L_cm=0; |
Ludwigfr | 14:696187e74411 | 40 | |
Ludwigfr | 14:696187e74411 | 41 | this->ticks2d_Special=0; |
Ludwigfr | 14:696187e74411 | 42 | this->ticks2e_Special=0; |
Ludwigfr | 0:9f7ee7ed13e4 | 43 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 44 | |
Ludwigfr | 0:9f7ee7ed13e4 | 45 | void MiniExplorerCoimbra::setXYThetaAndXYThetaWorld(float defaultXWorld, float defaultYWorld, float defaultThetaWorld){ |
Ludwigfr | 0:9f7ee7ed13e4 | 46 | this->xWorld=defaultXWorld; |
Ludwigfr | 0:9f7ee7ed13e4 | 47 | this->yWorld=defaultYWorld; |
Ludwigfr | 0:9f7ee7ed13e4 | 48 | this->thetaWorld=defaultThetaWorld; |
Ludwigfr | 0:9f7ee7ed13e4 | 49 | X=defaultYWorld; |
Ludwigfr | 0:9f7ee7ed13e4 | 50 | Y=-defaultXWorld; |
Ludwigfr | 0:9f7ee7ed13e4 | 51 | if(defaultThetaWorld < -PI/2) |
Ludwigfr | 0:9f7ee7ed13e4 | 52 | theta=PI/2+PI-defaultThetaWorld; |
Ludwigfr | 0:9f7ee7ed13e4 | 53 | else |
Ludwigfr | 0:9f7ee7ed13e4 | 54 | theta=defaultThetaWorld-PI/2; |
Ludwigfr | 14:696187e74411 | 55 | this->myX_r=X; |
Ludwigfr | 14:696187e74411 | 56 | this->myY_r=Y; |
Ludwigfr | 14:696187e74411 | 57 | this->mytheta_r=theta; |
Ludwigfr | 14:696187e74411 | 58 | |
Ludwigfr | 14:696187e74411 | 59 | this->myX_r_correct=X; |
Ludwigfr | 14:696187e74411 | 60 | this->myY_r_correct=Y; |
Ludwigfr | 14:696187e74411 | 61 | this->mytheta_r_correct=theta; |
Ludwigfr | 0:9f7ee7ed13e4 | 62 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 63 | |
Ludwigfr | 0:9f7ee7ed13e4 | 64 | void MiniExplorerCoimbra::myOdometria(){ |
Ludwigfr | 0:9f7ee7ed13e4 | 65 | Odometria(); |
Ludwigfr | 0:9f7ee7ed13e4 | 66 | this->xWorld=-Y; |
Ludwigfr | 0:9f7ee7ed13e4 | 67 | this->yWorld=X; |
Ludwigfr | 0:9f7ee7ed13e4 | 68 | if(theta >PI/2) |
Ludwigfr | 0:9f7ee7ed13e4 | 69 | this->thetaWorld=-PI+(theta-PI/2); |
Ludwigfr | 0:9f7ee7ed13e4 | 70 | else |
Ludwigfr | 0:9f7ee7ed13e4 | 71 | this->thetaWorld=theta+PI/2; |
Ludwigfr | 0:9f7ee7ed13e4 | 72 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 73 | |
geotsam | 1:20f48907c726 | 74 | void MiniExplorerCoimbra::go_to_point(float targetXWorld, float targetYWorld) { |
geotsam | 1:20f48907c726 | 75 | |
geotsam | 1:20f48907c726 | 76 | float angleError; //angle error |
geotsam | 1:20f48907c726 | 77 | float d; //distance from target |
geotsam | 1:20f48907c726 | 78 | float angularLeft, angularRight, linear, angular; |
geotsam | 1:20f48907c726 | 79 | int speed=300; |
geotsam | 1:20f48907c726 | 80 | |
geotsam | 1:20f48907c726 | 81 | do { |
geotsam | 1:20f48907c726 | 82 | //Updating X,Y and theta with the odometry values |
geotsam | 1:20f48907c726 | 83 | this->myOdometria(); |
geotsam | 1:20f48907c726 | 84 | |
geotsam | 1:20f48907c726 | 85 | //Computing angle error and distance towards the target value |
geotsam | 1:20f48907c726 | 86 | angleError = atan2((targetYWorld-this->yWorld),(targetXWorld-this->xWorld))-this->thetaWorld; |
geotsam | 1:20f48907c726 | 87 | if(angleError>PI) angleError=-(angleError-PI); |
geotsam | 1:20f48907c726 | 88 | else if(angleError<-PI) angleError=-(angleError+PI); |
geotsam | 1:20f48907c726 | 89 | pc.printf("\n\r error=%f",angleError); |
geotsam | 1:20f48907c726 | 90 | |
geotsam | 1:20f48907c726 | 91 | d=this->dist(this->xWorld, this->yWorld, targetXWorld, targetYWorld); |
geotsam | 1:20f48907c726 | 92 | pc.printf("\n\r dist=%f/n", d); |
geotsam | 1:20f48907c726 | 93 | |
geotsam | 1:20f48907c726 | 94 | //Computing linear and angular velocities |
geotsam | 1:20f48907c726 | 95 | linear=k_linear*d; |
geotsam | 1:20f48907c726 | 96 | angular=k_angular*angleError; |
geotsam | 1:20f48907c726 | 97 | angularLeft=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels; |
geotsam | 1:20f48907c726 | 98 | angularRight=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels; |
geotsam | 1:20f48907c726 | 99 | |
geotsam | 1:20f48907c726 | 100 | |
geotsam | 1:20f48907c726 | 101 | //Normalize speed for motors |
geotsam | 1:20f48907c726 | 102 | if(angularLeft>angularRight) { |
geotsam | 1:20f48907c726 | 103 | angularRight=speed*angularRight/angularLeft; |
geotsam | 1:20f48907c726 | 104 | angularLeft=speed; |
geotsam | 1:20f48907c726 | 105 | } else { |
geotsam | 1:20f48907c726 | 106 | angularLeft=speed*angularLeft/angularRight; |
geotsam | 1:20f48907c726 | 107 | angularRight=speed; |
geotsam | 1:20f48907c726 | 108 | } |
geotsam | 1:20f48907c726 | 109 | |
geotsam | 1:20f48907c726 | 110 | pc.printf("\n\r X=%f", this->xWorld); |
geotsam | 1:20f48907c726 | 111 | pc.printf("\n\r Y=%f", this->yWorld); |
geotsam | 1:20f48907c726 | 112 | pc.printf("\n\r theta=%f", this->thetaWorld); |
geotsam | 1:20f48907c726 | 113 | |
geotsam | 1:20f48907c726 | 114 | //Updating motor velocities |
geotsam | 1:20f48907c726 | 115 | if(angularLeft>0){ |
geotsam | 1:20f48907c726 | 116 | leftMotor(1,angularLeft); |
geotsam | 1:20f48907c726 | 117 | } |
geotsam | 1:20f48907c726 | 118 | else{ |
geotsam | 1:20f48907c726 | 119 | leftMotor(0,-angularLeft); |
geotsam | 1:20f48907c726 | 120 | } |
geotsam | 1:20f48907c726 | 121 | |
geotsam | 1:20f48907c726 | 122 | if(angularRight>0){ |
geotsam | 1:20f48907c726 | 123 | rightMotor(1,angularRight); |
geotsam | 1:20f48907c726 | 124 | } |
geotsam | 1:20f48907c726 | 125 | else{ |
geotsam | 1:20f48907c726 | 126 | rightMotor(0,-angularRight); |
geotsam | 1:20f48907c726 | 127 | } |
geotsam | 1:20f48907c726 | 128 | |
Ludwigfr | 5:19f24c363418 | 129 | //wait(0.5); |
geotsam | 1:20f48907c726 | 130 | } while(d>1); |
geotsam | 1:20f48907c726 | 131 | |
geotsam | 1:20f48907c726 | 132 | //Stop at the end |
geotsam | 1:20f48907c726 | 133 | leftMotor(1,0); |
geotsam | 1:20f48907c726 | 134 | rightMotor(1,0); |
geotsam | 1:20f48907c726 | 135 | } |
geotsam | 1:20f48907c726 | 136 | |
Ludwigfr | 2:11cd5173aa36 | 137 | void MiniExplorerCoimbra::test_procedure_lab2(int nbIteration){ |
Ludwigfr | 2:11cd5173aa36 | 138 | for(int i=0;i<nbIteration;i++){ |
Ludwigfr | 2:11cd5173aa36 | 139 | this->randomize_and_map(); |
Ludwigfr | 5:19f24c363418 | 140 | //this->print_map_with_robot_position(); |
Ludwigfr | 2:11cd5173aa36 | 141 | } |
Ludwigfr | 3:37345c109dfc | 142 | while(1) |
Ludwigfr | 3:37345c109dfc | 143 | this->print_map_with_robot_position(); |
Ludwigfr | 2:11cd5173aa36 | 144 | } |
Ludwigfr | 2:11cd5173aa36 | 145 | |
Ludwigfr | 0:9f7ee7ed13e4 | 146 | //generate a position randomly and makes the robot go there while updating the map |
Ludwigfr | 0:9f7ee7ed13e4 | 147 | void MiniExplorerCoimbra::randomize_and_map() { |
Ludwigfr | 0:9f7ee7ed13e4 | 148 | //TODO check that it's aurelien's work |
Ludwigfr | 2:11cd5173aa36 | 149 | float movementOnX=rand()%(int)(this->map.widthRealMap); |
Ludwigfr | 2:11cd5173aa36 | 150 | float movementOnY=rand()%(int)(this->map.heightRealMap); |
Ludwigfr | 3:37345c109dfc | 151 | |
Ludwigfr | 3:37345c109dfc | 152 | float targetXWorld = movementOnX; |
Ludwigfr | 3:37345c109dfc | 153 | float targetYWorld = movementOnY; |
Ludwigfr | 3:37345c109dfc | 154 | float targetAngleWorld = 2*((float)(rand()%31416)-15708)/10000.0; |
Ludwigfr | 0:9f7ee7ed13e4 | 155 | |
Ludwigfr | 3:37345c109dfc | 156 | //target between (0,0) and (widthRealMap,heightRealMap) |
Ludwigfr | 0:9f7ee7ed13e4 | 157 | this->go_to_point_with_angle(targetXWorld, targetYWorld, targetAngleWorld); |
Ludwigfr | 0:9f7ee7ed13e4 | 158 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 159 | |
Ludwigfr | 2:11cd5173aa36 | 160 | void MiniExplorerCoimbra::test_sonars_and_map(int nbIteration){ |
Ludwigfr | 2:11cd5173aa36 | 161 | float leftMm; |
Ludwigfr | 2:11cd5173aa36 | 162 | float frontMm; |
Ludwigfr | 2:11cd5173aa36 | 163 | float rightMm; |
Ludwigfr | 2:11cd5173aa36 | 164 | this->myOdometria(); |
Ludwigfr | 2:11cd5173aa36 | 165 | this->print_map_with_robot_position(); |
Ludwigfr | 2:11cd5173aa36 | 166 | for(int i=0;i<nbIteration;i++){ |
Ludwigfr | 2:11cd5173aa36 | 167 | leftMm = get_distance_left_sensor(); |
Ludwigfr | 2:11cd5173aa36 | 168 | frontMm = get_distance_front_sensor(); |
Ludwigfr | 2:11cd5173aa36 | 169 | rightMm = get_distance_right_sensor(); |
Ludwigfr | 3:37345c109dfc | 170 | pc.printf("\n\r 1 leftMm= %f",leftMm); |
Ludwigfr | 3:37345c109dfc | 171 | pc.printf("\n\r 1 frontMm= %f",frontMm); |
Ludwigfr | 3:37345c109dfc | 172 | pc.printf("\n\r 1 rightMm= %f",rightMm); |
Ludwigfr | 2:11cd5173aa36 | 173 | this->update_sonar_values(leftMm, frontMm, rightMm); |
Ludwigfr | 2:11cd5173aa36 | 174 | this->print_map_with_robot_position(); |
Ludwigfr | 3:37345c109dfc | 175 | wait(1); |
Ludwigfr | 2:11cd5173aa36 | 176 | } |
Ludwigfr | 2:11cd5173aa36 | 177 | } |
Ludwigfr | 2:11cd5173aa36 | 178 | |
Ludwigfr | 2:11cd5173aa36 | 179 | |
Ludwigfr | 2:11cd5173aa36 | 180 | //generate a position randomly and makes the robot go there while updating the map |
Ludwigfr | 0:9f7ee7ed13e4 | 181 | //move of targetXWorld and targetYWorld ending in a targetAngleWorld |
Ludwigfr | 0:9f7ee7ed13e4 | 182 | void MiniExplorerCoimbra::go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld) { |
Ludwigfr | 0:9f7ee7ed13e4 | 183 | bool keepGoing=true; |
Ludwigfr | 0:9f7ee7ed13e4 | 184 | float leftMm; |
Ludwigfr | 0:9f7ee7ed13e4 | 185 | float frontMm; |
Ludwigfr | 0:9f7ee7ed13e4 | 186 | float rightMm; |
Ludwigfr | 0:9f7ee7ed13e4 | 187 | float dt; |
Ludwigfr | 0:9f7ee7ed13e4 | 188 | Timer t; |
Ludwigfr | 0:9f7ee7ed13e4 | 189 | float distanceToTarget; |
Ludwigfr | 0:9f7ee7ed13e4 | 190 | do { |
Ludwigfr | 0:9f7ee7ed13e4 | 191 | //Timer stuff |
Ludwigfr | 0:9f7ee7ed13e4 | 192 | dt = t.read(); |
Ludwigfr | 0:9f7ee7ed13e4 | 193 | t.reset(); |
Ludwigfr | 0:9f7ee7ed13e4 | 194 | t.start(); |
Ludwigfr | 0:9f7ee7ed13e4 | 195 | |
Ludwigfr | 0:9f7ee7ed13e4 | 196 | //Updating X,Y and theta with the odometry values |
Ludwigfr | 0:9f7ee7ed13e4 | 197 | this->myOdometria(); |
Ludwigfr | 2:11cd5173aa36 | 198 | leftMm = get_distance_left_sensor(); |
Ludwigfr | 2:11cd5173aa36 | 199 | frontMm = get_distance_front_sensor(); |
Ludwigfr | 2:11cd5173aa36 | 200 | rightMm = get_distance_right_sensor(); |
Ludwigfr | 2:11cd5173aa36 | 201 | //if in dangerzone 150 mm |
Ludwigfr | 0:9f7ee7ed13e4 | 202 | if((frontMm < 150 && frontMm > 0)|| (leftMm <150 && leftMm > 0) || (rightMm <150 && rightMm > 0) ){ |
Ludwigfr | 2:11cd5173aa36 | 203 | //stop motors |
Ludwigfr | 0:9f7ee7ed13e4 | 204 | leftMotor(1,0); |
Ludwigfr | 0:9f7ee7ed13e4 | 205 | rightMotor(1,0); |
Ludwigfr | 2:11cd5173aa36 | 206 | //update the map |
Ludwigfr | 0:9f7ee7ed13e4 | 207 | this->update_sonar_values(leftMm, frontMm, rightMm); |
Ludwigfr | 0:9f7ee7ed13e4 | 208 | this->myOdometria(); |
Ludwigfr | 0:9f7ee7ed13e4 | 209 | keepGoing=false; |
Ludwigfr | 2:11cd5173aa36 | 210 | this->do_half_flip(); |
Ludwigfr | 0:9f7ee7ed13e4 | 211 | }else{ |
Ludwigfr | 0:9f7ee7ed13e4 | 212 | //if not in danger zone continue as usual |
Ludwigfr | 0:9f7ee7ed13e4 | 213 | this->update_sonar_values(leftMm, frontMm, rightMm); |
Ludwigfr | 2:11cd5173aa36 | 214 | //Updating motor velocities |
Ludwigfr | 0:9f7ee7ed13e4 | 215 | distanceToTarget=this->update_angular_speed_wheels_go_to_point_with_angle(targetXWorld,targetYWorld,targetAngleWorld,dt); |
Ludwigfr | 5:19f24c363418 | 216 | //wait(0.2); |
Ludwigfr | 0:9f7ee7ed13e4 | 217 | //Timer stuff |
Ludwigfr | 0:9f7ee7ed13e4 | 218 | t.stop(); |
Ludwigfr | 2:11cd5173aa36 | 219 | pc.printf("\n\rdist to target= %f",distanceToTarget); |
Ludwigfr | 0:9f7ee7ed13e4 | 220 | } |
Ludwigfr | 3:37345c109dfc | 221 | } while((distanceToTarget>2 || (abs(targetAngleWorld-this->thetaWorld)>PI/3)) && keepGoing); |
Ludwigfr | 0:9f7ee7ed13e4 | 222 | |
Ludwigfr | 0:9f7ee7ed13e4 | 223 | //Stop at the end |
Ludwigfr | 0:9f7ee7ed13e4 | 224 | leftMotor(1,0); |
Ludwigfr | 0:9f7ee7ed13e4 | 225 | rightMotor(1,0); |
Ludwigfr | 2:11cd5173aa36 | 226 | pc.printf("\r\nReached Target!"); |
Ludwigfr | 0:9f7ee7ed13e4 | 227 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 228 | |
geotsam | 1:20f48907c726 | 229 | //move of targetXWorld and targetYWorld ending in a targetAngleWorld |
geotsam | 1:20f48907c726 | 230 | void MiniExplorerCoimbra::go_to_point_with_angle_first_lab(float targetXWorld, float targetYWorld, float targetAngleWorld) { |
geotsam | 1:20f48907c726 | 231 | float dt; |
geotsam | 1:20f48907c726 | 232 | Timer t; |
geotsam | 1:20f48907c726 | 233 | float distanceToTarget; |
geotsam | 1:20f48907c726 | 234 | do { |
geotsam | 1:20f48907c726 | 235 | //Timer stuff |
geotsam | 1:20f48907c726 | 236 | dt = t.read(); |
geotsam | 1:20f48907c726 | 237 | t.reset(); |
geotsam | 1:20f48907c726 | 238 | t.start(); |
geotsam | 1:20f48907c726 | 239 | |
geotsam | 1:20f48907c726 | 240 | //Updating X,Y and theta with the odometry values |
geotsam | 1:20f48907c726 | 241 | this->myOdometria(); |
geotsam | 1:20f48907c726 | 242 | |
geotsam | 1:20f48907c726 | 243 | //Updating motor velocities |
geotsam | 1:20f48907c726 | 244 | distanceToTarget=this->update_angular_speed_wheels_go_to_point_with_angle(targetXWorld,targetYWorld,targetAngleWorld,dt); |
geotsam | 1:20f48907c726 | 245 | |
Ludwigfr | 5:19f24c363418 | 246 | //wait(0.2); |
geotsam | 1:20f48907c726 | 247 | //Timer stuff |
geotsam | 1:20f48907c726 | 248 | t.stop(); |
geotsam | 1:20f48907c726 | 249 | pc.printf("\n\rdist to target= %f",distanceToTarget); |
geotsam | 1:20f48907c726 | 250 | |
geotsam | 1:20f48907c726 | 251 | } while(distanceToTarget>1 || (abs(targetAngleWorld-this->thetaWorld)>0.1)); |
geotsam | 1:20f48907c726 | 252 | |
geotsam | 1:20f48907c726 | 253 | //Stop at the end |
geotsam | 1:20f48907c726 | 254 | leftMotor(1,0); |
geotsam | 1:20f48907c726 | 255 | rightMotor(1,0); |
geotsam | 1:20f48907c726 | 256 | pc.printf("\r\nReached Target!"); |
geotsam | 1:20f48907c726 | 257 | } |
geotsam | 1:20f48907c726 | 258 | |
Ludwigfr | 0:9f7ee7ed13e4 | 259 | float MiniExplorerCoimbra::update_angular_speed_wheels_go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld, float dt){ |
Ludwigfr | 0:9f7ee7ed13e4 | 260 | //compute_angles_and_distance |
Ludwigfr | 0:9f7ee7ed13e4 | 261 | //atan2 take the deplacement on x and the deplacement on y as parameters |
Ludwigfr | 0:9f7ee7ed13e4 | 262 | float angleToPoint = atan2((targetYWorld-this->yWorld),(targetXWorld-this->xWorld))-this->thetaWorld; |
geotsam | 1:20f48907c726 | 263 | |
geotsam | 1:20f48907c726 | 264 | if(angleToPoint>PI) angleToPoint=-(angleToPoint-PI); |
Ludwigfr | 3:37345c109dfc | 265 | else if(angleToPoint<-PI) angleToPoint=-(angleToPoint+PI); |
geotsam | 1:20f48907c726 | 266 | |
Ludwigfr | 3:37345c109dfc | 267 | //rho is the distance to the point of arrival |
Ludwigfr | 0:9f7ee7ed13e4 | 268 | float rho = dist(targetXWorld,targetYWorld,this->xWorld,this->yWorld); |
Ludwigfr | 0:9f7ee7ed13e4 | 269 | float distanceToTarget = rho; |
Ludwigfr | 0:9f7ee7ed13e4 | 270 | //TODO check that |
Ludwigfr | 0:9f7ee7ed13e4 | 271 | float beta = targetAngleWorld-angleToPoint-this->thetaWorld; |
Ludwigfr | 0:9f7ee7ed13e4 | 272 | |
Ludwigfr | 0:9f7ee7ed13e4 | 273 | //Computing angle error and distance towards the target value |
Ludwigfr | 0:9f7ee7ed13e4 | 274 | rho += dt*(-this->khro*cos(angleToPoint)*rho); |
Ludwigfr | 0:9f7ee7ed13e4 | 275 | float temp = angleToPoint; |
Ludwigfr | 0:9f7ee7ed13e4 | 276 | angleToPoint += dt*(this->khro*sin(angleToPoint)-this->ka*angleToPoint-this->kb*beta); |
Ludwigfr | 0:9f7ee7ed13e4 | 277 | beta += dt*(-this->khro*sin(temp)); |
Ludwigfr | 0:9f7ee7ed13e4 | 278 | |
Ludwigfr | 0:9f7ee7ed13e4 | 279 | //Computing linear and angular velocities |
Ludwigfr | 0:9f7ee7ed13e4 | 280 | float linear; |
Ludwigfr | 0:9f7ee7ed13e4 | 281 | float angular; |
Ludwigfr | 0:9f7ee7ed13e4 | 282 | if(angleToPoint>=-1.5708 && angleToPoint<=1.5708){ |
Ludwigfr | 0:9f7ee7ed13e4 | 283 | linear=this->khro*rho; |
Ludwigfr | 0:9f7ee7ed13e4 | 284 | angular=this->ka*angleToPoint+this->kb*beta; |
Ludwigfr | 0:9f7ee7ed13e4 | 285 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 286 | else{ |
Ludwigfr | 0:9f7ee7ed13e4 | 287 | linear=-this->khro*rho; |
Ludwigfr | 0:9f7ee7ed13e4 | 288 | angular=-this->ka*angleToPoint-this->kb*beta; |
Ludwigfr | 0:9f7ee7ed13e4 | 289 | } |
geotsam | 1:20f48907c726 | 290 | |
geotsam | 1:20f48907c726 | 291 | float angularLeft=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels; |
geotsam | 1:20f48907c726 | 292 | float angularRight=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels; |
geotsam | 1:20f48907c726 | 293 | |
geotsam | 1:20f48907c726 | 294 | //Slowing down at the end for more precision |
geotsam | 1:20f48907c726 | 295 | if (distanceToTarget<30) { |
geotsam | 1:20f48907c726 | 296 | this->speed = distanceToTarget*10; |
geotsam | 1:20f48907c726 | 297 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 298 | |
Ludwigfr | 0:9f7ee7ed13e4 | 299 | //Normalize speed for motors |
geotsam | 1:20f48907c726 | 300 | if(angularLeft>angularRight) { |
geotsam | 1:20f48907c726 | 301 | angularRight=this->speed*angularRight/angularLeft; |
geotsam | 1:20f48907c726 | 302 | angularLeft=this->speed; |
Ludwigfr | 0:9f7ee7ed13e4 | 303 | } else { |
geotsam | 1:20f48907c726 | 304 | angularLeft=this->speed*angularLeft/angularRight; |
geotsam | 1:20f48907c726 | 305 | angularRight=this->speed; |
Ludwigfr | 0:9f7ee7ed13e4 | 306 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 307 | |
Ludwigfr | 0:9f7ee7ed13e4 | 308 | //compute_linear_angular_velocities |
geotsam | 1:20f48907c726 | 309 | leftMotor(1,angularLeft); |
geotsam | 1:20f48907c726 | 310 | rightMotor(1,angularRight); |
Ludwigfr | 0:9f7ee7ed13e4 | 311 | |
Ludwigfr | 0:9f7ee7ed13e4 | 312 | return distanceToTarget; |
Ludwigfr | 0:9f7ee7ed13e4 | 313 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 314 | |
Ludwigfr | 0:9f7ee7ed13e4 | 315 | void MiniExplorerCoimbra::update_sonar_values(float leftMm,float frontMm,float rightMm){ |
Ludwigfr | 0:9f7ee7ed13e4 | 316 | float xWorldCell; |
Ludwigfr | 0:9f7ee7ed13e4 | 317 | float yWorldCell; |
Ludwigfr | 3:37345c109dfc | 318 | float probaLeft; |
Ludwigfr | 3:37345c109dfc | 319 | float probaFront; |
Ludwigfr | 3:37345c109dfc | 320 | float probaRight; |
Ludwigfr | 3:37345c109dfc | 321 | float leftCm=leftMm/10; |
Ludwigfr | 3:37345c109dfc | 322 | float frontCm=frontMm/10; |
Ludwigfr | 3:37345c109dfc | 323 | float rightCm=rightMm/10; |
Ludwigfr | 0:9f7ee7ed13e4 | 324 | for(int i=0;i<this->map.nbCellWidth;i++){ |
Ludwigfr | 0:9f7ee7ed13e4 | 325 | for(int j=0;j<this->map.nbCellHeight;j++){ |
Ludwigfr | 0:9f7ee7ed13e4 | 326 | xWorldCell=this->map.cell_width_coordinate_to_world(i); |
Ludwigfr | 0:9f7ee7ed13e4 | 327 | yWorldCell=this->map.cell_height_coordinate_to_world(j); |
Ludwigfr | 3:37345c109dfc | 328 | |
Ludwigfr | 3:37345c109dfc | 329 | probaLeft=this->sonarLeft.compute_probability_t(leftCm,xWorldCell,yWorldCell,this->xWorld,this->yWorld,this->thetaWorld); |
Ludwigfr | 3:37345c109dfc | 330 | probaFront=this->sonarFront.compute_probability_t(frontCm,xWorldCell,yWorldCell,this->xWorld,this->yWorld,this->thetaWorld); |
Ludwigfr | 3:37345c109dfc | 331 | probaRight=this->sonarRight.compute_probability_t(rightCm,xWorldCell,yWorldCell,this->xWorld,this->yWorld,this->thetaWorld); |
Ludwigfr | 3:37345c109dfc | 332 | |
Ludwigfr | 3:37345c109dfc | 333 | /* |
Ludwigfr | 3:37345c109dfc | 334 | pc.printf("\n\r leftCm= %f",leftCm); |
Ludwigfr | 3:37345c109dfc | 335 | pc.printf("\n\r frontCm= %f",frontCm); |
Ludwigfr | 3:37345c109dfc | 336 | pc.printf("\n\r rightCm= %f",rightCm); |
Ludwigfr | 3:37345c109dfc | 337 | */ |
Ludwigfr | 3:37345c109dfc | 338 | /* |
Ludwigfr | 3:37345c109dfc | 339 | pc.printf("\n\r probaLeft= %f",probaLeft); |
Ludwigfr | 3:37345c109dfc | 340 | pc.printf("\n\r probaFront= %f",probaFront); |
Ludwigfr | 3:37345c109dfc | 341 | pc.printf("\n\r probaRight= %f",probaRight); |
Ludwigfr | 3:37345c109dfc | 342 | if(probaLeft> 1 || probaLeft < 0 || probaFront> 1 || probaFront < 0 ||probaRight> 1 || probaRight < 0)){ |
Ludwigfr | 3:37345c109dfc | 343 | pwm_buzzer.pulsewidth_us(250); |
Ludwigfr | 3:37345c109dfc | 344 | wait_ms(50); |
Ludwigfr | 3:37345c109dfc | 345 | pwm_buzzer.pulsewidth_us(0); |
Ludwigfr | 3:37345c109dfc | 346 | wait(20); |
Ludwigfr | 3:37345c109dfc | 347 | pwm_buzzer.pulsewidth_us(250); |
Ludwigfr | 3:37345c109dfc | 348 | wait_ms(50); |
Ludwigfr | 3:37345c109dfc | 349 | pwm_buzzer.pulsewidth_us(0); |
Ludwigfr | 3:37345c109dfc | 350 | } |
Ludwigfr | 3:37345c109dfc | 351 | */ |
Ludwigfr | 3:37345c109dfc | 352 | this->map.update_cell_value(i,j,probaLeft); |
Ludwigfr | 3:37345c109dfc | 353 | this->map.update_cell_value(i,j,probaFront); |
Ludwigfr | 3:37345c109dfc | 354 | this->map.update_cell_value(i,j,probaRight); |
Ludwigfr | 0:9f7ee7ed13e4 | 355 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 356 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 357 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 358 | |
Ludwigfr | 0:9f7ee7ed13e4 | 359 | void MiniExplorerCoimbra::do_half_flip(){ |
Ludwigfr | 0:9f7ee7ed13e4 | 360 | this->myOdometria(); |
Ludwigfr | 0:9f7ee7ed13e4 | 361 | float theta_plus_h_pi=theta+PI/2;//theta is between -PI and PI |
Ludwigfr | 0:9f7ee7ed13e4 | 362 | if(theta_plus_h_pi > PI) |
Ludwigfr | 0:9f7ee7ed13e4 | 363 | theta_plus_h_pi=-(2*PI-theta_plus_h_pi); |
Ludwigfr | 0:9f7ee7ed13e4 | 364 | leftMotor(0,100); |
Ludwigfr | 0:9f7ee7ed13e4 | 365 | rightMotor(1,100); |
Ludwigfr | 0:9f7ee7ed13e4 | 366 | while(abs(theta_plus_h_pi-theta)>0.05){ |
Ludwigfr | 0:9f7ee7ed13e4 | 367 | this->myOdometria(); |
Ludwigfr | 0:9f7ee7ed13e4 | 368 | // pc.printf("\n\r diff=%f", abs(theta_plus_pi-theta)); |
Ludwigfr | 0:9f7ee7ed13e4 | 369 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 370 | leftMotor(1,0); |
Ludwigfr | 0:9f7ee7ed13e4 | 371 | rightMotor(1,0); |
Ludwigfr | 0:9f7ee7ed13e4 | 372 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 373 | |
Ludwigfr | 0:9f7ee7ed13e4 | 374 | //Distance computation function |
Ludwigfr | 0:9f7ee7ed13e4 | 375 | float MiniExplorerCoimbra::dist(float x1, float y1, float x2, float y2){ |
Ludwigfr | 0:9f7ee7ed13e4 | 376 | return sqrt(pow(y2-y1,2) + pow(x2-x1,2)); |
Ludwigfr | 0:9f7ee7ed13e4 | 377 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 378 | |
Ludwigfr | 0:9f7ee7ed13e4 | 379 | //use virtual force field |
Ludwigfr | 0:9f7ee7ed13e4 | 380 | void MiniExplorerCoimbra::try_to_reach_target(float targetXWorld,float targetYWorld){ |
Ludwigfr | 0:9f7ee7ed13e4 | 381 | //atan2 gives the angle beetween PI and -PI |
Ludwigfr | 0:9f7ee7ed13e4 | 382 | this->myOdometria(); |
Ludwigfr | 0:9f7ee7ed13e4 | 383 | /* |
Ludwigfr | 0:9f7ee7ed13e4 | 384 | float deplacementOnXWorld=targetXWorld-this->xWorld; |
Ludwigfr | 0:9f7ee7ed13e4 | 385 | float deplacementOnYWorld=targetYWorld-this->yWorld; |
Ludwigfr | 0:9f7ee7ed13e4 | 386 | */ |
Ludwigfr | 3:37345c109dfc | 387 | //float angleToTarget=atan2(targetYWorld-this->yWorld,targetXWorld-this->xWorld); |
Ludwigfr | 3:37345c109dfc | 388 | //pc.printf("\n angleToTarget=%f",angleToTarget); |
Ludwigfr | 3:37345c109dfc | 389 | //turn_to_target(angleToTarget); |
Ludwigfr | 3:37345c109dfc | 390 | //TODO IDEA check if maybe set a low max range |
Ludwigfr | 3:37345c109dfc | 391 | //this->sonarLeft.setMaxRange(30); |
Ludwigfr | 3:37345c109dfc | 392 | //this->sonarFront.setMaxRange(30); |
Ludwigfr | 3:37345c109dfc | 393 | //this->sonarRight.setMaxRange(30); |
Ludwigfr | 0:9f7ee7ed13e4 | 394 | bool reached=false; |
Ludwigfr | 0:9f7ee7ed13e4 | 395 | int print=0; |
Ludwigfr | 3:37345c109dfc | 396 | int printLimit=1000; |
Ludwigfr | 0:9f7ee7ed13e4 | 397 | while (!reached) { |
Ludwigfr | 0:9f7ee7ed13e4 | 398 | this->vff(&reached,targetXWorld,targetYWorld); |
Ludwigfr | 0:9f7ee7ed13e4 | 399 | //test_got_to_line(&reached); |
Ludwigfr | 3:37345c109dfc | 400 | if(print==printLimit){ |
Ludwigfr | 0:9f7ee7ed13e4 | 401 | leftMotor(1,0); |
Ludwigfr | 0:9f7ee7ed13e4 | 402 | rightMotor(1,0); |
Ludwigfr | 0:9f7ee7ed13e4 | 403 | this->print_map_with_robot_position_and_target(targetXWorld,targetYWorld); |
Ludwigfr | 0:9f7ee7ed13e4 | 404 | print=0; |
Ludwigfr | 0:9f7ee7ed13e4 | 405 | }else |
Ludwigfr | 0:9f7ee7ed13e4 | 406 | print+=1; |
Ludwigfr | 0:9f7ee7ed13e4 | 407 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 408 | //Stop at the end |
Ludwigfr | 0:9f7ee7ed13e4 | 409 | leftMotor(1,0); |
Ludwigfr | 0:9f7ee7ed13e4 | 410 | rightMotor(1,0); |
Ludwigfr | 0:9f7ee7ed13e4 | 411 | pc.printf("\r\n target reached"); |
Ludwigfr | 5:19f24c363418 | 412 | //wait(3);// |
Ludwigfr | 0:9f7ee7ed13e4 | 413 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 414 | |
Ludwigfr | 0:9f7ee7ed13e4 | 415 | void MiniExplorerCoimbra::vff(bool* reached, float targetXWorld, float targetYWorld){ |
Ludwigfr | 0:9f7ee7ed13e4 | 416 | float line_a; |
Ludwigfr | 0:9f7ee7ed13e4 | 417 | float line_b; |
Ludwigfr | 0:9f7ee7ed13e4 | 418 | float line_c; |
Ludwigfr | 0:9f7ee7ed13e4 | 419 | //Updating X,Y and theta with the odometry values |
Ludwigfr | 0:9f7ee7ed13e4 | 420 | float forceXWorld=0; |
Ludwigfr | 0:9f7ee7ed13e4 | 421 | float forceYWorld=0; |
Ludwigfr | 0:9f7ee7ed13e4 | 422 | //we update the odometrie |
Ludwigfr | 0:9f7ee7ed13e4 | 423 | this->myOdometria(); |
Ludwigfr | 0:9f7ee7ed13e4 | 424 | //we check the sensors |
Ludwigfr | 0:9f7ee7ed13e4 | 425 | float leftMm = get_distance_left_sensor(); |
Ludwigfr | 0:9f7ee7ed13e4 | 426 | float frontMm = get_distance_front_sensor(); |
Ludwigfr | 0:9f7ee7ed13e4 | 427 | float rightMm = get_distance_right_sensor(); |
Ludwigfr | 0:9f7ee7ed13e4 | 428 | //update the probabilities values |
Ludwigfr | 0:9f7ee7ed13e4 | 429 | this->update_sonar_values(leftMm, frontMm, rightMm); |
Ludwigfr | 8:072a76960e27 | 430 | this->myOdometria(); |
Ludwigfr | 0:9f7ee7ed13e4 | 431 | //we compute the force on X and Y |
Ludwigfr | 0:9f7ee7ed13e4 | 432 | this->compute_forceX_and_forceY(&forceXWorld, &forceYWorld,targetXWorld,targetYWorld); |
Ludwigfr | 0:9f7ee7ed13e4 | 433 | //we compute a new ine |
Ludwigfr | 0:9f7ee7ed13e4 | 434 | this->calculate_line(forceXWorld, forceYWorld, &line_a,&line_b,&line_c); |
Ludwigfr | 0:9f7ee7ed13e4 | 435 | //Updating motor velocities |
Ludwigfr | 8:072a76960e27 | 436 | //pc.printf("\r\nX=%f;Y=%f",xWorld,yWorld); |
Ludwigfr | 8:072a76960e27 | 437 | //pc.printf("\r\n%f*x+%f*y+%f=0",line_a,line_b,line_c); |
Ludwigfr | 0:9f7ee7ed13e4 | 438 | this->go_to_line(line_a,line_b,line_c,targetXWorld,targetYWorld); |
Ludwigfr | 3:37345c109dfc | 439 | |
Ludwigfr | 0:9f7ee7ed13e4 | 440 | //wait(0.1); |
Ludwigfr | 0:9f7ee7ed13e4 | 441 | this->myOdometria(); |
Ludwigfr | 3:37345c109dfc | 442 | if(dist(this->xWorld,this->yWorld,targetXWorld,targetYWorld)<3) |
Ludwigfr | 0:9f7ee7ed13e4 | 443 | *reached=true; |
Ludwigfr | 0:9f7ee7ed13e4 | 444 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 445 | |
Ludwigfr | 0:9f7ee7ed13e4 | 446 | /*angleToTarget is obtained through atan2 so it s: |
Ludwigfr | 0:9f7ee7ed13e4 | 447 | < 0 if the angle is bettween PI and 2pi on a trigo circle |
Ludwigfr | 0:9f7ee7ed13e4 | 448 | > 0 if it is between 0 and PI |
Ludwigfr | 0:9f7ee7ed13e4 | 449 | */ |
Ludwigfr | 0:9f7ee7ed13e4 | 450 | void MiniExplorerCoimbra::turn_to_target(float angleToTarget){ |
Ludwigfr | 0:9f7ee7ed13e4 | 451 | this->myOdometria(); |
Ludwigfr | 3:37345c109dfc | 452 | if(angleToTarget!=0){ |
Ludwigfr | 3:37345c109dfc | 453 | if(angleToTarget>0){ |
Ludwigfr | 3:37345c109dfc | 454 | leftMotor(0,1); |
Ludwigfr | 3:37345c109dfc | 455 | rightMotor(1,1); |
Ludwigfr | 3:37345c109dfc | 456 | }else{ |
Ludwigfr | 3:37345c109dfc | 457 | leftMotor(1,1); |
Ludwigfr | 3:37345c109dfc | 458 | rightMotor(0,1); |
Ludwigfr | 3:37345c109dfc | 459 | } |
Ludwigfr | 3:37345c109dfc | 460 | while(abs(angleToTarget-this->thetaWorld)>0.05) |
Ludwigfr | 3:37345c109dfc | 461 | this->myOdometria(); |
Ludwigfr | 0:9f7ee7ed13e4 | 462 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 463 | leftMotor(1,0); |
Ludwigfr | 0:9f7ee7ed13e4 | 464 | rightMotor(1,0); |
Ludwigfr | 0:9f7ee7ed13e4 | 465 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 466 | |
Ludwigfr | 0:9f7ee7ed13e4 | 467 | |
Ludwigfr | 0:9f7ee7ed13e4 | 468 | void MiniExplorerCoimbra::print_map_with_robot_position_and_target(float targetXWorld, float targetYWorld) { |
Ludwigfr | 0:9f7ee7ed13e4 | 469 | float currProba; |
Ludwigfr | 0:9f7ee7ed13e4 | 470 | |
Ludwigfr | 0:9f7ee7ed13e4 | 471 | float heightIndiceInOrthonormal; |
Ludwigfr | 0:9f7ee7ed13e4 | 472 | float widthIndiceInOrthonormal; |
Ludwigfr | 0:9f7ee7ed13e4 | 473 | |
Ludwigfr | 0:9f7ee7ed13e4 | 474 | float widthMalus=-(3*this->map.sizeCellWidth/2); |
Ludwigfr | 0:9f7ee7ed13e4 | 475 | float widthBonus=this->map.sizeCellWidth/2; |
Ludwigfr | 0:9f7ee7ed13e4 | 476 | |
Ludwigfr | 0:9f7ee7ed13e4 | 477 | float heightMalus=-(3*this->map.sizeCellHeight/2); |
Ludwigfr | 0:9f7ee7ed13e4 | 478 | float heightBonus=this->map.sizeCellHeight/2; |
Ludwigfr | 0:9f7ee7ed13e4 | 479 | |
Ludwigfr | 0:9f7ee7ed13e4 | 480 | pc.printf("\n\r"); |
Ludwigfr | 0:9f7ee7ed13e4 | 481 | for (int y = this->map.nbCellHeight -1; y>-1; y--) { |
Ludwigfr | 0:9f7ee7ed13e4 | 482 | for (int x= 0; x<this->map.nbCellWidth; x++) { |
Ludwigfr | 0:9f7ee7ed13e4 | 483 | heightIndiceInOrthonormal=this->map.cell_height_coordinate_to_world(y); |
Ludwigfr | 0:9f7ee7ed13e4 | 484 | widthIndiceInOrthonormal=this->map.cell_width_coordinate_to_world(x); |
Ludwigfr | 0:9f7ee7ed13e4 | 485 | if(this->yWorld >= (heightIndiceInOrthonormal+heightMalus) && this->yWorld <= (heightIndiceInOrthonormal+heightBonus) && this->xWorld >= (widthIndiceInOrthonormal+widthMalus) && this->xWorld <= (widthIndiceInOrthonormal+widthBonus)) |
Ludwigfr | 0:9f7ee7ed13e4 | 486 | pc.printf(" R "); |
Ludwigfr | 0:9f7ee7ed13e4 | 487 | else{ |
Ludwigfr | 0:9f7ee7ed13e4 | 488 | if(targetYWorld >= (heightIndiceInOrthonormal+heightMalus) && targetYWorld <= (heightIndiceInOrthonormal+heightBonus) && targetXWorld >= (widthIndiceInOrthonormal+widthMalus) && targetXWorld <= (widthIndiceInOrthonormal+widthBonus)) |
Ludwigfr | 0:9f7ee7ed13e4 | 489 | pc.printf(" T "); |
Ludwigfr | 0:9f7ee7ed13e4 | 490 | else{ |
Ludwigfr | 0:9f7ee7ed13e4 | 491 | currProba=this->map.log_to_proba(this->map.cellsLogValues[x][y]); |
Ludwigfr | 5:19f24c363418 | 492 | if ( currProba < 0.5){ |
Ludwigfr | 0:9f7ee7ed13e4 | 493 | pc.printf(" "); |
Ludwigfr | 5:19f24c363418 | 494 | //pc.printf("%f",currProba); |
Ludwigfr | 5:19f24c363418 | 495 | }else{ |
Ludwigfr | 5:19f24c363418 | 496 | if(currProba==0.5){ |
Ludwigfr | 0:9f7ee7ed13e4 | 497 | pc.printf(" . "); |
Ludwigfr | 5:19f24c363418 | 498 | //pc.printf("%f",currProba); |
Ludwigfr | 5:19f24c363418 | 499 | }else{ |
Ludwigfr | 0:9f7ee7ed13e4 | 500 | pc.printf(" X "); |
Ludwigfr | 5:19f24c363418 | 501 | //pc.printf("%f",currProba); |
Ludwigfr | 5:19f24c363418 | 502 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 503 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 504 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 505 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 506 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 507 | pc.printf("\n\r"); |
Ludwigfr | 0:9f7ee7ed13e4 | 508 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 509 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 510 | |
Ludwigfr | 2:11cd5173aa36 | 511 | void MiniExplorerCoimbra::print_map_with_robot_position(){ |
Ludwigfr | 2:11cd5173aa36 | 512 | float currProba; |
Ludwigfr | 2:11cd5173aa36 | 513 | |
Ludwigfr | 2:11cd5173aa36 | 514 | float heightIndiceInOrthonormal; |
Ludwigfr | 2:11cd5173aa36 | 515 | float widthIndiceInOrthonormal; |
Ludwigfr | 2:11cd5173aa36 | 516 | |
Ludwigfr | 2:11cd5173aa36 | 517 | float widthMalus=-(3*this->map.sizeCellWidth/2); |
Ludwigfr | 2:11cd5173aa36 | 518 | float widthBonus=this->map.sizeCellWidth/2; |
Ludwigfr | 2:11cd5173aa36 | 519 | |
Ludwigfr | 2:11cd5173aa36 | 520 | float heightMalus=-(3*this->map.sizeCellHeight/2); |
Ludwigfr | 2:11cd5173aa36 | 521 | float heightBonus=this->map.sizeCellHeight/2; |
Ludwigfr | 2:11cd5173aa36 | 522 | |
Ludwigfr | 2:11cd5173aa36 | 523 | pc.printf("\n\r"); |
Ludwigfr | 2:11cd5173aa36 | 524 | for (int y = this->map.nbCellHeight -1; y>-1; y--) { |
Ludwigfr | 2:11cd5173aa36 | 525 | for (int x= 0; x<this->map.nbCellWidth; x++) { |
Ludwigfr | 2:11cd5173aa36 | 526 | heightIndiceInOrthonormal=this->map.cell_height_coordinate_to_world(y); |
Ludwigfr | 2:11cd5173aa36 | 527 | widthIndiceInOrthonormal=this->map.cell_width_coordinate_to_world(x); |
Ludwigfr | 5:19f24c363418 | 528 | if(this->yWorld >= (heightIndiceInOrthonormal+heightMalus) && this->yWorld <= (heightIndiceInOrthonormal+heightBonus) && this->xWorld >= (widthIndiceInOrthonormal+widthMalus) && this->xWorld <= (widthIndiceInOrthonormal+widthBonus)){ |
Ludwigfr | 2:11cd5173aa36 | 529 | pc.printf(" R "); |
Ludwigfr | 5:19f24c363418 | 530 | //pc.printf("%f",currProba); |
Ludwigfr | 5:19f24c363418 | 531 | }else{ |
Ludwigfr | 2:11cd5173aa36 | 532 | currProba=this->map.log_to_proba(this->map.cellsLogValues[x][y]); |
Ludwigfr | 5:19f24c363418 | 533 | if ( currProba < 0.5){ |
Ludwigfr | 2:11cd5173aa36 | 534 | pc.printf(" "); |
Ludwigfr | 5:19f24c363418 | 535 | //pc.printf("%f",currProba); |
Ludwigfr | 5:19f24c363418 | 536 | }else{ |
Ludwigfr | 5:19f24c363418 | 537 | if(currProba==0.5){ |
Ludwigfr | 2:11cd5173aa36 | 538 | pc.printf(" . "); |
Ludwigfr | 5:19f24c363418 | 539 | //pc.printf("%f",currProba); |
Ludwigfr | 5:19f24c363418 | 540 | }else{ |
Ludwigfr | 5:19f24c363418 | 541 | pc.printf(" X "); |
Ludwigfr | 5:19f24c363418 | 542 | //pc.printf("%f",currProba); |
Ludwigfr | 5:19f24c363418 | 543 | } |
Ludwigfr | 2:11cd5173aa36 | 544 | } |
Ludwigfr | 2:11cd5173aa36 | 545 | } |
Ludwigfr | 2:11cd5173aa36 | 546 | } |
Ludwigfr | 2:11cd5173aa36 | 547 | pc.printf("\n\r"); |
Ludwigfr | 2:11cd5173aa36 | 548 | } |
Ludwigfr | 2:11cd5173aa36 | 549 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 550 | |
Ludwigfr | 0:9f7ee7ed13e4 | 551 | //robotX and robotY are from this->myOdometria(), calculate line_a, line_b and line_c |
Ludwigfr | 0:9f7ee7ed13e4 | 552 | void MiniExplorerCoimbra::calculate_line(float forceX, float forceY, float *line_a, float *line_b, float *line_c){ |
Ludwigfr | 0:9f7ee7ed13e4 | 553 | /* |
Ludwigfr | 0:9f7ee7ed13e4 | 554 | in the teachers maths it is |
Ludwigfr | 0:9f7ee7ed13e4 | 555 | |
Ludwigfr | 0:9f7ee7ed13e4 | 556 | *line_a=forceY; |
Ludwigfr | 0:9f7ee7ed13e4 | 557 | *line_b=-forceX; |
Ludwigfr | 0:9f7ee7ed13e4 | 558 | |
Ludwigfr | 0:9f7ee7ed13e4 | 559 | because a*x+b*y+c=0 |
Ludwigfr | 0:9f7ee7ed13e4 | 560 | a impact the vertical and b the horizontal |
Ludwigfr | 0:9f7ee7ed13e4 | 561 | and he has to put them like this because |
Ludwigfr | 0:9f7ee7ed13e4 | 562 | Robot space: World space: |
Ludwigfr | 0:9f7ee7ed13e4 | 563 | ^ ^ |
Ludwigfr | 0:9f7ee7ed13e4 | 564 | |x |y |
Ludwigfr | 0:9f7ee7ed13e4 | 565 | <- R O -> |
Ludwigfr | 0:9f7ee7ed13e4 | 566 | y x |
Ludwigfr | 0:9f7ee7ed13e4 | 567 | but since our forceX, forceY are already computed in the orthonormal space I m not sure we need to |
Ludwigfr | 0:9f7ee7ed13e4 | 568 | */ |
Ludwigfr | 3:37345c109dfc | 569 | //*line_a=forceX; |
Ludwigfr | 3:37345c109dfc | 570 | //*line_b=forceY; |
Ludwigfr | 3:37345c109dfc | 571 | |
Ludwigfr | 3:37345c109dfc | 572 | *line_a=forceY; |
Ludwigfr | 3:37345c109dfc | 573 | *line_b=-forceX; |
Ludwigfr | 0:9f7ee7ed13e4 | 574 | //because the line computed always pass by the robot center we dont need lince_c |
Ludwigfr | 8:072a76960e27 | 575 | *line_c=forceX*this->yWorld+forceY*this->xWorld; |
Ludwigfr | 8:072a76960e27 | 576 | //*line_c=0; |
Ludwigfr | 0:9f7ee7ed13e4 | 577 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 578 | //compute the force on X and Y |
Ludwigfr | 0:9f7ee7ed13e4 | 579 | void MiniExplorerCoimbra::compute_forceX_and_forceY(float* forceXWorld, float* forceYWorld, float targetXWorld, float targetYWorld){ |
Ludwigfr | 0:9f7ee7ed13e4 | 580 | float forceRepulsionComputedX=0; |
Ludwigfr | 0:9f7ee7ed13e4 | 581 | float forceRepulsionComputedY=0; |
Ludwigfr | 8:072a76960e27 | 582 | this->print_map_with_robot_position(); |
Ludwigfr | 8:072a76960e27 | 583 | for(int i=0;i<this->map.nbCellWidth;i++){ //for each cell of the map we compute a force of repulsion |
Ludwigfr | 0:9f7ee7ed13e4 | 584 | for(int j=0;j<this->map.nbCellHeight;j++){ |
Ludwigfr | 0:9f7ee7ed13e4 | 585 | this->update_force(i,j,&forceRepulsionComputedX,&forceRepulsionComputedY); |
Ludwigfr | 0:9f7ee7ed13e4 | 586 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 587 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 588 | //update with attraction force |
Ludwigfr | 3:37345c109dfc | 589 | *forceXWorld=forceRepulsionComputedX; |
Ludwigfr | 3:37345c109dfc | 590 | *forceYWorld=forceRepulsionComputedY; |
Ludwigfr | 8:072a76960e27 | 591 | //this->print_map_with_robot_position(); |
Ludwigfr | 8:072a76960e27 | 592 | //pc.printf("\r\nForce X repul:%f",*forceXWorld); |
Ludwigfr | 8:072a76960e27 | 593 | //pc.printf("\r\nForce Y repul:%f",*forceYWorld); |
Ludwigfr | 9:1cc27f33d3e1 | 594 | |
Ludwigfr | 9:1cc27f33d3e1 | 595 | //test without atraction being impacted by distance |
Ludwigfr | 9:1cc27f33d3e1 | 596 | //*forceXWorld+=this->attractionConstantForce*(targetXWorld-this->xWorld); |
Ludwigfr | 9:1cc27f33d3e1 | 597 | //*forceYWorld+=this->attractionConstantForce*(targetYWorld-this->yWorld); |
Ludwigfr | 9:1cc27f33d3e1 | 598 | |
Ludwigfr | 0:9f7ee7ed13e4 | 599 | float distanceTargetRobot=sqrt(pow(targetXWorld-this->xWorld,2)+pow(targetYWorld-this->yWorld,2)); |
Ludwigfr | 0:9f7ee7ed13e4 | 600 | if(distanceTargetRobot != 0){ |
Ludwigfr | 8:072a76960e27 | 601 | *forceXWorld+=this->attractionConstantForce*(targetXWorld-this->xWorld)/distanceTargetRobot; |
Ludwigfr | 8:072a76960e27 | 602 | *forceYWorld+=this->attractionConstantForce*(targetYWorld-this->yWorld)/distanceTargetRobot; |
Ludwigfr | 3:37345c109dfc | 603 | }else{ |
Ludwigfr | 8:072a76960e27 | 604 | *forceXWorld+=this->attractionConstantForce*(targetXWorld-this->xWorld)/0.001; |
Ludwigfr | 8:072a76960e27 | 605 | *forceYWorld+=this->attractionConstantForce*(targetYWorld-this->yWorld)/0.001; |
Ludwigfr | 0:9f7ee7ed13e4 | 606 | } |
Ludwigfr | 9:1cc27f33d3e1 | 607 | |
Ludwigfr | 8:072a76960e27 | 608 | //pc.printf("\r\nForce X after attract:%f",*forceXWorld); |
Ludwigfr | 8:072a76960e27 | 609 | //pc.printf("\r\nForce Y after attract:%f",*forceYWorld); |
Ludwigfr | 3:37345c109dfc | 610 | |
Ludwigfr | 0:9f7ee7ed13e4 | 611 | float amplitude=sqrt(pow(*forceXWorld,2)+pow(*forceYWorld,2)); |
Ludwigfr | 0:9f7ee7ed13e4 | 612 | if(amplitude!=0){//avoid division by 0 if forceX and forceY == 0 |
Ludwigfr | 0:9f7ee7ed13e4 | 613 | *forceXWorld=*forceXWorld/amplitude; |
Ludwigfr | 0:9f7ee7ed13e4 | 614 | *forceYWorld=*forceYWorld/amplitude; |
Ludwigfr | 3:37345c109dfc | 615 | }else{ |
Ludwigfr | 8:072a76960e27 | 616 | *forceXWorld=*forceXWorld/0.001; |
Ludwigfr | 8:072a76960e27 | 617 | *forceYWorld=*forceYWorld/0.001; |
Ludwigfr | 0:9f7ee7ed13e4 | 618 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 619 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 620 | |
Ludwigfr | 2:11cd5173aa36 | 621 | //for vff |
Ludwigfr | 0:9f7ee7ed13e4 | 622 | void MiniExplorerCoimbra::go_to_line(float line_a, float line_b, float line_c,float targetXWorld, float targetYWorld){ |
Ludwigfr | 0:9f7ee7ed13e4 | 623 | float lineAngle; |
Ludwigfr | 0:9f7ee7ed13e4 | 624 | float angleError; |
Ludwigfr | 0:9f7ee7ed13e4 | 625 | float linear; |
Ludwigfr | 0:9f7ee7ed13e4 | 626 | float angular; |
Ludwigfr | 2:11cd5173aa36 | 627 | float d; |
Ludwigfr | 0:9f7ee7ed13e4 | 628 | |
Ludwigfr | 0:9f7ee7ed13e4 | 629 | //line angle is beetween pi/2 and -pi/2 |
Ludwigfr | 2:11cd5173aa36 | 630 | |
Ludwigfr | 2:11cd5173aa36 | 631 | if(line_b!=0){ |
Ludwigfr | 2:11cd5173aa36 | 632 | lineAngle=atan(line_a/-line_b); |
Ludwigfr | 0:9f7ee7ed13e4 | 633 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 634 | else{ |
Ludwigfr | 3:37345c109dfc | 635 | lineAngle=0; |
Ludwigfr | 0:9f7ee7ed13e4 | 636 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 637 | |
Ludwigfr | 2:11cd5173aa36 | 638 | this->myOdometria(); |
Ludwigfr | 2:11cd5173aa36 | 639 | //Computing angle error |
Ludwigfr | 2:11cd5173aa36 | 640 | angleError = lineAngle-this->thetaWorld;//TODO that I m not sure |
Ludwigfr | 2:11cd5173aa36 | 641 | if(angleError>PI) |
Ludwigfr | 2:11cd5173aa36 | 642 | angleError=-(angleError-PI); |
Ludwigfr | 2:11cd5173aa36 | 643 | else |
Ludwigfr | 2:11cd5173aa36 | 644 | if(angleError<-PI) |
Ludwigfr | 2:11cd5173aa36 | 645 | angleError=-(angleError+PI); |
Ludwigfr | 2:11cd5173aa36 | 646 | |
Ludwigfr | 3:37345c109dfc | 647 | //d=this->distFromLine(this->xWorld, this->yWorld, line_a, line_b, line_c);//this could be 0 |
Ludwigfr | 3:37345c109dfc | 648 | d=0; |
Ludwigfr | 8:072a76960e27 | 649 | //pc.printf("\r\ndistance from line:%f",d); |
Ludwigfr | 0:9f7ee7ed13e4 | 650 | //Calculating velocities |
Ludwigfr | 2:11cd5173aa36 | 651 | linear= this->kv*(3.14); |
Ludwigfr | 2:11cd5173aa36 | 652 | angular=-this->kd*d + this->kh*angleError; |
Ludwigfr | 0:9f7ee7ed13e4 | 653 | |
Ludwigfr | 0:9f7ee7ed13e4 | 654 | float angularLeft=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels; |
Ludwigfr | 2:11cd5173aa36 | 655 | float angularRight=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels; |
Ludwigfr | 0:9f7ee7ed13e4 | 656 | |
Ludwigfr | 2:11cd5173aa36 | 657 | //Normalize speed for motors |
Ludwigfr | 0:9f7ee7ed13e4 | 658 | if(abs(angularLeft)>abs(angularRight)) { |
Ludwigfr | 0:9f7ee7ed13e4 | 659 | angularRight=this->speed*abs(angularRight/angularLeft)*this->sign1(angularRight); |
Ludwigfr | 0:9f7ee7ed13e4 | 660 | angularLeft=this->speed*this->sign1(angularLeft); |
Ludwigfr | 0:9f7ee7ed13e4 | 661 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 662 | else { |
Ludwigfr | 0:9f7ee7ed13e4 | 663 | angularLeft=this->speed*abs(angularLeft/angularRight)*this->sign1(angularLeft); |
Ludwigfr | 0:9f7ee7ed13e4 | 664 | angularRight=this->speed*this->sign1(angularRight); |
Ludwigfr | 0:9f7ee7ed13e4 | 665 | } |
Ludwigfr | 2:11cd5173aa36 | 666 | |
Ludwigfr | 2:11cd5173aa36 | 667 | pc.printf("\r\nd = %f", d); |
Ludwigfr | 3:37345c109dfc | 668 | pc.printf("\r\nerror = %f, lineAngle=%f, robotAngle=%f\n", angleError,lineAngle,this->thetaWorld); |
Ludwigfr | 2:11cd5173aa36 | 669 | |
Ludwigfr | 0:9f7ee7ed13e4 | 670 | leftMotor(this->sign2(angularLeft),abs(angularLeft)); |
Ludwigfr | 0:9f7ee7ed13e4 | 671 | rightMotor(this->sign2(angularRight),abs(angularRight)); |
Ludwigfr | 0:9f7ee7ed13e4 | 672 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 673 | |
geotsam | 1:20f48907c726 | 674 | void MiniExplorerCoimbra::go_to_line_first_lab(float line_a, float line_b, float line_c){ |
geotsam | 1:20f48907c726 | 675 | float lineAngle; |
geotsam | 1:20f48907c726 | 676 | float angleError; |
geotsam | 1:20f48907c726 | 677 | float linear; |
geotsam | 1:20f48907c726 | 678 | float angular; |
geotsam | 1:20f48907c726 | 679 | float d; |
geotsam | 1:20f48907c726 | 680 | |
geotsam | 1:20f48907c726 | 681 | //line angle is beetween pi/2 and -pi/2 |
geotsam | 1:20f48907c726 | 682 | |
geotsam | 1:20f48907c726 | 683 | if(line_b!=0){ |
geotsam | 1:20f48907c726 | 684 | lineAngle=atan(line_a/-line_b); |
geotsam | 1:20f48907c726 | 685 | } |
geotsam | 1:20f48907c726 | 686 | else{ |
geotsam | 1:20f48907c726 | 687 | lineAngle=1.5708; |
geotsam | 1:20f48907c726 | 688 | } |
geotsam | 1:20f48907c726 | 689 | |
geotsam | 1:20f48907c726 | 690 | do{ |
geotsam | 1:20f48907c726 | 691 | this->myOdometria(); |
geotsam | 1:20f48907c726 | 692 | //Computing angle error |
Ludwigfr | 3:37345c109dfc | 693 | pc.printf("\r\nline angle = %f", lineAngle); |
Ludwigfr | 3:37345c109dfc | 694 | pc.printf("\r\nthetaWorld = %f", thetaWorld); |
geotsam | 1:20f48907c726 | 695 | angleError = lineAngle-this->thetaWorld;//TODO that I m not sure |
geotsam | 1:20f48907c726 | 696 | |
Ludwigfr | 3:37345c109dfc | 697 | if(angleError>PI) |
Ludwigfr | 3:37345c109dfc | 698 | angleError=-(angleError-PI); |
Ludwigfr | 3:37345c109dfc | 699 | else |
Ludwigfr | 3:37345c109dfc | 700 | if(angleError<-PI) |
Ludwigfr | 3:37345c109dfc | 701 | angleError=-(angleError+PI); |
geotsam | 1:20f48907c726 | 702 | |
Ludwigfr | 3:37345c109dfc | 703 | pc.printf("\r\nangleError = %f\n", angleError); |
geotsam | 1:20f48907c726 | 704 | d=this->distFromLine(xWorld, yWorld, line_a, line_b, line_c); |
Ludwigfr | 3:37345c109dfc | 705 | pc.printf("\r\ndistance to line = %f", d); |
geotsam | 1:20f48907c726 | 706 | |
geotsam | 1:20f48907c726 | 707 | //Calculating velocities |
geotsam | 1:20f48907c726 | 708 | linear= this->kv*(3.14); |
geotsam | 1:20f48907c726 | 709 | angular=-this->kd*d + this->kh*angleError; |
geotsam | 1:20f48907c726 | 710 | |
geotsam | 1:20f48907c726 | 711 | float angularLeft=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels; |
geotsam | 1:20f48907c726 | 712 | float angularRight=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels; |
geotsam | 1:20f48907c726 | 713 | |
geotsam | 1:20f48907c726 | 714 | //Normalize speed for motors |
geotsam | 1:20f48907c726 | 715 | if(abs(angularLeft)>abs(angularRight)) { |
geotsam | 1:20f48907c726 | 716 | angularRight=this->speed*abs(angularRight/angularLeft)*this->sign1(angularRight); |
geotsam | 1:20f48907c726 | 717 | angularLeft=this->speed*this->sign1(angularLeft); |
geotsam | 1:20f48907c726 | 718 | } |
geotsam | 1:20f48907c726 | 719 | else { |
geotsam | 1:20f48907c726 | 720 | angularLeft=this->speed*abs(angularLeft/angularRight)*this->sign1(angularLeft); |
geotsam | 1:20f48907c726 | 721 | angularRight=this->speed*this->sign1(angularRight); |
geotsam | 1:20f48907c726 | 722 | } |
geotsam | 1:20f48907c726 | 723 | |
geotsam | 1:20f48907c726 | 724 | leftMotor(this->sign2(angularLeft),abs(angularLeft)); |
geotsam | 1:20f48907c726 | 725 | rightMotor(this->sign2(angularRight),abs(angularRight)); |
geotsam | 1:20f48907c726 | 726 | }while(1); |
geotsam | 1:20f48907c726 | 727 | } |
geotsam | 1:20f48907c726 | 728 | |
Ludwigfr | 0:9f7ee7ed13e4 | 729 | void MiniExplorerCoimbra::update_force(int widthIndice, int heightIndice, float* forceRepulsionComputedX, float* forceRepulsionComputedY ){ |
Ludwigfr | 0:9f7ee7ed13e4 | 730 | //get the coordonate of the map and the robot in the ortonormal space |
Ludwigfr | 0:9f7ee7ed13e4 | 731 | float xWorldCell=this->map.cell_width_coordinate_to_world(widthIndice); |
Ludwigfr | 0:9f7ee7ed13e4 | 732 | float yWorldCell=this->map.cell_height_coordinate_to_world(heightIndice); |
Ludwigfr | 0:9f7ee7ed13e4 | 733 | //compute the distance beetween the cell and the robot |
Ludwigfr | 0:9f7ee7ed13e4 | 734 | float distanceCellToRobot=sqrt(pow(xWorldCell-this->xWorld,2)+pow(yWorldCell-this->yWorld,2)); |
Ludwigfr | 3:37345c109dfc | 735 | float probaCell; |
Ludwigfr | 0:9f7ee7ed13e4 | 736 | //check if the cell is in range |
Ludwigfr | 8:072a76960e27 | 737 | //float anglePointToRobot=atan2(yWorldCell-this->yWorld,xWorldCell-this->xWorld);//like world system |
Ludwigfr | 3:37345c109dfc | 738 | float temp1; |
Ludwigfr | 3:37345c109dfc | 739 | float temp2; |
Ludwigfr | 0:9f7ee7ed13e4 | 740 | if(distanceCellToRobot <= this->rangeForce) { |
Ludwigfr | 3:37345c109dfc | 741 | probaCell=this->map.get_proba_cell(widthIndice,heightIndice); |
Ludwigfr | 8:072a76960e27 | 742 | //pc.printf("\r\nupdate force proba:%f",probaCell); |
Ludwigfr | 3:37345c109dfc | 743 | temp1=this->repulsionConstantForce*probaCell/pow(distanceCellToRobot,2); |
Ludwigfr | 3:37345c109dfc | 744 | temp2=(xWorldCell-this->xWorld)/distanceCellToRobot; |
Ludwigfr | 3:37345c109dfc | 745 | *forceRepulsionComputedX+=temp1*temp2; |
Ludwigfr | 3:37345c109dfc | 746 | temp2=(yWorldCell-this->yWorld)/distanceCellToRobot; |
Ludwigfr | 3:37345c109dfc | 747 | *forceRepulsionComputedY+=temp1*temp2; |
Ludwigfr | 0:9f7ee7ed13e4 | 748 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 749 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 750 | |
Ludwigfr | 0:9f7ee7ed13e4 | 751 | //return 1 if positiv, -1 if negativ |
Ludwigfr | 0:9f7ee7ed13e4 | 752 | float MiniExplorerCoimbra::sign1(float value){ |
Ludwigfr | 0:9f7ee7ed13e4 | 753 | if(value>=0) |
Ludwigfr | 0:9f7ee7ed13e4 | 754 | return 1; |
Ludwigfr | 0:9f7ee7ed13e4 | 755 | else |
Ludwigfr | 0:9f7ee7ed13e4 | 756 | return -1; |
Ludwigfr | 0:9f7ee7ed13e4 | 757 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 758 | |
Ludwigfr | 0:9f7ee7ed13e4 | 759 | //return 1 if positiv, 0 if negativ |
Ludwigfr | 0:9f7ee7ed13e4 | 760 | int MiniExplorerCoimbra::sign2(float value){ |
Ludwigfr | 0:9f7ee7ed13e4 | 761 | if(value>=0) |
Ludwigfr | 0:9f7ee7ed13e4 | 762 | return 1; |
Ludwigfr | 0:9f7ee7ed13e4 | 763 | else |
Ludwigfr | 0:9f7ee7ed13e4 | 764 | return 0; |
Ludwigfr | 0:9f7ee7ed13e4 | 765 | } |
Ludwigfr | 0:9f7ee7ed13e4 | 766 | |
geotsam | 1:20f48907c726 | 767 | float MiniExplorerCoimbra::distFromLine(float robot_x, float robot_y, float line_a, float line_b, float line_c){ |
geotsam | 1:20f48907c726 | 768 | return abs((line_a*robot_x+line_b*robot_y+line_c)/sqrt(line_a*line_a+line_b*line_b)); |
geotsam | 1:20f48907c726 | 769 | } |
geotsam | 1:20f48907c726 | 770 | |
Ludwigfr | 5:19f24c363418 | 771 | //4th LAB |
Ludwigfr | 5:19f24c363418 | 772 | //starting position lower left |
Ludwigfr | 5:19f24c363418 | 773 | |
Ludwigfr | 10:d0109d7cbe7c | 774 | void MiniExplorerCoimbra::test_procedure_lab_4(float sizeX, float sizeY){ |
Ludwigfr | 5:19f24c363418 | 775 | |
Ludwigfr | 5:19f24c363418 | 776 | this->map.fill_map_with_kalman_knowledge(); |
Ludwigfr | 14:696187e74411 | 777 | this->go_to_point_kalman2(this->xWorld+sizeX,this->yWorld+sizeY); |
Ludwigfr | 14:696187e74411 | 778 | } |
Ludwigfr | 14:696187e74411 | 779 | |
Ludwigfr | 14:696187e74411 | 780 | void MiniExplorerCoimbra::myOdometriaBis(){ |
Ludwigfr | 14:696187e74411 | 781 | float R,L; |
Ludwigfr | 14:696187e74411 | 782 | this->testOdometria(&R,&L); |
Ludwigfr | 14:696187e74411 | 783 | |
Ludwigfr | 14:696187e74411 | 784 | this->xWorld=-Y; |
Ludwigfr | 14:696187e74411 | 785 | this->yWorld=X; |
Ludwigfr | 14:696187e74411 | 786 | if(theta >PI/2) |
Ludwigfr | 14:696187e74411 | 787 | this->thetaWorld=-PI+(theta-PI/2); |
Ludwigfr | 14:696187e74411 | 788 | else |
Ludwigfr | 14:696187e74411 | 789 | this->thetaWorld=theta+PI/2; |
Ludwigfr | 5:19f24c363418 | 790 | } |
Ludwigfr | 5:19f24c363418 | 791 | |
Ludwigfr | 14:696187e74411 | 792 | void MiniExplorerCoimbra::go_to_point_kalman(float targetXWorld, float targetYWorld) { |
Ludwigfr | 14:696187e74411 | 793 | |
Ludwigfr | 14:696187e74411 | 794 | float angleError; //angle error |
Ludwigfr | 14:696187e74411 | 795 | float d; //distance from target |
Ludwigfr | 14:696187e74411 | 796 | float angularLeft, angularRight, linear, angular; |
Ludwigfr | 14:696187e74411 | 797 | int speed=300; |
Ludwigfr | 14:696187e74411 | 798 | |
Ludwigfr | 14:696187e74411 | 799 | do { |
Ludwigfr | 14:696187e74411 | 800 | //Updating X,Y and theta with the odometry values |
Ludwigfr | 14:696187e74411 | 801 | this->OdometriaKalmanFilter(); |
Ludwigfr | 14:696187e74411 | 802 | pc.printf("\n\r X=%f", this->xWorld); |
Ludwigfr | 14:696187e74411 | 803 | pc.printf("\n\r Y=%f", this->yWorld); |
Ludwigfr | 14:696187e74411 | 804 | pc.printf("\n\r theta=%f", this->thetaWorld); |
Ludwigfr | 14:696187e74411 | 805 | //Computing angle error and distance towards the target value |
Ludwigfr | 14:696187e74411 | 806 | angleError = atan2((targetYWorld-this->yWorld),(targetXWorld-this->xWorld))-this->thetaWorld; |
Ludwigfr | 14:696187e74411 | 807 | if(angleError>PI) angleError=-(angleError-PI); |
Ludwigfr | 14:696187e74411 | 808 | else if(angleError<-PI) angleError=-(angleError+PI); |
Ludwigfr | 14:696187e74411 | 809 | //pc.printf("\n\r error=%f",angleError); |
Ludwigfr | 14:696187e74411 | 810 | |
Ludwigfr | 14:696187e74411 | 811 | d=this->dist(this->xWorld, this->yWorld, targetXWorld, targetYWorld); |
Ludwigfr | 14:696187e74411 | 812 | //pc.printf("\n\r dist=%f/n", d); |
Ludwigfr | 14:696187e74411 | 813 | |
Ludwigfr | 14:696187e74411 | 814 | //Computing linear and angular velocities |
Ludwigfr | 14:696187e74411 | 815 | linear=k_linear*d; |
Ludwigfr | 14:696187e74411 | 816 | angular=k_angular*angleError; |
Ludwigfr | 14:696187e74411 | 817 | angularLeft=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels; |
Ludwigfr | 14:696187e74411 | 818 | angularRight=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels; |
Ludwigfr | 5:19f24c363418 | 819 | |
Ludwigfr | 14:696187e74411 | 820 | |
Ludwigfr | 14:696187e74411 | 821 | //Normalize speed for motors |
Ludwigfr | 14:696187e74411 | 822 | if(angularLeft>angularRight) { |
Ludwigfr | 14:696187e74411 | 823 | angularRight=speed*angularRight/angularLeft; |
Ludwigfr | 14:696187e74411 | 824 | angularLeft=speed; |
Ludwigfr | 14:696187e74411 | 825 | } else { |
Ludwigfr | 14:696187e74411 | 826 | angularLeft=speed*angularLeft/angularRight; |
Ludwigfr | 14:696187e74411 | 827 | angularRight=speed; |
Ludwigfr | 14:696187e74411 | 828 | } |
Ludwigfr | 5:19f24c363418 | 829 | |
Ludwigfr | 14:696187e74411 | 830 | //Updating motor velocities |
Ludwigfr | 14:696187e74411 | 831 | if(angularLeft>0){ |
Ludwigfr | 14:696187e74411 | 832 | leftMotor(1,angularLeft); |
Ludwigfr | 14:696187e74411 | 833 | } |
Ludwigfr | 14:696187e74411 | 834 | else{ |
Ludwigfr | 14:696187e74411 | 835 | leftMotor(0,-angularLeft); |
Ludwigfr | 14:696187e74411 | 836 | } |
Ludwigfr | 14:696187e74411 | 837 | |
Ludwigfr | 14:696187e74411 | 838 | if(angularRight>0){ |
Ludwigfr | 14:696187e74411 | 839 | rightMotor(1,angularRight); |
Ludwigfr | 14:696187e74411 | 840 | } |
Ludwigfr | 14:696187e74411 | 841 | else{ |
Ludwigfr | 14:696187e74411 | 842 | rightMotor(0,-angularRight); |
Ludwigfr | 14:696187e74411 | 843 | } |
Ludwigfr | 14:696187e74411 | 844 | |
Ludwigfr | 14:696187e74411 | 845 | //wait(0.5); |
Ludwigfr | 14:696187e74411 | 846 | } while(d>1); |
Ludwigfr | 14:696187e74411 | 847 | pc.printf("\r\n REACHED"); |
Ludwigfr | 5:19f24c363418 | 848 | //Stop at the end |
Ludwigfr | 5:19f24c363418 | 849 | leftMotor(1,0); |
Ludwigfr | 5:19f24c363418 | 850 | rightMotor(1,0); |
Ludwigfr | 5:19f24c363418 | 851 | } |
Ludwigfr | 5:19f24c363418 | 852 | |
Ludwigfr | 14:696187e74411 | 853 | void MiniExplorerCoimbra::go_to_point_kalman2(float targetXWorld, float targetYWorld) { |
Ludwigfr | 14:696187e74411 | 854 | //float d; //distance from target |
Ludwigfr | 14:696187e74411 | 855 | float angularLeft, angularRight; |
Ludwigfr | 14:696187e74411 | 856 | float correctX; |
Ludwigfr | 14:696187e74411 | 857 | float correctY; |
Ludwigfr | 14:696187e74411 | 858 | float correctTheta; |
Ludwigfr | 14:696187e74411 | 859 | float xAtEnd=targetXWorld; |
Ludwigfr | 14:696187e74411 | 860 | do { |
Ludwigfr | 14:696187e74411 | 861 | //Updating X,Y and theta with the odometry values |
Ludwigfr | 14:696187e74411 | 862 | this->OdometriaKalmanFilter(); |
Ludwigfr | 14:696187e74411 | 863 | |
Ludwigfr | 14:696187e74411 | 864 | correctX=-this->myY_r_correct; |
Ludwigfr | 14:696187e74411 | 865 | correctY=this->myX_r_correct; |
Ludwigfr | 14:696187e74411 | 866 | if(this->mytheta_r_correct >PI/2) |
Ludwigfr | 14:696187e74411 | 867 | correctTheta=-PI+(this->mytheta_r_correct-PI/2); |
Ludwigfr | 14:696187e74411 | 868 | else |
Ludwigfr | 14:696187e74411 | 869 | correctTheta=this->mytheta_r_correct+PI/2; |
Ludwigfr | 14:696187e74411 | 870 | |
Ludwigfr | 14:696187e74411 | 871 | pc.printf("\n\rFalse: X=%f,Y=%f,theta=%f", this->xWorld,this->yWorld,this->thetaWorld); |
Ludwigfr | 14:696187e74411 | 872 | pc.printf("\n\rTrue : X=%f,Y=%f,theta=%f", correctX,correctY,correctTheta); |
Ludwigfr | 14:696187e74411 | 873 | //pc.printf("\n\rFalse Robot: X=%f,Y=%f,theta=%f", this->myX_r,this->myY_r,this->mytheta_r); |
Ludwigfr | 14:696187e74411 | 874 | //pc.printf("\n\rTrue Robot: X=%f,Y=%f,theta=%f", this->myX_r_correct,this->myY_r_correct,this->mytheta_r_correct); |
Ludwigfr | 14:696187e74411 | 875 | //d=this->dist(correctX, correctY, targetXWorld, targetYWorld); |
Ludwigfr | 14:696187e74411 | 876 | //pc.printf("\n\r dist=%f/n", d); |
Ludwigfr | 14:696187e74411 | 877 | angularLeft=200; |
Ludwigfr | 14:696187e74411 | 878 | angularRight=200; |
Ludwigfr | 14:696187e74411 | 879 | leftMotor(1,angularLeft); |
Ludwigfr | 14:696187e74411 | 880 | rightMotor(1,angularRight); |
Ludwigfr | 5:19f24c363418 | 881 | |
Ludwigfr | 14:696187e74411 | 882 | } while((xAtEnd-correctX)>1); |
Ludwigfr | 5:19f24c363418 | 883 | //Stop at the end |
Ludwigfr | 5:19f24c363418 | 884 | leftMotor(1,0); |
Ludwigfr | 5:19f24c363418 | 885 | rightMotor(1,0); |
Ludwigfr | 14:696187e74411 | 886 | pc.printf("\r\n REACHED"); |
Ludwigfr | 14:696187e74411 | 887 | |
Ludwigfr | 14:696187e74411 | 888 | while(1){ |
Ludwigfr | 14:696187e74411 | 889 | pc.printf("\n\rFalse: X=%f,Y=%f,theta=%f", this->xWorld,this->yWorld,this->thetaWorld); |
Ludwigfr | 14:696187e74411 | 890 | pc.printf("\n\rTrue : X=%f,Y=%f,theta=%f", correctX,correctY,correctTheta); |
Ludwigfr | 14:696187e74411 | 891 | //pc.printf("\n\rFalse Robot: X=%f,Y=%f,theta=%f", this->myX_r,this->myY_r,this->mytheta_r); |
Ludwigfr | 14:696187e74411 | 892 | //pc.printf("\n\rTrue Robot: X=%f,Y=%f,theta=%f", this->myX_r_correct,this->myY_r_correct,this->mytheta_r_correct); |
Ludwigfr | 14:696187e74411 | 893 | } |
Ludwigfr | 14:696187e74411 | 894 | } |
Ludwigfr | 14:696187e74411 | 895 | |
Ludwigfr | 14:696187e74411 | 896 | void MiniExplorerCoimbra::testOdometria(float *D_Special,float *L_Special){ |
Ludwigfr | 14:696187e74411 | 897 | float encoderRightFailureRate_Special=1; |
Ludwigfr | 14:696187e74411 | 898 | float encoderLeftFailureRate_Special=0.95; |
Ludwigfr | 14:696187e74411 | 899 | |
Ludwigfr | 14:696187e74411 | 900 | long int ticks1d_Special=R_encoder(); |
Ludwigfr | 14:696187e74411 | 901 | long int ticks1e_Special=L_encoder(); |
Ludwigfr | 14:696187e74411 | 902 | |
Ludwigfr | 14:696187e74411 | 903 | long int D_ticks_Special=ticks1d_Special - this->ticks2d_Special; |
Ludwigfr | 14:696187e74411 | 904 | long int E_ticks_Special=ticks1e_Special - this->ticks2e_Special; |
Ludwigfr | 14:696187e74411 | 905 | |
Ludwigfr | 14:696187e74411 | 906 | this->ticks2d_Special=ticks1d_Special; |
Ludwigfr | 14:696187e74411 | 907 | this->ticks2e_Special=ticks1e_Special; |
Ludwigfr | 14:696187e74411 | 908 | |
Ludwigfr | 14:696187e74411 | 909 | *D_Special= (float)D_ticks_Special*((3.25f*3.1415f)/4096); |
Ludwigfr | 14:696187e74411 | 910 | *L_Special= (float)E_ticks_Special*((3.25f*3.1415f)/4096); |
Ludwigfr | 14:696187e74411 | 911 | |
Ludwigfr | 14:696187e74411 | 912 | float CM_O=(*D_Special + *L_Special)/2; |
Ludwigfr | 14:696187e74411 | 913 | |
Ludwigfr | 14:696187e74411 | 914 | //pc.printf("\r\nCM:%f",CM); |
Ludwigfr | 14:696187e74411 | 915 | this->mytheta_r_correct +=(*D_Special - *L_Special)/7.18; |
Ludwigfr | 14:696187e74411 | 916 | |
Ludwigfr | 14:696187e74411 | 917 | //modify D, L |
Ludwigfr | 14:696187e74411 | 918 | float temp_Special=*D_Special; |
Ludwigfr | 14:696187e74411 | 919 | *D_Special=temp_Special*encoderRightFailureRate_Special; |
Ludwigfr | 14:696187e74411 | 920 | temp_Special=*L_Special; |
Ludwigfr | 14:696187e74411 | 921 | *L_Special=temp_Special*encoderLeftFailureRate_Special; |
Ludwigfr | 14:696187e74411 | 922 | |
Ludwigfr | 14:696187e74411 | 923 | float CM_Special=(*D_Special + *L_Special)/2; |
Ludwigfr | 14:696187e74411 | 924 | |
Ludwigfr | 14:696187e74411 | 925 | this->mytheta_r +=(*D_Special -*L_Special)/7.18; |
Ludwigfr | 14:696187e74411 | 926 | |
Ludwigfr | 14:696187e74411 | 927 | this->mytheta_r = atan2(sin(this->mytheta_r), cos(this->mytheta_r)); |
Ludwigfr | 14:696187e74411 | 928 | this->myX_r += CM_Special*cos(this->mytheta_r); |
Ludwigfr | 14:696187e74411 | 929 | this->myY_r += CM_Special*sin(this->mytheta_r); |
Ludwigfr | 14:696187e74411 | 930 | |
Ludwigfr | 14:696187e74411 | 931 | this->mytheta_r_correct = atan2(sin(this->mytheta_r_correct), cos(this->mytheta_r_correct)); |
Ludwigfr | 14:696187e74411 | 932 | this->myX_r_correct += CM_O*cos(this->mytheta_r_correct); |
Ludwigfr | 14:696187e74411 | 933 | this->myY_r_correct += CM_O*sin(this->mytheta_r_correct); |
Ludwigfr | 5:19f24c363418 | 934 | } |
Ludwigfr | 5:19f24c363418 | 935 | |
Ludwigfr | 10:d0109d7cbe7c | 936 | void MiniExplorerCoimbra::OdometriaKalmanFilter(){ |
Ludwigfr | 14:696187e74411 | 937 | float L_CM=0; |
Ludwigfr | 14:696187e74411 | 938 | float R_CM=0; |
Ludwigfr | 14:696187e74411 | 939 | int skip=0;//1==skip Kalman correction, just use KINEMATICS |
Ludwigfr | 10:d0109d7cbe7c | 940 | //=====KINEMATICS=========================== |
Ludwigfr | 14:696187e74411 | 941 | this->testOdometria(&R_CM,&L_CM); |
Ludwigfr | 14:696187e74411 | 942 | //pc.printf("\n\rK3: D_cm:%f,L_cm:%f", (float)this->D_cm,(float)this->L_cm); |
Ludwigfr | 14:696187e74411 | 943 | //pc.printf("\n\rK3: X_r=%f", X); |
Ludwigfr | 14:696187e74411 | 944 | //pc.printf("\n\rK3: Y_r=%f", Y); |
Ludwigfr | 14:696187e74411 | 945 | //pc.printf("\n\rK3: theta_r=%f", theta); |
Ludwigfr | 13:b0ddd71e8f08 | 946 | |
Ludwigfr | 14:696187e74411 | 947 | float newxWorld=-this->myY_r; |
Ludwigfr | 14:696187e74411 | 948 | float newyWorld=this->myX_r; |
Ludwigfr | 14:696187e74411 | 949 | float newthetaWorld; |
Ludwigfr | 14:696187e74411 | 950 | if(this->mytheta_r >PI/2) |
Ludwigfr | 14:696187e74411 | 951 | newthetaWorld=-PI+(this->mytheta_r-PI/2); |
Ludwigfr | 12:1e80471c5c6c | 952 | else |
Ludwigfr | 14:696187e74411 | 953 | newthetaWorld=this->mytheta_r+PI/2; |
Ludwigfr | 14:696187e74411 | 954 | |
Ludwigfr | 14:696187e74411 | 955 | float distanceMoved=(R_CM+L_CM)/2; |
Ludwigfr | 14:696187e74411 | 956 | float angleMovedR=(R_CM-L_CM)/this->distanceWheels; |
Ludwigfr | 14:696187e74411 | 957 | float angleMoved=0; |
Ludwigfr | 14:696187e74411 | 958 | if(angleMovedR >PI/2) |
Ludwigfr | 14:696187e74411 | 959 | angleMoved=-PI+(angleMovedR-PI/2); |
Ludwigfr | 14:696187e74411 | 960 | else |
Ludwigfr | 14:696187e74411 | 961 | angleMoved=angleMovedR+PI/2; |
Ludwigfr | 14:696187e74411 | 962 | |
Ludwigfr | 14:696187e74411 | 963 | newxWorld=this->xWorld+distanceMoved*cos(this->thetaWorld+angleMoved/2); |
Ludwigfr | 14:696187e74411 | 964 | newyWorld=this->yWorld+distanceMoved*sin(this->thetaWorld+angleMoved/2); |
Ludwigfr | 14:696187e74411 | 965 | newthetaWorld=this->thetaWorld+angleMoved; |
Ludwigfr | 14:696187e74411 | 966 | |
Ludwigfr | 9:1cc27f33d3e1 | 967 | myMatrix poseKplus1K(3,1); |
Ludwigfr | 14:696187e74411 | 968 | poseKplus1K.data[0][0]=newxWorld; |
Ludwigfr | 14:696187e74411 | 969 | poseKplus1K.data[1][0]=newyWorld; |
Ludwigfr | 14:696187e74411 | 970 | poseKplus1K.data[2][0]=newthetaWorld; |
Ludwigfr | 9:1cc27f33d3e1 | 971 | |
Ludwigfr | 14:696187e74411 | 972 | pc.printf("\r\nR:%f,L:%f",R_CM,L_CM); |
Ludwigfr | 12:1e80471c5c6c | 973 | if(skip==1){ |
Ludwigfr | 12:1e80471c5c6c | 974 | //update pose |
Ludwigfr | 12:1e80471c5c6c | 975 | this->xWorld=poseKplus1K.data[0][0]; |
Ludwigfr | 12:1e80471c5c6c | 976 | this->yWorld=poseKplus1K.data[1][0]; |
Ludwigfr | 12:1e80471c5c6c | 977 | this->thetaWorld=poseKplus1K.data[2][0]; |
Ludwigfr | 14:696187e74411 | 978 | //pc.printf("\r\nWithout Kalman X=%f, Y=%f, theta=%f",xWorld,yWorld,thetaWorld); |
Ludwigfr | 14:696187e74411 | 979 | }else{ |
Ludwigfr | 14:696187e74411 | 980 | //note if the encoders are correct it should work |
Ludwigfr | 14:696187e74411 | 981 | //pc.printf("\r\nWithout correction: X=%f, Y=%f, theta=%f",poseKplus1K.get(0,0),poseKplus1K.get(1,0),poseKplus1K.get(2,0)); |
Ludwigfr | 14:696187e74411 | 982 | //=====ERROR_MODEL=========================== |
Ludwigfr | 14:696187e74411 | 983 | |
Ludwigfr | 14:696187e74411 | 984 | //FP Matrix slide LocalizationKALMAN |
Ludwigfr | 14:696187e74411 | 985 | myMatrix Fp(3,3); |
Ludwigfr | 14:696187e74411 | 986 | Fp.data[0][0]=1; |
Ludwigfr | 14:696187e74411 | 987 | Fp.data[1][1]=1; |
Ludwigfr | 14:696187e74411 | 988 | Fp.data[2][2]=1; |
Ludwigfr | 14:696187e74411 | 989 | Fp.data[0][2]=-1*distanceMoved*sin(this->thetaWorld+(angleMoved/2)); |
Ludwigfr | 14:696187e74411 | 990 | Fp.data[1][2]=distanceMoved*cos(this->thetaWorld+(angleMoved/2)); |
Ludwigfr | 12:1e80471c5c6c | 991 | |
Ludwigfr | 14:696187e74411 | 992 | myMatrix FpTranspose(3,3); |
Ludwigfr | 14:696187e74411 | 993 | FpTranspose.fillWithTranspose(Fp); |
Ludwigfr | 14:696187e74411 | 994 | pc.printf("\r\nFp");; |
Ludwigfr | 14:696187e74411 | 995 | //Frl matrix slide LocalizationKALMAN |
Ludwigfr | 14:696187e74411 | 996 | myMatrix Frl(3,2); |
Ludwigfr | 14:696187e74411 | 997 | Frl.data[0][0]=0.5*cos(this->thetaWorld+(angleMoved/2))-(distanceMoved/(2*this->distanceWheels))*sin(this->thetaWorld+(angleMoved/2)); |
Ludwigfr | 14:696187e74411 | 998 | Frl.data[0][1]=0.5*cos(this->thetaWorld+(angleMoved/2))+(distanceMoved/(2*this->distanceWheels))*sin(this->thetaWorld+(angleMoved/2)); |
Ludwigfr | 14:696187e74411 | 999 | Frl.data[1][0]=0.5*sin(this->thetaWorld+(angleMoved/2))+(distanceMoved/(2*this->distanceWheels))*cos(this->thetaWorld+(angleMoved/2)); |
Ludwigfr | 14:696187e74411 | 1000 | Frl.data[1][1]=0.5*sin(this->thetaWorld+(angleMoved/2))-(distanceMoved/(2*this->distanceWheels))*cos(this->thetaWorld+(angleMoved/2)); |
Ludwigfr | 14:696187e74411 | 1001 | Frl.data[2][0]=(1/this->distanceWheels); |
Ludwigfr | 14:696187e74411 | 1002 | Frl.data[2][1]=-(1/this->distanceWheels) ; |
Ludwigfr | 14:696187e74411 | 1003 | |
Ludwigfr | 14:696187e74411 | 1004 | myMatrix FrlTranspose(2,3); |
Ludwigfr | 14:696187e74411 | 1005 | FrlTranspose.fillWithTranspose(Frl); |
Ludwigfr | 14:696187e74411 | 1006 | pc.printf("\r\nFrl"); |
Ludwigfr | 14:696187e74411 | 1007 | //error constants... |
Ludwigfr | 14:696187e74411 | 1008 | float kr=1; |
Ludwigfr | 14:696187e74411 | 1009 | float kl=1; |
Ludwigfr | 14:696187e74411 | 1010 | myMatrix covar(2,2); |
Ludwigfr | 14:696187e74411 | 1011 | covar.data[0][0]=kr*abs(R_CM); |
Ludwigfr | 14:696187e74411 | 1012 | covar.data[1][1]=kl*abs(L_CM); |
Ludwigfr | 14:696187e74411 | 1013 | pc.printf("\r\ncovar"); |
Ludwigfr | 14:696187e74411 | 1014 | //uncertainty positionx, and theta at |
Ludwigfr | 14:696187e74411 | 1015 | //1,1,1 |
Ludwigfr | 14:696187e74411 | 1016 | myMatrix Q(3,3); |
Ludwigfr | 14:696187e74411 | 1017 | Q.data[0][0]=1; |
Ludwigfr | 14:696187e74411 | 1018 | Q.data[1][1]=2; |
Ludwigfr | 14:696187e74411 | 1019 | Q.data[2][2]=0.01; |
Ludwigfr | 14:696187e74411 | 1020 | pc.printf("\r\nQ"); |
Ludwigfr | 14:696187e74411 | 1021 | //new covariance= Fp*old covariance*FpTranspose +Frl*covar*FrlTranspose +Q slide LocalizationKALMAN |
Ludwigfr | 14:696187e74411 | 1022 | myMatrix covariancePositionEstimationKplus1K(3,3); |
Ludwigfr | 14:696187e74411 | 1023 | myMatrix temp1(3,3); |
Ludwigfr | 14:696187e74411 | 1024 | temp1.fillByMultiplication(Fp,this->covariancePositionEstimationK);//Fp*old covariance |
Ludwigfr | 14:696187e74411 | 1025 | |
Ludwigfr | 14:696187e74411 | 1026 | myMatrix temp2(3,3); |
Ludwigfr | 14:696187e74411 | 1027 | temp2.fillByMultiplication(temp1,FpTranspose);//Fp*old covariance*FpTranspose |
Ludwigfr | 14:696187e74411 | 1028 | //pc.printf("\r\ncovariancePositionEstimationKplus1K 1"); |
Ludwigfr | 14:696187e74411 | 1029 | temp1.fillWithZeroes(); |
Ludwigfr | 14:696187e74411 | 1030 | pc.printf("\r\ncovariancePositionEstimationKplus1K 1.1"); |
Ludwigfr | 14:696187e74411 | 1031 | myMatrix temp3(3,2); |
Ludwigfr | 14:696187e74411 | 1032 | temp3.fillByMultiplication(Frl,covar);//Frl*covar |
Ludwigfr | 14:696187e74411 | 1033 | pc.printf("\r\ncovariancePositionEstimationKplus1K 1.2"); |
Ludwigfr | 14:696187e74411 | 1034 | temp1.fillByMultiplication(temp3,FrlTranspose);//Frl*covar*FrlTranspose |
Ludwigfr | 14:696187e74411 | 1035 | pc.printf("\r\ncovariancePositionEstimationKplus1K 2"); |
Ludwigfr | 14:696187e74411 | 1036 | covariancePositionEstimationKplus1K.addition(temp2);//Fp*old covariance*FpTranspose |
Ludwigfr | 14:696187e74411 | 1037 | covariancePositionEstimationKplus1K.addition(temp1);//Fp*old covariance*FpTranspose +Frl*covar*FrlTranspose |
Ludwigfr | 14:696187e74411 | 1038 | covariancePositionEstimationKplus1K.addition(Q);//Fp*old covariance*FpTranspose +Frl*covar*FrlTranspose +Q |
Ludwigfr | 14:696187e74411 | 1039 | pc.printf("\r\ncovariancePositionEstimationKplus1K"); |
Ludwigfr | 12:1e80471c5c6c | 1040 | //=====OBSERVATION===== |
Ludwigfr | 12:1e80471c5c6c | 1041 | //get the estimated measure we should have according to our knowledge of the map and the previously computed localisation |
Ludwigfr | 12:1e80471c5c6c | 1042 | |
Ludwigfr | 12:1e80471c5c6c | 1043 | float leftCmEstimated=this->sonarLeft.maxRange; |
Ludwigfr | 12:1e80471c5c6c | 1044 | float frontCmEstimated=this->sonarFront.maxRange; |
Ludwigfr | 12:1e80471c5c6c | 1045 | float rightCmEstimated=this->sonarRight.maxRange; |
Ludwigfr | 12:1e80471c5c6c | 1046 | float xWorldCell; |
Ludwigfr | 12:1e80471c5c6c | 1047 | float yWorldCell; |
Ludwigfr | 12:1e80471c5c6c | 1048 | float currDistance; |
Ludwigfr | 12:1e80471c5c6c | 1049 | float xClosestCellLeft; |
Ludwigfr | 12:1e80471c5c6c | 1050 | float yClosestCellLeft; |
Ludwigfr | 12:1e80471c5c6c | 1051 | float xClosestCellFront; |
Ludwigfr | 12:1e80471c5c6c | 1052 | float yClosestCellFront; |
Ludwigfr | 12:1e80471c5c6c | 1053 | float xClosestCellRight; |
Ludwigfr | 12:1e80471c5c6c | 1054 | float yClosestCellRight; |
Ludwigfr | 12:1e80471c5c6c | 1055 | |
Ludwigfr | 12:1e80471c5c6c | 1056 | //note: sonar.isInRange already incorpore the sonar position and angle relative to the robot |
Ludwigfr | 12:1e80471c5c6c | 1057 | //note curr change to isInRange: xs-xcell and not xcell-xs |
Ludwigfr | 12:1e80471c5c6c | 1058 | //get theorical distance to sonar |
Ludwigfr | 12:1e80471c5c6c | 1059 | for(int i=0;i<this->map.nbCellWidth;i++){ |
Ludwigfr | 12:1e80471c5c6c | 1060 | for(int j=0;j<this->map.nbCellHeight;j++){ |
Ludwigfr | 12:1e80471c5c6c | 1061 | //check if occupied, if not discard |
Ludwigfr | 12:1e80471c5c6c | 1062 | if(this->map.get_proba_cell(i,j)>0.5){ |
Ludwigfr | 12:1e80471c5c6c | 1063 | //check if in sonar range |
Ludwigfr | 12:1e80471c5c6c | 1064 | xWorldCell=this->map.cell_width_coordinate_to_world(i); |
Ludwigfr | 12:1e80471c5c6c | 1065 | yWorldCell=this->map.cell_height_coordinate_to_world(j); |
Ludwigfr | 12:1e80471c5c6c | 1066 | //check left |
Ludwigfr | 12:1e80471c5c6c | 1067 | currDistance=this->sonarLeft.isInRange(xWorldCell,yWorldCell,poseKplus1K.data[0][0],poseKplus1K.data[1][0],poseKplus1K.data[2][0]); |
Ludwigfr | 12:1e80471c5c6c | 1068 | if((currDistance < this->sonarLeft.maxRange) && currDistance > -1){ |
Ludwigfr | 12:1e80471c5c6c | 1069 | //check if distance is lower than previous, update lowest if so |
Ludwigfr | 12:1e80471c5c6c | 1070 | if(currDistance < leftCmEstimated){ |
Ludwigfr | 12:1e80471c5c6c | 1071 | leftCmEstimated= currDistance; |
Ludwigfr | 12:1e80471c5c6c | 1072 | xClosestCellLeft=xWorldCell; |
Ludwigfr | 12:1e80471c5c6c | 1073 | yClosestCellLeft=yWorldCell; |
Ludwigfr | 12:1e80471c5c6c | 1074 | } |
Ludwigfr | 12:1e80471c5c6c | 1075 | } |
Ludwigfr | 12:1e80471c5c6c | 1076 | //check front |
Ludwigfr | 12:1e80471c5c6c | 1077 | currDistance=this->sonarFront.isInRange(xWorldCell,yWorldCell,poseKplus1K.data[0][0],poseKplus1K.data[1][0],poseKplus1K.data[2][0]); |
Ludwigfr | 12:1e80471c5c6c | 1078 | if((currDistance < this->sonarFront.maxRange) && currDistance > -1){ |
Ludwigfr | 12:1e80471c5c6c | 1079 | //check if distance is lower than previous, update lowest if so |
Ludwigfr | 12:1e80471c5c6c | 1080 | if(currDistance < frontCmEstimated){ |
Ludwigfr | 12:1e80471c5c6c | 1081 | frontCmEstimated= currDistance; |
Ludwigfr | 12:1e80471c5c6c | 1082 | xClosestCellFront=xWorldCell; |
Ludwigfr | 12:1e80471c5c6c | 1083 | yClosestCellFront=yWorldCell; |
Ludwigfr | 12:1e80471c5c6c | 1084 | } |
Ludwigfr | 12:1e80471c5c6c | 1085 | } |
Ludwigfr | 12:1e80471c5c6c | 1086 | //check right |
Ludwigfr | 12:1e80471c5c6c | 1087 | currDistance=this->sonarRight.isInRange(xWorldCell,yWorldCell,poseKplus1K.data[0][0],poseKplus1K.data[1][0],poseKplus1K.data[2][0]); |
Ludwigfr | 12:1e80471c5c6c | 1088 | if((currDistance < this->sonarRight.maxRange) && currDistance > -1){ |
Ludwigfr | 12:1e80471c5c6c | 1089 | //check if distance is lower than previous, update lowest if so |
Ludwigfr | 12:1e80471c5c6c | 1090 | if(currDistance < rightCmEstimated){ |
Ludwigfr | 12:1e80471c5c6c | 1091 | rightCmEstimated= currDistance; |
Ludwigfr | 12:1e80471c5c6c | 1092 | xClosestCellRight=xWorldCell; |
Ludwigfr | 12:1e80471c5c6c | 1093 | yClosestCellRight=yWorldCell; |
Ludwigfr | 12:1e80471c5c6c | 1094 | } |
Ludwigfr | 12:1e80471c5c6c | 1095 | } |
Ludwigfr | 12:1e80471c5c6c | 1096 | } |
Ludwigfr | 12:1e80471c5c6c | 1097 | } |
Ludwigfr | 12:1e80471c5c6c | 1098 | } |
Ludwigfr | 9:1cc27f33d3e1 | 1099 | |
Ludwigfr | 12:1e80471c5c6c | 1100 | //check measurements from sonars, see if they passed the validation gate |
Ludwigfr | 12:1e80471c5c6c | 1101 | float leftCm = get_distance_left_sensor()/10; |
Ludwigfr | 12:1e80471c5c6c | 1102 | float frontCm = get_distance_front_sensor()/10; |
Ludwigfr | 12:1e80471c5c6c | 1103 | float rightCm = get_distance_right_sensor()/10; |
Ludwigfr | 12:1e80471c5c6c | 1104 | |
Ludwigfr | 12:1e80471c5c6c | 1105 | //if superior to sonar range, put the value to sonar max range |
Ludwigfr | 12:1e80471c5c6c | 1106 | if(leftCm > this->sonarLeft.maxRange) |
Ludwigfr | 12:1e80471c5c6c | 1107 | leftCm=this->sonarLeft.maxRange; |
Ludwigfr | 12:1e80471c5c6c | 1108 | if(frontCm > this->sonarFront.maxRange) |
Ludwigfr | 12:1e80471c5c6c | 1109 | frontCm=this->sonarFront.maxRange; |
Ludwigfr | 12:1e80471c5c6c | 1110 | if(rightCm > this->sonarRight.maxRange) |
Ludwigfr | 12:1e80471c5c6c | 1111 | rightCm=this->sonarRight.maxRange; |
Ludwigfr | 12:1e80471c5c6c | 1112 | |
Ludwigfr | 12:1e80471c5c6c | 1113 | pc.printf("\r\ndistance sonars read Lcm=%f, FCm=%f, RCm=%f",leftCm,frontCm,rightCm); |
Ludwigfr | 12:1e80471c5c6c | 1114 | pc.printf("\r\ndistance sonars estimated ELcm=%f, EFCm=%f, ERCm=%f",leftCmEstimated,frontCmEstimated,rightCmEstimated); |
Ludwigfr | 9:1cc27f33d3e1 | 1115 | |
Ludwigfr | 12:1e80471c5c6c | 1116 | //======INNOVATION======== |
Ludwigfr | 12:1e80471c5c6c | 1117 | //compute jacobian of observation |
Ludwigfr | 12:1e80471c5c6c | 1118 | myMatrix jacobianOfObservationLeft(1,3); |
Ludwigfr | 12:1e80471c5c6c | 1119 | myMatrix jacobianOfObservationRight(1,3); |
Ludwigfr | 12:1e80471c5c6c | 1120 | myMatrix jacobianOfObservationFront(1,3); |
Ludwigfr | 12:1e80471c5c6c | 1121 | |
Ludwigfr | 12:1e80471c5c6c | 1122 | //(5) |
Ludwigfr | 13:b0ddd71e8f08 | 1123 | //note: for cos/sin having abs(angles) > PI is not an issue |
Ludwigfr | 12:1e80471c5c6c | 1124 | float xSonarLeft=poseKplus1K.data[0][0]+this->sonarLeft.distanceX*cos(poseKplus1K.data[0][2])-this->sonarLeft.distanceY*sin(poseKplus1K.data[0][2]); |
Ludwigfr | 12:1e80471c5c6c | 1125 | float ySonarLeft=poseKplus1K.data[1][0]+this->sonarLeft.distanceX*sin(poseKplus1K.data[0][2])-this->sonarLeft.distanceY*cos(poseKplus1K.data[0][2]); |
Ludwigfr | 12:1e80471c5c6c | 1126 | float angleSonarLeft=poseKplus1K.data[0][2]+this->sonarLeft.angleFromCenter; |
Ludwigfr | 13:b0ddd71e8f08 | 1127 | if(angleSonarLeft > PI) |
Ludwigfr | 13:b0ddd71e8f08 | 1128 | angleSonarLeft=angleSonarLeft-2*PI; |
Ludwigfr | 13:b0ddd71e8f08 | 1129 | if(angleSonarLeft < -PI) |
Ludwigfr | 13:b0ddd71e8f08 | 1130 | angleSonarLeft=angleSonarLeft+2*PI; |
Ludwigfr | 12:1e80471c5c6c | 1131 | |
Ludwigfr | 12:1e80471c5c6c | 1132 | float xSonarFront=poseKplus1K.data[0][0]+this->sonarFront.distanceX*cos(poseKplus1K.data[0][2])-this->sonarFront.distanceY*sin(poseKplus1K.data[0][2]); |
Ludwigfr | 12:1e80471c5c6c | 1133 | float ySonarFront=poseKplus1K.data[1][0]+this->sonarFront.distanceX*sin(poseKplus1K.data[0][2])-this->sonarFront.distanceY*cos(poseKplus1K.data[0][2]); |
Ludwigfr | 12:1e80471c5c6c | 1134 | float angleSonarFront=poseKplus1K.data[0][2]+this->sonarFront.angleFromCenter; |
Ludwigfr | 13:b0ddd71e8f08 | 1135 | if(angleSonarFront > PI) |
Ludwigfr | 13:b0ddd71e8f08 | 1136 | angleSonarFront=angleSonarFront-2*PI; |
Ludwigfr | 13:b0ddd71e8f08 | 1137 | if(angleSonarFront < -PI) |
Ludwigfr | 13:b0ddd71e8f08 | 1138 | angleSonarFront=angleSonarFront+2*PI; |
Ludwigfr | 12:1e80471c5c6c | 1139 | |
Ludwigfr | 12:1e80471c5c6c | 1140 | float xSonarRight=poseKplus1K.data[0][0]+this->sonarRight.distanceX*cos(poseKplus1K.data[0][2])-this->sonarRight.distanceY*sin(poseKplus1K.data[0][2]); |
Ludwigfr | 12:1e80471c5c6c | 1141 | float ySonarRight=poseKplus1K.data[1][0]+this->sonarRight.distanceX*sin(poseKplus1K.data[0][2])-this->sonarRight.distanceY*cos(poseKplus1K.data[0][2]); |
Ludwigfr | 12:1e80471c5c6c | 1142 | float angleSonarRight=poseKplus1K.data[0][2]+this->sonarRight.angleFromCenter; |
Ludwigfr | 13:b0ddd71e8f08 | 1143 | if(angleSonarRight > PI) |
Ludwigfr | 13:b0ddd71e8f08 | 1144 | angleSonarRight=angleSonarRight-2*PI; |
Ludwigfr | 13:b0ddd71e8f08 | 1145 | if(angleSonarRight < -PI) |
Ludwigfr | 13:b0ddd71e8f08 | 1146 | angleSonarRight=angleSonarRight+2*PI; |
Ludwigfr | 12:1e80471c5c6c | 1147 | |
Ludwigfr | 12:1e80471c5c6c | 1148 | //note: last line divided by d, [0][2] all angles are theta^ teacher's advice, error in paper |
Ludwigfr | 12:1e80471c5c6c | 1149 | //left |
Ludwigfr | 12:1e80471c5c6c | 1150 | jacobianOfObservationLeft.data[0][0]=(xSonarLeft-xClosestCellLeft)/leftCmEstimated; |
Ludwigfr | 12:1e80471c5c6c | 1151 | jacobianOfObservationLeft.data[0][1]=(ySonarLeft-yClosestCellLeft)/leftCmEstimated; |
Ludwigfr | 12:1e80471c5c6c | 1152 | jacobianOfObservationLeft.data[0][2]=(1/leftCmEstimated)*(xClosestCellLeft-xSonarLeft)*(this->sonarLeft.distanceX*sin(angleSonarLeft)+this->sonarLeft.distanceY*cos(angleSonarLeft))+(yClosestCellLeft-ySonarLeft)*(-this->sonarLeft.distanceX*cos(angleSonarLeft)+this->sonarLeft.distanceY*sin(angleSonarLeft)); |
Ludwigfr | 12:1e80471c5c6c | 1153 | |
Ludwigfr | 12:1e80471c5c6c | 1154 | //front |
Ludwigfr | 12:1e80471c5c6c | 1155 | jacobianOfObservationFront.data[0][0]=(xSonarFront-xClosestCellFront)/frontCmEstimated; |
Ludwigfr | 12:1e80471c5c6c | 1156 | jacobianOfObservationFront.data[0][1]=(ySonarFront-yClosestCellFront)/frontCmEstimated; |
Ludwigfr | 12:1e80471c5c6c | 1157 | jacobianOfObservationFront.data[0][2]=(1/frontCmEstimated)*(xClosestCellFront-xSonarFront)*(this->sonarFront.distanceX*sin(angleSonarFront)+this->sonarFront.distanceY*cos(angleSonarFront))+(yClosestCellFront-ySonarFront)*(-this->sonarFront.distanceX*cos(angleSonarFront)+this->sonarFront.distanceY*sin(angleSonarFront)); |
Ludwigfr | 12:1e80471c5c6c | 1158 | |
Ludwigfr | 12:1e80471c5c6c | 1159 | //right |
Ludwigfr | 12:1e80471c5c6c | 1160 | jacobianOfObservationRight.data[0][0]=(xSonarRight-xClosestCellRight)/rightCmEstimated; |
Ludwigfr | 12:1e80471c5c6c | 1161 | jacobianOfObservationRight.data[0][1]=(ySonarRight-yClosestCellRight)/rightCmEstimated; |
Ludwigfr | 12:1e80471c5c6c | 1162 | jacobianOfObservationRight.data[0][2]=(xClosestCellRight-xSonarRight)*(xSonarRight*sin(poseKplus1K.data[2][0])+ySonarRight*cos(poseKplus1K.data[2][0]))+(yClosestCellRight-ySonarRight)*(-xSonarRight*cos(poseKplus1K.data[2][0])+ySonarRight*sin(poseKplus1K.data[2][0])); |
Ludwigfr | 12:1e80471c5c6c | 1163 | jacobianOfObservationRight.data[0][2]=(1/rightCmEstimated)*(xClosestCellRight-xSonarRight)*(this->sonarRight.distanceX*sin(angleSonarRight)+this->sonarRight.distanceY*cos(angleSonarRight))+(yClosestCellRight-ySonarRight)*(-this->sonarRight.distanceX*cos(angleSonarRight)+this->sonarRight.distanceY*sin(angleSonarRight)); |
Ludwigfr | 9:1cc27f33d3e1 | 1164 | |
Ludwigfr | 12:1e80471c5c6c | 1165 | myMatrix jacobianOfObservationRightTranspose(3,1); |
Ludwigfr | 12:1e80471c5c6c | 1166 | jacobianOfObservationRightTranspose.fillWithTranspose(jacobianOfObservationRight); |
Ludwigfr | 12:1e80471c5c6c | 1167 | |
Ludwigfr | 12:1e80471c5c6c | 1168 | myMatrix jacobianOfObservationFrontTranspose(3,1); |
Ludwigfr | 12:1e80471c5c6c | 1169 | jacobianOfObservationFrontTranspose.fillWithTranspose(jacobianOfObservationFront); |
Ludwigfr | 12:1e80471c5c6c | 1170 | |
Ludwigfr | 12:1e80471c5c6c | 1171 | myMatrix jacobianOfObservationLeftTranspose(3,1); |
Ludwigfr | 12:1e80471c5c6c | 1172 | jacobianOfObservationLeftTranspose.fillWithTranspose(jacobianOfObservationLeft); |
Ludwigfr | 13:b0ddd71e8f08 | 1173 | //error constants 0,0,0 sonars perfect; must be found by experimenting; gives mean and standart deviation |
Ludwigfr | 12:1e80471c5c6c | 1174 | //in centimeters |
Ludwigfr | 12:1e80471c5c6c | 1175 | float R_front=4; |
Ludwigfr | 12:1e80471c5c6c | 1176 | float R_left=4; |
Ludwigfr | 12:1e80471c5c6c | 1177 | float R_right=4; |
Ludwigfr | 12:1e80471c5c6c | 1178 | |
Ludwigfr | 12:1e80471c5c6c | 1179 | //R-> 4 in diagonal |
Ludwigfr | 12:1e80471c5c6c | 1180 | |
Ludwigfr | 13:b0ddd71e8f08 | 1181 | //for each sonar (concatenated covariance matrix of innovation) |
Ludwigfr | 12:1e80471c5c6c | 1182 | //equ (12), innovationCovariance =JacobianObservation*covariancePositionEstimationKplus1K*JacobianObservationTranspose+R |
Ludwigfr | 12:1e80471c5c6c | 1183 | myMatrix temp4(1,3); |
Ludwigfr | 12:1e80471c5c6c | 1184 | temp4.fillByMultiplication(jacobianOfObservationFront,covariancePositionEstimationKplus1K); |
Ludwigfr | 12:1e80471c5c6c | 1185 | myMatrix temp5(1,1); |
Ludwigfr | 12:1e80471c5c6c | 1186 | temp5.fillByMultiplication(temp4,jacobianOfObservationFrontTranspose); |
Ludwigfr | 12:1e80471c5c6c | 1187 | float innovationCovarianceFront=temp5.data[0][0]+R_front; |
Ludwigfr | 12:1e80471c5c6c | 1188 | temp4.fillWithZeroes(); |
Ludwigfr | 12:1e80471c5c6c | 1189 | temp5.fillWithZeroes(); |
Ludwigfr | 12:1e80471c5c6c | 1190 | |
Ludwigfr | 12:1e80471c5c6c | 1191 | temp4.fillByMultiplication(jacobianOfObservationLeft,covariancePositionEstimationKplus1K); |
Ludwigfr | 12:1e80471c5c6c | 1192 | temp5.fillByMultiplication(temp4,jacobianOfObservationLeftTranspose); |
Ludwigfr | 12:1e80471c5c6c | 1193 | float innovationCovarianceLeft=temp5.data[0][0]+R_left; |
Ludwigfr | 12:1e80471c5c6c | 1194 | temp4.fillWithZeroes(); |
Ludwigfr | 12:1e80471c5c6c | 1195 | temp5.fillWithZeroes(); |
Ludwigfr | 12:1e80471c5c6c | 1196 | |
Ludwigfr | 12:1e80471c5c6c | 1197 | temp4.fillByMultiplication(jacobianOfObservationRight,covariancePositionEstimationKplus1K); |
Ludwigfr | 12:1e80471c5c6c | 1198 | temp5.fillByMultiplication(temp4,jacobianOfObservationRightTranspose); |
Ludwigfr | 12:1e80471c5c6c | 1199 | float innovationCovarianceRight=temp5.data[0][0]+R_right; |
Ludwigfr | 12:1e80471c5c6c | 1200 | |
Ludwigfr | 12:1e80471c5c6c | 1201 | this->printMatrix(jacobianOfObservationLeft); |
Ludwigfr | 12:1e80471c5c6c | 1202 | this->printMatrix(jacobianOfObservationFront); |
Ludwigfr | 12:1e80471c5c6c | 1203 | this->printMatrix(jacobianOfObservationRight); |
Ludwigfr | 12:1e80471c5c6c | 1204 | pc.printf("\r\ninnovationCovariance L:%f, F:%f, R:%f",innovationCovarianceLeft,innovationCovarianceFront,innovationCovarianceRight); |
Ludwigfr | 12:1e80471c5c6c | 1205 | |
Ludwigfr | 12:1e80471c5c6c | 1206 | //get the innoncation: the value of the difference between the actual measure and what we anticipated |
Ludwigfr | 12:1e80471c5c6c | 1207 | float innovationLeft=leftCm-leftCmEstimated; |
Ludwigfr | 12:1e80471c5c6c | 1208 | float innovationFront=frontCm-frontCmEstimated; |
Ludwigfr | 12:1e80471c5c6c | 1209 | float innovationRight=rightCm-rightCmEstimated; |
Ludwigfr | 12:1e80471c5c6c | 1210 | |
Ludwigfr | 12:1e80471c5c6c | 1211 | //check if it pass the validation gate |
Ludwigfr | 12:1e80471c5c6c | 1212 | float gateScoreLeft=innovationLeft*innovationLeft/innovationCovarianceLeft; |
Ludwigfr | 12:1e80471c5c6c | 1213 | float gateScoreFront=innovationFront*innovationFront/innovationCovarianceFront; |
Ludwigfr | 12:1e80471c5c6c | 1214 | float gateScoreRight=innovationRight*innovationRight/innovationCovarianceRight; |
Ludwigfr | 12:1e80471c5c6c | 1215 | |
Ludwigfr | 12:1e80471c5c6c | 1216 | //5cm -> 25 |
Ludwigfr | 12:1e80471c5c6c | 1217 | int errorsquare=25;//constant error |
Ludwigfr | 12:1e80471c5c6c | 1218 | |
Ludwigfr | 12:1e80471c5c6c | 1219 | int nbPassed=0; |
Ludwigfr | 12:1e80471c5c6c | 1220 | |
Ludwigfr | 12:1e80471c5c6c | 1221 | if(gateScoreLeft <= errorsquare) |
Ludwigfr | 12:1e80471c5c6c | 1222 | nbPassed+=1; |
Ludwigfr | 12:1e80471c5c6c | 1223 | if(gateScoreFront <= errorsquare) |
Ludwigfr | 12:1e80471c5c6c | 1224 | nbPassed+=10; |
Ludwigfr | 12:1e80471c5c6c | 1225 | if(gateScoreRight <= errorsquare) |
Ludwigfr | 12:1e80471c5c6c | 1226 | nbPassed+=100; |
Ludwigfr | 12:1e80471c5c6c | 1227 | //for those who passed |
Ludwigfr | 12:1e80471c5c6c | 1228 | //compute composite innovation |
Ludwigfr | 12:1e80471c5c6c | 1229 | |
Ludwigfr | 12:1e80471c5c6c | 1230 | pc.printf("\r\nscore L:%f, F:%f, R:%f",gateScoreLeft,gateScoreFront,gateScoreRight); |
Ludwigfr | 12:1e80471c5c6c | 1231 | pc.printf("\r\nnbPassed=%d",nbPassed); |
Ludwigfr | 9:1cc27f33d3e1 | 1232 | |
Ludwigfr | 12:1e80471c5c6c | 1233 | //compositeMeasurementJacobian |
Ludwigfr | 12:1e80471c5c6c | 1234 | myMatrix compositeMeasurementJacobian3x3(3,3); |
Ludwigfr | 12:1e80471c5c6c | 1235 | myMatrix compositeMeasurementJacobian2x3(2,3); |
Ludwigfr | 12:1e80471c5c6c | 1236 | myMatrix compositeMeasurementJacobian1x3(1,3); |
Ludwigfr | 12:1e80471c5c6c | 1237 | |
Ludwigfr | 12:1e80471c5c6c | 1238 | myMatrix compositeMeasurementJacobian3x3Transpose(3,3); |
Ludwigfr | 12:1e80471c5c6c | 1239 | myMatrix compositeMeasurementJacobian2x3Transpose(3,2); |
Ludwigfr | 12:1e80471c5c6c | 1240 | myMatrix compositeMeasurementJacobian1x3Transpose(3,1); |
Ludwigfr | 9:1cc27f33d3e1 | 1241 | |
Ludwigfr | 12:1e80471c5c6c | 1242 | //compositeInnovation |
Ludwigfr | 12:1e80471c5c6c | 1243 | myMatrix compositeInnovation3x1(3,1); |
Ludwigfr | 12:1e80471c5c6c | 1244 | myMatrix compositeInnovation2x1(2,1); |
Ludwigfr | 12:1e80471c5c6c | 1245 | myMatrix compositeInnovation1x1(1,1); |
Ludwigfr | 12:1e80471c5c6c | 1246 | |
Ludwigfr | 12:1e80471c5c6c | 1247 | //compositeInnovationCovariance |
Ludwigfr | 12:1e80471c5c6c | 1248 | myMatrix compositeInnovationCovariance3x3(3,3); |
Ludwigfr | 12:1e80471c5c6c | 1249 | myMatrix compositeInnovationCovariance2x2(2,2); |
Ludwigfr | 12:1e80471c5c6c | 1250 | myMatrix compositeInnovationCovariance1x1(1,1); |
Ludwigfr | 12:1e80471c5c6c | 1251 | |
Ludwigfr | 12:1e80471c5c6c | 1252 | myMatrix tempCompositeInnovationCovariance3x3(3,3); |
Ludwigfr | 12:1e80471c5c6c | 1253 | myMatrix tempCompositeInnovationCovariance2x2(2,2); |
Ludwigfr | 12:1e80471c5c6c | 1254 | |
Ludwigfr | 12:1e80471c5c6c | 1255 | myMatrix compositeInnovationCovariance3x3Inverse(3,3); |
Ludwigfr | 12:1e80471c5c6c | 1256 | myMatrix compositeInnovationCovariance2x2Inverse(2,2); |
Ludwigfr | 12:1e80471c5c6c | 1257 | myMatrix compositeInnovationCovariance1x1Inverse(1,1); |
Ludwigfr | 12:1e80471c5c6c | 1258 | |
Ludwigfr | 12:1e80471c5c6c | 1259 | //Kalman Gain |
Ludwigfr | 12:1e80471c5c6c | 1260 | myMatrix kalmanGain3X3(3,3); |
Ludwigfr | 12:1e80471c5c6c | 1261 | myMatrix kalmanGain3X2(3,2); |
Ludwigfr | 12:1e80471c5c6c | 1262 | myMatrix kalmanGain3X1(3,1); |
Ludwigfr | 12:1e80471c5c6c | 1263 | |
Ludwigfr | 12:1e80471c5c6c | 1264 | myMatrix tempKalmanGain3X3(3,3); |
Ludwigfr | 12:1e80471c5c6c | 1265 | myMatrix tempKalmanGain3X2(3,2); |
Ludwigfr | 12:1e80471c5c6c | 1266 | myMatrix tempKalmanGain3X1(3,1); |
Ludwigfr | 12:1e80471c5c6c | 1267 | |
Ludwigfr | 12:1e80471c5c6c | 1268 | myMatrix kalmanGain3X3Transpose(3,3); |
Ludwigfr | 12:1e80471c5c6c | 1269 | myMatrix kalmanGain3X2Transpose(2,3); |
Ludwigfr | 12:1e80471c5c6c | 1270 | myMatrix kalmanGain3X1Transpose(1,3); |
Ludwigfr | 12:1e80471c5c6c | 1271 | |
Ludwigfr | 12:1e80471c5c6c | 1272 | //new pose estimation |
Ludwigfr | 12:1e80471c5c6c | 1273 | myMatrix poseKplus1Kplus1(3,1); |
Ludwigfr | 12:1e80471c5c6c | 1274 | poseKplus1Kplus1.fillByCopy(poseKplus1K); |
Ludwigfr | 12:1e80471c5c6c | 1275 | myMatrix tempPoseKplus1Kplus1(3,1); |
Ludwigfr | 12:1e80471c5c6c | 1276 | |
Ludwigfr | 12:1e80471c5c6c | 1277 | //covariancePositionEstimationKplus1Kplus1 |
Ludwigfr | 12:1e80471c5c6c | 1278 | myMatrix covariancePositionEstimationKplus1Kplus1(3,3); |
Ludwigfr | 12:1e80471c5c6c | 1279 | covariancePositionEstimationKplus1Kplus1.fillByCopy(covariancePositionEstimationKplus1K); |
Ludwigfr | 12:1e80471c5c6c | 1280 | |
Ludwigfr | 12:1e80471c5c6c | 1281 | myMatrix temp2CovariancePositionEstimationKplus1Kplus13x3(3,3); |
Ludwigfr | 12:1e80471c5c6c | 1282 | myMatrix tempCovariancePositionEstimationKplus1Kplus13x3(3,3); |
Ludwigfr | 12:1e80471c5c6c | 1283 | myMatrix tempCovariancePositionEstimationKplus1Kplus13x2(3,2); |
Ludwigfr | 12:1e80471c5c6c | 1284 | myMatrix tempCovariancePositionEstimationKplus1Kplus13x1(3,1); |
Ludwigfr | 12:1e80471c5c6c | 1285 | |
Ludwigfr | 12:1e80471c5c6c | 1286 | //we do not use the composite measurement jacobian (16), we directly use the values from the measurement jacobian (jacobianOfObservation) |
Ludwigfr | 12:1e80471c5c6c | 1287 | switch(nbPassed){ |
Ludwigfr | 12:1e80471c5c6c | 1288 | case 0://none |
Ludwigfr | 12:1e80471c5c6c | 1289 | //nothings happens it's okay |
Ludwigfr | 12:1e80471c5c6c | 1290 | pc.printf("\r\n000"); |
Ludwigfr | 12:1e80471c5c6c | 1291 | break; |
Ludwigfr | 12:1e80471c5c6c | 1292 | case 1://left |
Ludwigfr | 12:1e80471c5c6c | 1293 | //compute compositeMeasurementJacobian |
Ludwigfr | 12:1e80471c5c6c | 1294 | //here compositeMeasurementJacobian= jacobianOfObservationLeft |
Ludwigfr | 12:1e80471c5c6c | 1295 | compositeMeasurementJacobian1x3.fillByCopy(jacobianOfObservationLeft); |
Ludwigfr | 12:1e80471c5c6c | 1296 | pc.printf("\r\n1:calcul compositeMeasurementJacobian1x3 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1297 | //get the compositeMeasurementJacobianTranspose |
Ludwigfr | 12:1e80471c5c6c | 1298 | compositeMeasurementJacobian1x3Transpose.fillWithTranspose(compositeMeasurementJacobian1x3); |
Ludwigfr | 12:1e80471c5c6c | 1299 | //compute compositeInnovation |
Ludwigfr | 12:1e80471c5c6c | 1300 | //here compositeInnovation=innovationLeft |
Ludwigfr | 12:1e80471c5c6c | 1301 | compositeInnovation1x1.data[0][0]=innovationLeft; |
Ludwigfr | 12:1e80471c5c6c | 1302 | pc.printf("\r\n1:calcul compositeInnovation1x1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1303 | //compute compositeInnovationCovariance=compositeMeasurementJacobian*covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranpose |
Ludwigfr | 12:1e80471c5c6c | 1304 | //add the right R on the diagonal |
Ludwigfr | 12:1e80471c5c6c | 1305 | //here compositeInnovationCovariance=innovationCovarianceLeft |
Ludwigfr | 12:1e80471c5c6c | 1306 | compositeInnovationCovariance1x1.data[0][0]=innovationCovarianceLeft; |
Ludwigfr | 12:1e80471c5c6c | 1307 | pc.printf("\r\n1:calcul compositeInnovationCovariance1x1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1308 | //get the inverse of the compositeInnovationCovariance |
Ludwigfr | 12:1e80471c5c6c | 1309 | compositeInnovationCovariance1x1Inverse.data[0][0]=1/innovationCovarianceLeft; |
Ludwigfr | 12:1e80471c5c6c | 1310 | pc.printf("\r\n1:calcul compositeInnovationCovariance1x1Inverse passed"); |
Ludwigfr | 12:1e80471c5c6c | 1311 | //compute KalmanGain=covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranspose*Inverse(compositeInnovationCovariance) |
Ludwigfr | 12:1e80471c5c6c | 1312 | tempKalmanGain3X1.fillByMultiplication(covariancePositionEstimationKplus1K,compositeMeasurementJacobian1x3Transpose); |
Ludwigfr | 12:1e80471c5c6c | 1313 | kalmanGain3X1.fillByMultiplication(tempKalmanGain3X1,compositeInnovationCovariance1x1Inverse); |
Ludwigfr | 12:1e80471c5c6c | 1314 | pc.printf("\r\n1:calcul kalmanGain3X1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1315 | //get the transpose of the kalman gain |
Ludwigfr | 12:1e80471c5c6c | 1316 | kalmanGain3X1Transpose.fillWithTranspose(kalmanGain3X1); |
Ludwigfr | 12:1e80471c5c6c | 1317 | //update pose estimation=old pose estimation + kalman gain*compositeInnovation |
Ludwigfr | 12:1e80471c5c6c | 1318 | tempPoseKplus1Kplus1.fillByMultiplication(kalmanGain3X1,compositeInnovation1x1); |
Ludwigfr | 12:1e80471c5c6c | 1319 | poseKplus1Kplus1.addition(tempPoseKplus1Kplus1); |
Ludwigfr | 12:1e80471c5c6c | 1320 | pc.printf("\r\n1:calcul poseKplus1Kplus1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1321 | //compute covariancePositionEstimationKplus1Kplus1=covariancePositionEstimationKplus1K-kalmanGain*compositeInnovationCovariance*KalmanGainTranspose |
Ludwigfr | 12:1e80471c5c6c | 1322 | tempCovariancePositionEstimationKplus1Kplus13x1.fillByMultiplication(kalmanGain3X1,compositeInnovationCovariance1x1); |
Ludwigfr | 12:1e80471c5c6c | 1323 | tempCovariancePositionEstimationKplus1Kplus13x3.fillByMultiplication(tempCovariancePositionEstimationKplus1Kplus13x1,kalmanGain3X1Transpose); |
Ludwigfr | 12:1e80471c5c6c | 1324 | covariancePositionEstimationKplus1Kplus1.subtraction(tempCovariancePositionEstimationKplus1Kplus13x3); |
Ludwigfr | 12:1e80471c5c6c | 1325 | pc.printf("\r\n1:calcul covariancePositionEstimationKplus1Kplus1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1326 | break; |
Ludwigfr | 12:1e80471c5c6c | 1327 | case 10://front |
Ludwigfr | 12:1e80471c5c6c | 1328 | //compute compositeMeasurementJacobian |
Ludwigfr | 12:1e80471c5c6c | 1329 | compositeMeasurementJacobian1x3.fillByCopy(jacobianOfObservationFront); |
Ludwigfr | 12:1e80471c5c6c | 1330 | pc.printf("\r\n10:calcul compositeMeasurementJacobian1x3 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1331 | //get the compositeMeasurementJacobianTranspose |
Ludwigfr | 12:1e80471c5c6c | 1332 | compositeMeasurementJacobian1x3Transpose.fillWithTranspose(compositeMeasurementJacobian1x3); |
Ludwigfr | 12:1e80471c5c6c | 1333 | //compute compositeInnovation |
Ludwigfr | 12:1e80471c5c6c | 1334 | compositeInnovation1x1.data[0][0]=innovationFront; |
Ludwigfr | 12:1e80471c5c6c | 1335 | pc.printf("\r\n10:calcul compositeInnovation1x1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1336 | //compute compositeInnovationCovariance=compositeMeasurementJacobian*covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranpose |
Ludwigfr | 12:1e80471c5c6c | 1337 | //add the right R on the diagonal |
Ludwigfr | 12:1e80471c5c6c | 1338 | compositeInnovationCovariance1x1.data[0][0]=innovationCovarianceFront; |
Ludwigfr | 12:1e80471c5c6c | 1339 | pc.printf("\r\n10:calcul compositeInnovationCovariance1x1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1340 | //get the inverse of the compositeInnovationCovariance |
Ludwigfr | 12:1e80471c5c6c | 1341 | compositeInnovationCovariance1x1Inverse.data[0][0]=1/innovationCovarianceFront; |
Ludwigfr | 12:1e80471c5c6c | 1342 | pc.printf("\r\n10:calcul compositeInnovationCovariance1x1Inverse passed"); |
Ludwigfr | 12:1e80471c5c6c | 1343 | //compute KalmanGain=covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranspose*Inverse(compositeInnovationCovariance) |
Ludwigfr | 12:1e80471c5c6c | 1344 | tempKalmanGain3X1.fillByMultiplication(covariancePositionEstimationKplus1K,compositeMeasurementJacobian1x3Transpose); |
Ludwigfr | 12:1e80471c5c6c | 1345 | kalmanGain3X1.fillByMultiplication(tempKalmanGain3X1,compositeInnovationCovariance1x1Inverse); |
Ludwigfr | 12:1e80471c5c6c | 1346 | pc.printf("\r\n10:calcul kalmanGain3X1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1347 | //get the transpose of the kalman gain |
Ludwigfr | 12:1e80471c5c6c | 1348 | kalmanGain3X1Transpose.fillWithTranspose(kalmanGain3X1); |
Ludwigfr | 12:1e80471c5c6c | 1349 | //update pose estimation=old pose estimation + kalman gain*compositeInnovation |
Ludwigfr | 12:1e80471c5c6c | 1350 | tempPoseKplus1Kplus1.fillByMultiplication(kalmanGain3X1,compositeInnovation1x1); |
Ludwigfr | 12:1e80471c5c6c | 1351 | poseKplus1Kplus1.addition(tempPoseKplus1Kplus1); |
Ludwigfr | 12:1e80471c5c6c | 1352 | pc.printf("\r\n10:calcul poseKplus1Kplus1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1353 | //compute covariancePositionEstimationKplus1Kplus1=covariancePositionEstimationKplus1K-kalmanGain*compositeInnovationCovariance*KalmanGainTranspose |
Ludwigfr | 12:1e80471c5c6c | 1354 | tempCovariancePositionEstimationKplus1Kplus13x1.fillByMultiplication(kalmanGain3X1,compositeInnovationCovariance1x1); |
Ludwigfr | 12:1e80471c5c6c | 1355 | tempCovariancePositionEstimationKplus1Kplus13x3.fillByMultiplication(tempCovariancePositionEstimationKplus1Kplus13x1,kalmanGain3X1Transpose); |
Ludwigfr | 12:1e80471c5c6c | 1356 | covariancePositionEstimationKplus1Kplus1.subtraction(tempCovariancePositionEstimationKplus1Kplus13x3); |
Ludwigfr | 12:1e80471c5c6c | 1357 | pc.printf("\r\n10:calcul covariancePositionEstimationKplus1Kplus1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1358 | break; |
Ludwigfr | 12:1e80471c5c6c | 1359 | case 11://left and front |
Ludwigfr | 12:1e80471c5c6c | 1360 | //compute compositeMeasurementJacobian |
Ludwigfr | 12:1e80471c5c6c | 1361 | compositeMeasurementJacobian2x3.data[0][0]=jacobianOfObservationLeft.data[0][0]; |
Ludwigfr | 12:1e80471c5c6c | 1362 | compositeMeasurementJacobian2x3.data[0][1]=jacobianOfObservationLeft.data[0][1]; |
Ludwigfr | 12:1e80471c5c6c | 1363 | compositeMeasurementJacobian2x3.data[0][2]=jacobianOfObservationLeft.data[0][2]; |
Ludwigfr | 12:1e80471c5c6c | 1364 | |
Ludwigfr | 12:1e80471c5c6c | 1365 | compositeMeasurementJacobian2x3.data[1][0]=jacobianOfObservationFront.data[0][0]; |
Ludwigfr | 12:1e80471c5c6c | 1366 | compositeMeasurementJacobian2x3.data[1][1]=jacobianOfObservationFront.data[0][1]; |
Ludwigfr | 12:1e80471c5c6c | 1367 | compositeMeasurementJacobian2x3.data[1][2]=jacobianOfObservationFront.data[0][2]; |
Ludwigfr | 12:1e80471c5c6c | 1368 | pc.printf("\r\n11:calcul compositeMeasurementJacobian2x3 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1369 | //get the compositeMeasurementJacobianTranspose |
Ludwigfr | 12:1e80471c5c6c | 1370 | compositeMeasurementJacobian2x3Transpose.fillWithTranspose(compositeMeasurementJacobian2x3); |
Ludwigfr | 12:1e80471c5c6c | 1371 | //compute compositeInnovation |
Ludwigfr | 12:1e80471c5c6c | 1372 | compositeInnovation2x1.data[0][0]=innovationLeft; |
Ludwigfr | 12:1e80471c5c6c | 1373 | compositeInnovation2x1.data[1][0]=innovationFront; |
Ludwigfr | 12:1e80471c5c6c | 1374 | pc.printf("\r\n11:calcul compositeInnovation2x1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1375 | //compute compositeInnovationCovariance=compositeMeasurementJacobian*covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranpose+R |
Ludwigfr | 12:1e80471c5c6c | 1376 | tempCompositeInnovationCovariance2x2.fillByMultiplication(compositeMeasurementJacobian2x3,covariancePositionEstimationKplus1K); |
Ludwigfr | 12:1e80471c5c6c | 1377 | compositeInnovationCovariance2x2.fillByMultiplication(tempCompositeInnovationCovariance2x2,compositeMeasurementJacobian2x3Transpose); |
Ludwigfr | 12:1e80471c5c6c | 1378 | //add the right R on the diagonal |
Ludwigfr | 12:1e80471c5c6c | 1379 | compositeInnovationCovariance2x2.data[0][0]+=R_left; |
Ludwigfr | 12:1e80471c5c6c | 1380 | compositeInnovationCovariance2x2.data[1][1]+=R_front; |
Ludwigfr | 12:1e80471c5c6c | 1381 | pc.printf("\r\n11:calcul compositeInnovationCovariance2x2 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1382 | //get the inverse of the compositeInnovationCovariance |
Ludwigfr | 12:1e80471c5c6c | 1383 | compositeInnovationCovariance2x2Inverse.fillWithInverse(compositeInnovationCovariance2x2); |
Ludwigfr | 12:1e80471c5c6c | 1384 | pc.printf("\r\n11:calcul compositeInnovationCovariance2x2Inverse passed"); |
Ludwigfr | 12:1e80471c5c6c | 1385 | //compute KalmanGain=covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranspose*Inverse(compositeInnovationCovariance) |
Ludwigfr | 12:1e80471c5c6c | 1386 | tempKalmanGain3X2.fillByMultiplication(covariancePositionEstimationKplus1K,compositeMeasurementJacobian2x3Transpose); |
Ludwigfr | 12:1e80471c5c6c | 1387 | kalmanGain3X2.fillByMultiplication(tempKalmanGain3X2,compositeInnovationCovariance2x2Inverse); |
Ludwigfr | 12:1e80471c5c6c | 1388 | pc.printf("\r\n11:calcul kalmanGain3X2 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1389 | //get the transpose of the kalman gain |
Ludwigfr | 12:1e80471c5c6c | 1390 | kalmanGain3X2Transpose.fillWithTranspose(kalmanGain3X2); |
Ludwigfr | 12:1e80471c5c6c | 1391 | //update pose estimation=old pose estimation + kalman gain*compositeInnovation |
Ludwigfr | 12:1e80471c5c6c | 1392 | tempPoseKplus1Kplus1.fillByMultiplication(kalmanGain3X2,compositeInnovation2x1); |
Ludwigfr | 12:1e80471c5c6c | 1393 | poseKplus1Kplus1.addition(tempPoseKplus1Kplus1); |
Ludwigfr | 12:1e80471c5c6c | 1394 | pc.printf("\r\n11:calcul poseKplus1Kplus1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1395 | //compute covariancePositionEstimationKplus1Kplus1=covariancePositionEstimationKplus1K-kalmanGain*compositeInnovationCovariance*KalmanGainTranspose |
Ludwigfr | 12:1e80471c5c6c | 1396 | tempCovariancePositionEstimationKplus1Kplus13x2.fillByMultiplication(kalmanGain3X2,compositeInnovationCovariance2x2); |
Ludwigfr | 12:1e80471c5c6c | 1397 | tempCovariancePositionEstimationKplus1Kplus13x3.fillByMultiplication(tempCovariancePositionEstimationKplus1Kplus13x2,kalmanGain3X2Transpose); |
Ludwigfr | 12:1e80471c5c6c | 1398 | covariancePositionEstimationKplus1Kplus1.subtraction(tempCovariancePositionEstimationKplus1Kplus13x3); |
Ludwigfr | 12:1e80471c5c6c | 1399 | pc.printf("\r\n11:calcul covariancePositionEstimationKplus1Kplus1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1400 | break; |
Ludwigfr | 12:1e80471c5c6c | 1401 | |
Ludwigfr | 12:1e80471c5c6c | 1402 | case 100://right |
Ludwigfr | 12:1e80471c5c6c | 1403 | //compute compositeMeasurementJacobian |
Ludwigfr | 12:1e80471c5c6c | 1404 | compositeMeasurementJacobian1x3.fillByCopy(jacobianOfObservationRight); |
Ludwigfr | 12:1e80471c5c6c | 1405 | pc.printf("\r\n100:calcul compositeMeasurementJacobian1x3 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1406 | //get the compositeMeasurementJacobianTranspose |
Ludwigfr | 12:1e80471c5c6c | 1407 | compositeMeasurementJacobian1x3Transpose.fillWithTranspose(compositeMeasurementJacobian1x3); |
Ludwigfr | 12:1e80471c5c6c | 1408 | //compute compositeInnovation |
Ludwigfr | 12:1e80471c5c6c | 1409 | compositeInnovation1x1.data[0][0]=innovationRight; |
Ludwigfr | 12:1e80471c5c6c | 1410 | //compute compositeInnovationCovariance=compositeMeasurementJacobian*covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranpose |
Ludwigfr | 12:1e80471c5c6c | 1411 | //add the right R on the diagonal |
Ludwigfr | 12:1e80471c5c6c | 1412 | compositeInnovationCovariance1x1.data[0][0]=innovationCovarianceRight; |
Ludwigfr | 12:1e80471c5c6c | 1413 | //get the inverse of the compositeInnovationCovariance |
Ludwigfr | 12:1e80471c5c6c | 1414 | compositeInnovationCovariance1x1Inverse.data[0][0]=1/innovationCovarianceRight; |
Ludwigfr | 12:1e80471c5c6c | 1415 | pc.printf("\r\n100:calcul compositeInnovationCovariance1x1Inverse passed"); |
Ludwigfr | 12:1e80471c5c6c | 1416 | //compute KalmanGain=covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranspose*Inverse(compositeInnovationCovariance) |
Ludwigfr | 12:1e80471c5c6c | 1417 | tempKalmanGain3X1.fillByMultiplication(covariancePositionEstimationKplus1K,compositeMeasurementJacobian1x3Transpose); |
Ludwigfr | 12:1e80471c5c6c | 1418 | kalmanGain3X1.fillByMultiplication(tempKalmanGain3X1,compositeInnovationCovariance1x1Inverse); |
Ludwigfr | 12:1e80471c5c6c | 1419 | pc.printf("\r\n100:calcul kalmanGain3X1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1420 | //get the transpose of the kalman gain |
Ludwigfr | 12:1e80471c5c6c | 1421 | kalmanGain3X1Transpose.fillWithTranspose(kalmanGain3X1); |
Ludwigfr | 12:1e80471c5c6c | 1422 | //update pose estimation=old pose estimation + kalman gain*compositeInnovation |
Ludwigfr | 12:1e80471c5c6c | 1423 | tempPoseKplus1Kplus1.fillByMultiplication(kalmanGain3X1,compositeInnovation1x1); |
Ludwigfr | 12:1e80471c5c6c | 1424 | poseKplus1Kplus1.addition(tempPoseKplus1Kplus1); |
Ludwigfr | 12:1e80471c5c6c | 1425 | pc.printf("\r\n100:calcul poseKplus1Kplus1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1426 | //compute covariancePositionEstimationKplus1Kplus1=covariancePositionEstimationKplus1K-kalmanGain*compositeInnovationCovariance*KalmanGainTranspose |
Ludwigfr | 12:1e80471c5c6c | 1427 | tempCovariancePositionEstimationKplus1Kplus13x1.fillByMultiplication(kalmanGain3X1,compositeInnovationCovariance1x1); |
Ludwigfr | 12:1e80471c5c6c | 1428 | tempCovariancePositionEstimationKplus1Kplus13x3.fillByMultiplication(tempCovariancePositionEstimationKplus1Kplus13x1,kalmanGain3X1Transpose); |
Ludwigfr | 12:1e80471c5c6c | 1429 | covariancePositionEstimationKplus1Kplus1.subtraction(tempCovariancePositionEstimationKplus1Kplus13x3); |
Ludwigfr | 12:1e80471c5c6c | 1430 | pc.printf("\r\n100:calcul covariancePositionEstimationKplus1Kplus1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1431 | break; |
Ludwigfr | 12:1e80471c5c6c | 1432 | case 101://left and right |
Ludwigfr | 12:1e80471c5c6c | 1433 | //compute compositeMeasurementJacobian |
Ludwigfr | 12:1e80471c5c6c | 1434 | compositeMeasurementJacobian2x3.data[0][0]=jacobianOfObservationLeft.data[0][0]; |
Ludwigfr | 12:1e80471c5c6c | 1435 | compositeMeasurementJacobian2x3.data[0][1]=jacobianOfObservationLeft.data[0][1]; |
Ludwigfr | 12:1e80471c5c6c | 1436 | compositeMeasurementJacobian2x3.data[0][2]=jacobianOfObservationLeft.data[0][2]; |
Ludwigfr | 12:1e80471c5c6c | 1437 | |
Ludwigfr | 12:1e80471c5c6c | 1438 | compositeMeasurementJacobian2x3.data[1][0]=jacobianOfObservationRight.data[0][0]; |
Ludwigfr | 12:1e80471c5c6c | 1439 | compositeMeasurementJacobian2x3.data[1][1]=jacobianOfObservationRight.data[0][1]; |
Ludwigfr | 12:1e80471c5c6c | 1440 | compositeMeasurementJacobian2x3.data[1][2]=jacobianOfObservationRight.data[0][2]; |
Ludwigfr | 12:1e80471c5c6c | 1441 | pc.printf("\r\n101:calcul compositeMeasurementJacobian2x3 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1442 | //get the compositeMeasurementJacobianTranspose |
Ludwigfr | 12:1e80471c5c6c | 1443 | compositeMeasurementJacobian2x3Transpose.fillWithTranspose(compositeMeasurementJacobian2x3); |
Ludwigfr | 12:1e80471c5c6c | 1444 | //compute compositeInnovation |
Ludwigfr | 12:1e80471c5c6c | 1445 | compositeInnovation2x1.data[0][0]=innovationLeft; |
Ludwigfr | 12:1e80471c5c6c | 1446 | compositeInnovation2x1.data[1][0]=innovationRight; |
Ludwigfr | 12:1e80471c5c6c | 1447 | //compute compositeInnovationCovariance=compositeMeasurementJacobian*covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranpose+R |
Ludwigfr | 12:1e80471c5c6c | 1448 | tempCompositeInnovationCovariance2x2.fillByMultiplication(compositeMeasurementJacobian2x3,covariancePositionEstimationKplus1K); |
Ludwigfr | 12:1e80471c5c6c | 1449 | compositeInnovationCovariance2x2.fillByMultiplication(tempCompositeInnovationCovariance2x2,compositeMeasurementJacobian2x3Transpose); |
Ludwigfr | 12:1e80471c5c6c | 1450 | //add the right R on the diagonal |
Ludwigfr | 12:1e80471c5c6c | 1451 | compositeInnovationCovariance2x2.data[0][0]+=R_left; |
Ludwigfr | 12:1e80471c5c6c | 1452 | compositeInnovationCovariance2x2.data[1][1]+=R_right; |
Ludwigfr | 12:1e80471c5c6c | 1453 | pc.printf("\r\n101:calcul compositeInnovationCovariance2x2 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1454 | //get the inverse of the compositeInnovationCovariance |
Ludwigfr | 12:1e80471c5c6c | 1455 | compositeInnovationCovariance2x2Inverse.fillWithInverse(compositeInnovationCovariance2x2); |
Ludwigfr | 12:1e80471c5c6c | 1456 | pc.printf("\r\n101:calcul compositeInnovationCovariance2x2Inverse passed"); |
Ludwigfr | 12:1e80471c5c6c | 1457 | //compute KalmanGain=covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranspose*Inverse(compositeInnovationCovariance) |
Ludwigfr | 12:1e80471c5c6c | 1458 | tempKalmanGain3X2.fillByMultiplication(covariancePositionEstimationKplus1K,compositeMeasurementJacobian2x3Transpose); |
Ludwigfr | 12:1e80471c5c6c | 1459 | kalmanGain3X2.fillByMultiplication(tempKalmanGain3X2,compositeInnovationCovariance2x2Inverse); |
Ludwigfr | 12:1e80471c5c6c | 1460 | pc.printf("\r\n101:calcul kalmanGain3X2 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1461 | //get the transpose of the kalman gain |
Ludwigfr | 12:1e80471c5c6c | 1462 | kalmanGain3X2Transpose.fillWithTranspose(kalmanGain3X2); |
Ludwigfr | 12:1e80471c5c6c | 1463 | //update pose estimation=old pose estimation + kalman gain*compositeInnovation |
Ludwigfr | 12:1e80471c5c6c | 1464 | tempPoseKplus1Kplus1.fillByMultiplication(kalmanGain3X2,compositeInnovation2x1); |
Ludwigfr | 12:1e80471c5c6c | 1465 | poseKplus1Kplus1.addition(tempPoseKplus1Kplus1); |
Ludwigfr | 12:1e80471c5c6c | 1466 | pc.printf("\r\n101:calcul poseKplus1Kplus1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1467 | //compute covariancePositionEstimationKplus1Kplus1=covariancePositionEstimationKplus1K-kalmanGain*compositeInnovationCovariance*KalmanGainTranspose |
Ludwigfr | 12:1e80471c5c6c | 1468 | tempCovariancePositionEstimationKplus1Kplus13x2.fillByMultiplication(kalmanGain3X2,compositeInnovationCovariance2x2); |
Ludwigfr | 12:1e80471c5c6c | 1469 | tempCovariancePositionEstimationKplus1Kplus13x3.fillByMultiplication(tempCovariancePositionEstimationKplus1Kplus13x2,kalmanGain3X2Transpose); |
Ludwigfr | 12:1e80471c5c6c | 1470 | covariancePositionEstimationKplus1Kplus1.subtraction(tempCovariancePositionEstimationKplus1Kplus13x3); |
Ludwigfr | 12:1e80471c5c6c | 1471 | pc.printf("\r\n101:calcul covariancePositionEstimationKplus1Kplus1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1472 | break; |
Ludwigfr | 12:1e80471c5c6c | 1473 | case 110:// front and right |
Ludwigfr | 12:1e80471c5c6c | 1474 | //compute compositeMeasurementJacobian |
Ludwigfr | 12:1e80471c5c6c | 1475 | compositeMeasurementJacobian2x3.data[0][0]=jacobianOfObservationFront.data[0][0]; |
Ludwigfr | 12:1e80471c5c6c | 1476 | compositeMeasurementJacobian2x3.data[0][1]=jacobianOfObservationFront.data[0][1]; |
Ludwigfr | 12:1e80471c5c6c | 1477 | compositeMeasurementJacobian2x3.data[0][2]=jacobianOfObservationFront.data[0][2]; |
Ludwigfr | 12:1e80471c5c6c | 1478 | |
Ludwigfr | 12:1e80471c5c6c | 1479 | compositeMeasurementJacobian2x3.data[1][0]=jacobianOfObservationRight.data[0][0]; |
Ludwigfr | 12:1e80471c5c6c | 1480 | compositeMeasurementJacobian2x3.data[1][1]=jacobianOfObservationRight.data[0][1]; |
Ludwigfr | 12:1e80471c5c6c | 1481 | compositeMeasurementJacobian2x3.data[1][2]=jacobianOfObservationRight.data[0][2]; |
Ludwigfr | 12:1e80471c5c6c | 1482 | |
Ludwigfr | 12:1e80471c5c6c | 1483 | pc.printf("\r\n110:calcul compositeMeasurementJacobian2x3 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1484 | //get the compositeMeasurementJacobianTranspose |
Ludwigfr | 12:1e80471c5c6c | 1485 | compositeMeasurementJacobian2x3Transpose.fillWithTranspose(compositeMeasurementJacobian2x3); |
Ludwigfr | 12:1e80471c5c6c | 1486 | //compute compositeInnovation |
Ludwigfr | 12:1e80471c5c6c | 1487 | compositeInnovation2x1.data[0][0]=innovationFront; |
Ludwigfr | 12:1e80471c5c6c | 1488 | compositeInnovation2x1.data[1][0]=innovationRight; |
Ludwigfr | 12:1e80471c5c6c | 1489 | //compute compositeInnovationCovariance=compositeMeasurementJacobian*covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranpose+R |
Ludwigfr | 12:1e80471c5c6c | 1490 | tempCompositeInnovationCovariance2x2.fillByMultiplication(compositeMeasurementJacobian2x3,covariancePositionEstimationKplus1K); |
Ludwigfr | 12:1e80471c5c6c | 1491 | compositeInnovationCovariance2x2.fillByMultiplication(tempCompositeInnovationCovariance2x2,compositeMeasurementJacobian2x3Transpose); |
Ludwigfr | 12:1e80471c5c6c | 1492 | //add the right R on the diagonal |
Ludwigfr | 12:1e80471c5c6c | 1493 | compositeInnovationCovariance2x2.data[0][0]+=R_front; |
Ludwigfr | 12:1e80471c5c6c | 1494 | compositeInnovationCovariance2x2.data[1][1]+=R_right; |
Ludwigfr | 12:1e80471c5c6c | 1495 | pc.printf("\r\n110:calcul compositeInnovationCovariance2x2 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1496 | //get the inverse of the compositeInnovationCovariance |
Ludwigfr | 12:1e80471c5c6c | 1497 | compositeInnovationCovariance2x2Inverse.fillWithInverse(compositeInnovationCovariance2x2); |
Ludwigfr | 12:1e80471c5c6c | 1498 | pc.printf("\r\n110:calcul compositeInnovationCovariance2x2Inverse passed"); |
Ludwigfr | 12:1e80471c5c6c | 1499 | //compute KalmanGain=covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranspose*Inverse(compositeInnovationCovariance) |
Ludwigfr | 12:1e80471c5c6c | 1500 | tempKalmanGain3X2.fillByMultiplication(covariancePositionEstimationKplus1K,compositeMeasurementJacobian2x3Transpose); |
Ludwigfr | 12:1e80471c5c6c | 1501 | kalmanGain3X2.fillByMultiplication(tempKalmanGain3X2,compositeInnovationCovariance2x2Inverse); |
Ludwigfr | 12:1e80471c5c6c | 1502 | pc.printf("\r\n110:calcul kalmanGain3X2 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1503 | //get the transpose of the kalman gain |
Ludwigfr | 12:1e80471c5c6c | 1504 | kalmanGain3X2Transpose.fillWithTranspose(kalmanGain3X2); |
Ludwigfr | 12:1e80471c5c6c | 1505 | //update pose estimation=old pose estimation + kalman gain*compositeInnovation |
Ludwigfr | 12:1e80471c5c6c | 1506 | tempPoseKplus1Kplus1.fillByMultiplication(kalmanGain3X2,compositeInnovation2x1); |
Ludwigfr | 12:1e80471c5c6c | 1507 | poseKplus1Kplus1.addition(tempPoseKplus1Kplus1); |
Ludwigfr | 12:1e80471c5c6c | 1508 | pc.printf("\r\n110:calcul poseKplus1Kplus1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1509 | //compute covariancePositionEstimationKplus1Kplus1=covariancePositionEstimationKplus1K-kalmanGain*compositeInnovationCovariance*KalmanGainTranspose |
Ludwigfr | 12:1e80471c5c6c | 1510 | tempCovariancePositionEstimationKplus1Kplus13x2.fillByMultiplication(kalmanGain3X2,compositeInnovationCovariance2x2); |
Ludwigfr | 12:1e80471c5c6c | 1511 | tempCovariancePositionEstimationKplus1Kplus13x3.fillByMultiplication(tempCovariancePositionEstimationKplus1Kplus13x2,kalmanGain3X2Transpose); |
Ludwigfr | 12:1e80471c5c6c | 1512 | covariancePositionEstimationKplus1Kplus1.subtraction(tempCovariancePositionEstimationKplus1Kplus13x3); |
Ludwigfr | 12:1e80471c5c6c | 1513 | pc.printf("\r\n110:calcul covariancePositionEstimationKplus1Kplus1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1514 | break; |
Ludwigfr | 12:1e80471c5c6c | 1515 | case 111://left front and right |
Ludwigfr | 12:1e80471c5c6c | 1516 | //compute compositeMeasurementJacobian |
Ludwigfr | 12:1e80471c5c6c | 1517 | compositeMeasurementJacobian3x3.data[0][0]=jacobianOfObservationLeft.data[0][0]; |
Ludwigfr | 12:1e80471c5c6c | 1518 | compositeMeasurementJacobian3x3.data[0][1]=jacobianOfObservationLeft.data[0][1]; |
Ludwigfr | 12:1e80471c5c6c | 1519 | compositeMeasurementJacobian3x3.data[0][2]=jacobianOfObservationLeft.data[0][2]; |
Ludwigfr | 12:1e80471c5c6c | 1520 | |
Ludwigfr | 12:1e80471c5c6c | 1521 | compositeMeasurementJacobian3x3.data[1][0]=jacobianOfObservationFront.data[0][0]; |
Ludwigfr | 12:1e80471c5c6c | 1522 | compositeMeasurementJacobian3x3.data[1][1]=jacobianOfObservationFront.data[0][1]; |
Ludwigfr | 12:1e80471c5c6c | 1523 | compositeMeasurementJacobian3x3.data[1][2]=jacobianOfObservationFront.data[0][2]; |
Ludwigfr | 12:1e80471c5c6c | 1524 | |
Ludwigfr | 12:1e80471c5c6c | 1525 | compositeMeasurementJacobian3x3.data[2][0]=jacobianOfObservationRight.data[0][0]; |
Ludwigfr | 12:1e80471c5c6c | 1526 | compositeMeasurementJacobian3x3.data[2][1]=jacobianOfObservationRight.data[0][1]; |
Ludwigfr | 12:1e80471c5c6c | 1527 | compositeMeasurementJacobian3x3.data[2][2]=jacobianOfObservationRight.data[0][2]; |
Ludwigfr | 12:1e80471c5c6c | 1528 | |
Ludwigfr | 12:1e80471c5c6c | 1529 | pc.printf("\r\n111:calcul compositeMeasurementJacobian3x3 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1530 | //get the compositeMeasurementJacobianTranspose |
Ludwigfr | 12:1e80471c5c6c | 1531 | compositeMeasurementJacobian3x3Transpose.fillWithTranspose(compositeMeasurementJacobian3x3); |
Ludwigfr | 12:1e80471c5c6c | 1532 | //compute compositeInnovation |
Ludwigfr | 12:1e80471c5c6c | 1533 | compositeInnovation3x1.data[0][0]=innovationLeft; |
Ludwigfr | 12:1e80471c5c6c | 1534 | compositeInnovation3x1.data[1][0]=innovationFront; |
Ludwigfr | 12:1e80471c5c6c | 1535 | compositeInnovation3x1.data[2][0]=innovationRight; |
Ludwigfr | 12:1e80471c5c6c | 1536 | //compute compositeInnovationCovariance=compositeMeasurementJacobian*covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranpose+R |
Ludwigfr | 12:1e80471c5c6c | 1537 | tempCompositeInnovationCovariance3x3.fillByMultiplication(compositeMeasurementJacobian3x3,covariancePositionEstimationKplus1K); |
Ludwigfr | 12:1e80471c5c6c | 1538 | compositeInnovationCovariance3x3.fillByMultiplication(tempCompositeInnovationCovariance3x3,compositeMeasurementJacobian3x3Transpose); |
Ludwigfr | 12:1e80471c5c6c | 1539 | //add the right R on the diagonal |
Ludwigfr | 12:1e80471c5c6c | 1540 | compositeInnovationCovariance3x3.data[0][0]+=R_left; |
Ludwigfr | 12:1e80471c5c6c | 1541 | compositeInnovationCovariance3x3.data[1][1]+=R_front; |
Ludwigfr | 12:1e80471c5c6c | 1542 | compositeInnovationCovariance3x3.data[2][2]+=R_right; |
Ludwigfr | 12:1e80471c5c6c | 1543 | pc.printf("\r\n111:calcul compositeInnovationCovariance3x3 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1544 | //get the inverse of the compositeInnovationCovariance |
Ludwigfr | 12:1e80471c5c6c | 1545 | compositeInnovationCovariance3x3Inverse.fillWithInverse(compositeInnovationCovariance3x3); |
Ludwigfr | 12:1e80471c5c6c | 1546 | pc.printf("\r\n111:calcul compositeInnovationCovariance3x3Inverse passed"); |
Ludwigfr | 12:1e80471c5c6c | 1547 | //compute KalmanGain=covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranspose*Inverse(compositeInnovationCovariance) |
Ludwigfr | 12:1e80471c5c6c | 1548 | tempKalmanGain3X3.fillByMultiplication(covariancePositionEstimationKplus1K,compositeMeasurementJacobian3x3Transpose); |
Ludwigfr | 12:1e80471c5c6c | 1549 | kalmanGain3X3.fillByMultiplication(tempKalmanGain3X3,compositeInnovationCovariance3x3Inverse); |
Ludwigfr | 12:1e80471c5c6c | 1550 | pc.printf("\r\n111:calcul kalmanGain3X3 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1551 | //get the transpose of the kalman gain |
Ludwigfr | 12:1e80471c5c6c | 1552 | kalmanGain3X3Transpose.fillWithTranspose(kalmanGain3X3); |
Ludwigfr | 12:1e80471c5c6c | 1553 | //update pose estimation=old pose estimation + kalman gain*compositeInnovation |
Ludwigfr | 12:1e80471c5c6c | 1554 | tempPoseKplus1Kplus1.fillByMultiplication(kalmanGain3X3,compositeInnovation3x1); |
Ludwigfr | 12:1e80471c5c6c | 1555 | poseKplus1Kplus1.addition(tempPoseKplus1Kplus1); |
Ludwigfr | 12:1e80471c5c6c | 1556 | pc.printf("\r\n111:calcul poseKplus1Kplus1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1557 | //compute covariancePositionEstimationKplus1Kplus1=covariancePositionEstimationKplus1K-kalmanGain*compositeInnovationCovariance*KalmanGainTranspose |
Ludwigfr | 12:1e80471c5c6c | 1558 | temp2CovariancePositionEstimationKplus1Kplus13x3.fillByMultiplication(kalmanGain3X3,compositeInnovationCovariance3x3); |
Ludwigfr | 12:1e80471c5c6c | 1559 | tempCovariancePositionEstimationKplus1Kplus13x3.fillByMultiplication(temp2CovariancePositionEstimationKplus1Kplus13x3,kalmanGain3X3Transpose); |
Ludwigfr | 12:1e80471c5c6c | 1560 | covariancePositionEstimationKplus1Kplus1.subtraction(tempCovariancePositionEstimationKplus1Kplus13x3); |
Ludwigfr | 12:1e80471c5c6c | 1561 | pc.printf("\r\n111:calcul covariancePositionEstimationKplus1Kplus1 passed"); |
Ludwigfr | 12:1e80471c5c6c | 1562 | break; |
Ludwigfr | 12:1e80471c5c6c | 1563 | } |
Ludwigfr | 9:1cc27f33d3e1 | 1564 | //update covariancePositionEstimationK =covariancePositionEstimationKplus1Kplus1 |
Ludwigfr | 9:1cc27f33d3e1 | 1565 | this->covariancePositionEstimationK.fillByCopy(covariancePositionEstimationKplus1Kplus1); |
Ludwigfr | 5:19f24c363418 | 1566 | |
Ludwigfr | 14:696187e74411 | 1567 | ////pc.printf("\r\nposeKplus1Kplus1 X=%f, Y=%f, theta=%f",poseKplus1Kplus1.data[0][0],poseKplus1Kplus1.data[1][0],poseKplus1Kplus1.data[2][0]); |
Ludwigfr | 9:1cc27f33d3e1 | 1568 | //update pose |
Ludwigfr | 9:1cc27f33d3e1 | 1569 | this->xWorld=poseKplus1Kplus1.data[0][0]; |
Ludwigfr | 9:1cc27f33d3e1 | 1570 | this->yWorld=poseKplus1Kplus1.data[1][0]; |
Ludwigfr | 9:1cc27f33d3e1 | 1571 | this->thetaWorld=poseKplus1Kplus1.data[2][0]; |
Ludwigfr | 5:19f24c363418 | 1572 | |
Ludwigfr | 14:696187e74411 | 1573 | //pc.printf("\r\nWith Kalman X=%f, Y=%f, theta=%f",xWorld,yWorld,thetaWorld); |
Ludwigfr | 5:19f24c363418 | 1574 | //try with robot one |
Ludwigfr | 5:19f24c363418 | 1575 | /* |
Ludwigfr | 5:19f24c363418 | 1576 | X=xEstimatedKNext; |
Ludwigfr | 5:19f24c363418 | 1577 | Y=yEstimatedKNext; |
Ludwigfr | 5:19f24c363418 | 1578 | theta=thetaWorldEstimatedKNext; |
Ludwigfr | 5:19f24c363418 | 1579 | this->xWorld=-Y; |
Ludwigfr | 5:19f24c363418 | 1580 | this->yWorld=X; |
Ludwigfr | 5:19f24c363418 | 1581 | if(theta >PI/2) |
Ludwigfr | 5:19f24c363418 | 1582 | this->thetaWorld=-PI+(theta-PI/2); |
Ludwigfr | 5:19f24c363418 | 1583 | else |
Ludwigfr | 5:19f24c363418 | 1584 | this->thetaWorld=theta+PI/2; |
Ludwigfr | 5:19f24c363418 | 1585 | |
Ludwigfr | 5:19f24c363418 | 1586 | |
Ludwigfr | 5:19f24c363418 | 1587 | this->print_map_with_robot_position(); |
Ludwigfr | 5:19f24c363418 | 1588 | pc.printf("\n\rX= %f",this->xWorld); |
Ludwigfr | 5:19f24c363418 | 1589 | pc.printf("\n\rY= %f",this->yWorld); |
Ludwigfr | 5:19f24c363418 | 1590 | pc.printf("\n\rtheta= %f",this->thetaWorld); |
Ludwigfr | 5:19f24c363418 | 1591 | */ |
Ludwigfr | 5:19f24c363418 | 1592 | //update odometrie X Y theta... |
Ludwigfr | 12:1e80471c5c6c | 1593 | } |
Ludwigfr | 5:19f24c363418 | 1594 | } |
Ludwigfr | 5:19f24c363418 | 1595 | |
Ludwigfr | 10:d0109d7cbe7c | 1596 | void MiniExplorerCoimbra::printMatrix(myMatrix mat1){ |
Ludwigfr | 10:d0109d7cbe7c | 1597 | for(int i = 0; i < mat1.nbRow; ++i) { |
Ludwigfr | 10:d0109d7cbe7c | 1598 | for(int j = 0; j < mat1.nbColumn; ++j) { |
Ludwigfr | 10:d0109d7cbe7c | 1599 | pc.printf("\r%f",mat1.data[i][j]); |
Ludwigfr | 10:d0109d7cbe7c | 1600 | } |
Ludwigfr | 10:d0109d7cbe7c | 1601 | pc.printf("\n"); |
Ludwigfr | 10:d0109d7cbe7c | 1602 | } |
Ludwigfr | 12:1e80471c5c6c | 1603 | pc.printf("\r\n"); |
Ludwigfr | 10:d0109d7cbe7c | 1604 | } |