Yo Fleyt / Mbed 2 deprecated roboticLab_withclass_3_July

test morning

Dependencies:   ISR_Mini-explorer mbed

Fork of roboticLab_withclass_3_July by Georgios Tsamis

MiniExplorerCoimbra.cpp@11:b91fe0ed4fed, 2017-07-11 (annotated)

Committer:
Ludwigfr
Date:
Tue Jul 11 10:30:21 2017 +0000
Revision:
11:b91fe0ed4fed
Parent:
10:d0109d7cbe7c
Child:
12:1e80471c5c6c
11/07 10:30;

Who changed what in which revision?

UserRevisionLine numberNew 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 0:9f7ee7ed13e4 15 this->distanceWheels=7.2;
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 3:37345c109dfc 33 this->rangeForce=50;
Ludwigfr 8:072a76960e27 34 this->attractionConstantForce=1;
Ludwigfr 9:1cc27f33d3e1 35 //-90 ok with attraction impacted by distance
Ludwigfr 9:1cc27f33d3e1 36 this->repulsionConstantForce=-90;
Ludwigfr 5:19f24c363418 37
Ludwigfr 0:9f7ee7ed13e4 38 }
Ludwigfr 0:9f7ee7ed13e4 39
Ludwigfr 0:9f7ee7ed13e4 40 void MiniExplorerCoimbra::setXYThetaAndXYThetaWorld(float defaultXWorld, float defaultYWorld, float defaultThetaWorld){
Ludwigfr 0:9f7ee7ed13e4 41 this->xWorld=defaultXWorld;
Ludwigfr 0:9f7ee7ed13e4 42 this->yWorld=defaultYWorld;
Ludwigfr 0:9f7ee7ed13e4 43 this->thetaWorld=defaultThetaWorld;
Ludwigfr 0:9f7ee7ed13e4 44 X=defaultYWorld;
Ludwigfr 0:9f7ee7ed13e4 45 Y=-defaultXWorld;
Ludwigfr 0:9f7ee7ed13e4 46 if(defaultThetaWorld < -PI/2)
Ludwigfr 0:9f7ee7ed13e4 47 theta=PI/2+PI-defaultThetaWorld;
Ludwigfr 0:9f7ee7ed13e4 48 else
Ludwigfr 0:9f7ee7ed13e4 49 theta=defaultThetaWorld-PI/2;
Ludwigfr 0:9f7ee7ed13e4 50 }
Ludwigfr 0:9f7ee7ed13e4 51
Ludwigfr 0:9f7ee7ed13e4 52 void MiniExplorerCoimbra::myOdometria(){
Ludwigfr 0:9f7ee7ed13e4 53 Odometria();
Ludwigfr 0:9f7ee7ed13e4 54 this->xWorld=-Y;
Ludwigfr 0:9f7ee7ed13e4 55 this->yWorld=X;
Ludwigfr 0:9f7ee7ed13e4 56 if(theta >PI/2)
Ludwigfr 0:9f7ee7ed13e4 57 this->thetaWorld=-PI+(theta-PI/2);
Ludwigfr 0:9f7ee7ed13e4 58 else
Ludwigfr 0:9f7ee7ed13e4 59 this->thetaWorld=theta+PI/2;
Ludwigfr 0:9f7ee7ed13e4 60 }
Ludwigfr 0:9f7ee7ed13e4 61
geotsam 1:20f48907c726 62 void MiniExplorerCoimbra::go_to_point(float targetXWorld, float targetYWorld) {
geotsam 1:20f48907c726 63
geotsam 1:20f48907c726 64 float angleError; //angle error
geotsam 1:20f48907c726 65 float d; //distance from target
geotsam 1:20f48907c726 66 float angularLeft, angularRight, linear, angular;
geotsam 1:20f48907c726 67 int speed=300;
geotsam 1:20f48907c726 68
geotsam 1:20f48907c726 69 do {
geotsam 1:20f48907c726 70 //Updating X,Y and theta with the odometry values
geotsam 1:20f48907c726 71 this->myOdometria();
geotsam 1:20f48907c726 72
geotsam 1:20f48907c726 73 //Computing angle error and distance towards the target value
geotsam 1:20f48907c726 74 angleError = atan2((targetYWorld-this->yWorld),(targetXWorld-this->xWorld))-this->thetaWorld;
geotsam 1:20f48907c726 75 if(angleError>PI) angleError=-(angleError-PI);
geotsam 1:20f48907c726 76 else if(angleError<-PI) angleError=-(angleError+PI);
geotsam 1:20f48907c726 77 pc.printf("\n\r error=%f",angleError);
geotsam 1:20f48907c726 78
geotsam 1:20f48907c726 79 d=this->dist(this->xWorld, this->yWorld, targetXWorld, targetYWorld);
geotsam 1:20f48907c726 80 pc.printf("\n\r dist=%f/n", d);
geotsam 1:20f48907c726 81
geotsam 1:20f48907c726 82 //Computing linear and angular velocities
geotsam 1:20f48907c726 83 linear=k_linear*d;
geotsam 1:20f48907c726 84 angular=k_angular*angleError;
geotsam 1:20f48907c726 85 angularLeft=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels;
geotsam 1:20f48907c726 86 angularRight=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels;
geotsam 1:20f48907c726 87
geotsam 1:20f48907c726 88
geotsam 1:20f48907c726 89 //Normalize speed for motors
geotsam 1:20f48907c726 90 if(angularLeft>angularRight) {
geotsam 1:20f48907c726 91 angularRight=speed*angularRight/angularLeft;
geotsam 1:20f48907c726 92 angularLeft=speed;
geotsam 1:20f48907c726 93 } else {
geotsam 1:20f48907c726 94 angularLeft=speed*angularLeft/angularRight;
geotsam 1:20f48907c726 95 angularRight=speed;
geotsam 1:20f48907c726 96 }
geotsam 1:20f48907c726 97
geotsam 1:20f48907c726 98 pc.printf("\n\r X=%f", this->xWorld);
geotsam 1:20f48907c726 99 pc.printf("\n\r Y=%f", this->yWorld);
geotsam 1:20f48907c726 100 pc.printf("\n\r theta=%f", this->thetaWorld);
geotsam 1:20f48907c726 101
geotsam 1:20f48907c726 102 //Updating motor velocities
geotsam 1:20f48907c726 103 if(angularLeft>0){
geotsam 1:20f48907c726 104 leftMotor(1,angularLeft);
geotsam 1:20f48907c726 105 }
geotsam 1:20f48907c726 106 else{
geotsam 1:20f48907c726 107 leftMotor(0,-angularLeft);
geotsam 1:20f48907c726 108 }
geotsam 1:20f48907c726 109
geotsam 1:20f48907c726 110 if(angularRight>0){
geotsam 1:20f48907c726 111 rightMotor(1,angularRight);
geotsam 1:20f48907c726 112 }
geotsam 1:20f48907c726 113 else{
geotsam 1:20f48907c726 114 rightMotor(0,-angularRight);
geotsam 1:20f48907c726 115 }
geotsam 1:20f48907c726 116
Ludwigfr 5:19f24c363418 117 //wait(0.5);
geotsam 1:20f48907c726 118 } while(d>1);
geotsam 1:20f48907c726 119
geotsam 1:20f48907c726 120 //Stop at the end
geotsam 1:20f48907c726 121 leftMotor(1,0);
geotsam 1:20f48907c726 122 rightMotor(1,0);
geotsam 1:20f48907c726 123 }
geotsam 1:20f48907c726 124
Ludwigfr 2:11cd5173aa36 125 void MiniExplorerCoimbra::test_procedure_lab2(int nbIteration){
Ludwigfr 2:11cd5173aa36 126 for(int i=0;i<nbIteration;i++){
Ludwigfr 2:11cd5173aa36 127 this->randomize_and_map();
Ludwigfr 5:19f24c363418 128 //this->print_map_with_robot_position();
Ludwigfr 2:11cd5173aa36 129 }
Ludwigfr 3:37345c109dfc 130 while(1)
Ludwigfr 3:37345c109dfc 131 this->print_map_with_robot_position();
Ludwigfr 2:11cd5173aa36 132 }
Ludwigfr 2:11cd5173aa36 133
Ludwigfr 0:9f7ee7ed13e4 134 //generate a position randomly and makes the robot go there while updating the map
Ludwigfr 0:9f7ee7ed13e4 135 void MiniExplorerCoimbra::randomize_and_map() {
Ludwigfr 0:9f7ee7ed13e4 136 //TODO check that it's aurelien's work
Ludwigfr 2:11cd5173aa36 137 float movementOnX=rand()%(int)(this->map.widthRealMap);
Ludwigfr 2:11cd5173aa36 138 float movementOnY=rand()%(int)(this->map.heightRealMap);
Ludwigfr 3:37345c109dfc 139
Ludwigfr 3:37345c109dfc 140 float targetXWorld = movementOnX;
Ludwigfr 3:37345c109dfc 141 float targetYWorld = movementOnY;
Ludwigfr 3:37345c109dfc 142 float targetAngleWorld = 2*((float)(rand()%31416)-15708)/10000.0;
Ludwigfr 0:9f7ee7ed13e4 143
Ludwigfr 3:37345c109dfc 144 //target between (0,0) and (widthRealMap,heightRealMap)
Ludwigfr 0:9f7ee7ed13e4 145 this->go_to_point_with_angle(targetXWorld, targetYWorld, targetAngleWorld);
Ludwigfr 0:9f7ee7ed13e4 146 }
Ludwigfr 0:9f7ee7ed13e4 147
Ludwigfr 2:11cd5173aa36 148 void MiniExplorerCoimbra::test_sonars_and_map(int nbIteration){
Ludwigfr 2:11cd5173aa36 149 float leftMm;
Ludwigfr 2:11cd5173aa36 150 float frontMm;
Ludwigfr 2:11cd5173aa36 151 float rightMm;
Ludwigfr 2:11cd5173aa36 152 this->myOdometria();
Ludwigfr 2:11cd5173aa36 153 this->print_map_with_robot_position();
Ludwigfr 2:11cd5173aa36 154 for(int i=0;i<nbIteration;i++){
Ludwigfr 2:11cd5173aa36 155 leftMm = get_distance_left_sensor();
Ludwigfr 2:11cd5173aa36 156 frontMm = get_distance_front_sensor();
Ludwigfr 2:11cd5173aa36 157 rightMm = get_distance_right_sensor();
Ludwigfr 3:37345c109dfc 158 pc.printf("\n\r 1 leftMm= %f",leftMm);
Ludwigfr 3:37345c109dfc 159 pc.printf("\n\r 1 frontMm= %f",frontMm);
Ludwigfr 3:37345c109dfc 160 pc.printf("\n\r 1 rightMm= %f",rightMm);
Ludwigfr 2:11cd5173aa36 161 this->update_sonar_values(leftMm, frontMm, rightMm);
Ludwigfr 2:11cd5173aa36 162 this->print_map_with_robot_position();
Ludwigfr 3:37345c109dfc 163 wait(1);
Ludwigfr 2:11cd5173aa36 164 }
Ludwigfr 2:11cd5173aa36 165 }
Ludwigfr 2:11cd5173aa36 166
Ludwigfr 2:11cd5173aa36 167
Ludwigfr 2:11cd5173aa36 168 //generate a position randomly and makes the robot go there while updating the map
Ludwigfr 0:9f7ee7ed13e4 169 //move of targetXWorld and targetYWorld ending in a targetAngleWorld
Ludwigfr 0:9f7ee7ed13e4 170 void MiniExplorerCoimbra::go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld) {
Ludwigfr 0:9f7ee7ed13e4 171 bool keepGoing=true;
Ludwigfr 0:9f7ee7ed13e4 172 float leftMm;
Ludwigfr 0:9f7ee7ed13e4 173 float frontMm;
Ludwigfr 0:9f7ee7ed13e4 174 float rightMm;
Ludwigfr 0:9f7ee7ed13e4 175 float dt;
Ludwigfr 0:9f7ee7ed13e4 176 Timer t;
Ludwigfr 0:9f7ee7ed13e4 177 float distanceToTarget;
Ludwigfr 0:9f7ee7ed13e4 178 do {
Ludwigfr 0:9f7ee7ed13e4 179 //Timer stuff
Ludwigfr 0:9f7ee7ed13e4 180 dt = t.read();
Ludwigfr 0:9f7ee7ed13e4 181 t.reset();
Ludwigfr 0:9f7ee7ed13e4 182 t.start();
Ludwigfr 0:9f7ee7ed13e4 183
Ludwigfr 0:9f7ee7ed13e4 184 //Updating X,Y and theta with the odometry values
Ludwigfr 0:9f7ee7ed13e4 185 this->myOdometria();
Ludwigfr 2:11cd5173aa36 186 leftMm = get_distance_left_sensor();
Ludwigfr 2:11cd5173aa36 187 frontMm = get_distance_front_sensor();
Ludwigfr 2:11cd5173aa36 188 rightMm = get_distance_right_sensor();
Ludwigfr 2:11cd5173aa36 189 //if in dangerzone 150 mm
Ludwigfr 0:9f7ee7ed13e4 190 if((frontMm < 150 && frontMm > 0)|| (leftMm <150 && leftMm > 0) || (rightMm <150 && rightMm > 0) ){
Ludwigfr 2:11cd5173aa36 191 //stop motors
Ludwigfr 0:9f7ee7ed13e4 192 leftMotor(1,0);
Ludwigfr 0:9f7ee7ed13e4 193 rightMotor(1,0);
Ludwigfr 2:11cd5173aa36 194 //update the map
Ludwigfr 0:9f7ee7ed13e4 195 this->update_sonar_values(leftMm, frontMm, rightMm);
Ludwigfr 0:9f7ee7ed13e4 196 this->myOdometria();
Ludwigfr 0:9f7ee7ed13e4 197 keepGoing=false;
Ludwigfr 2:11cd5173aa36 198 this->do_half_flip();
Ludwigfr 0:9f7ee7ed13e4 199 }else{
Ludwigfr 0:9f7ee7ed13e4 200 //if not in danger zone continue as usual
Ludwigfr 0:9f7ee7ed13e4 201 this->update_sonar_values(leftMm, frontMm, rightMm);
Ludwigfr 2:11cd5173aa36 202 //Updating motor velocities
Ludwigfr 0:9f7ee7ed13e4 203 distanceToTarget=this->update_angular_speed_wheels_go_to_point_with_angle(targetXWorld,targetYWorld,targetAngleWorld,dt);
Ludwigfr 5:19f24c363418 204 //wait(0.2);
Ludwigfr 0:9f7ee7ed13e4 205 //Timer stuff
Ludwigfr 0:9f7ee7ed13e4 206 t.stop();
Ludwigfr 2:11cd5173aa36 207 pc.printf("\n\rdist to target= %f",distanceToTarget);
Ludwigfr 0:9f7ee7ed13e4 208 }
Ludwigfr 3:37345c109dfc 209 } while((distanceToTarget>2 || (abs(targetAngleWorld-this->thetaWorld)>PI/3)) && keepGoing);
Ludwigfr 0:9f7ee7ed13e4 210
Ludwigfr 0:9f7ee7ed13e4 211 //Stop at the end
Ludwigfr 0:9f7ee7ed13e4 212 leftMotor(1,0);
Ludwigfr 0:9f7ee7ed13e4 213 rightMotor(1,0);
Ludwigfr 2:11cd5173aa36 214 pc.printf("\r\nReached Target!");
Ludwigfr 0:9f7ee7ed13e4 215 }
Ludwigfr 0:9f7ee7ed13e4 216
geotsam 1:20f48907c726 217 //move of targetXWorld and targetYWorld ending in a targetAngleWorld
geotsam 1:20f48907c726 218 void MiniExplorerCoimbra::go_to_point_with_angle_first_lab(float targetXWorld, float targetYWorld, float targetAngleWorld) {
geotsam 1:20f48907c726 219 float dt;
geotsam 1:20f48907c726 220 Timer t;
geotsam 1:20f48907c726 221 float distanceToTarget;
geotsam 1:20f48907c726 222 do {
geotsam 1:20f48907c726 223 //Timer stuff
geotsam 1:20f48907c726 224 dt = t.read();
geotsam 1:20f48907c726 225 t.reset();
geotsam 1:20f48907c726 226 t.start();
geotsam 1:20f48907c726 227
geotsam 1:20f48907c726 228 //Updating X,Y and theta with the odometry values
geotsam 1:20f48907c726 229 this->myOdometria();
geotsam 1:20f48907c726 230
geotsam 1:20f48907c726 231 //Updating motor velocities
geotsam 1:20f48907c726 232 distanceToTarget=this->update_angular_speed_wheels_go_to_point_with_angle(targetXWorld,targetYWorld,targetAngleWorld,dt);
geotsam 1:20f48907c726 233
Ludwigfr 5:19f24c363418 234 //wait(0.2);
geotsam 1:20f48907c726 235 //Timer stuff
geotsam 1:20f48907c726 236 t.stop();
geotsam 1:20f48907c726 237 pc.printf("\n\rdist to target= %f",distanceToTarget);
geotsam 1:20f48907c726 238
geotsam 1:20f48907c726 239 } while(distanceToTarget>1 || (abs(targetAngleWorld-this->thetaWorld)>0.1));
geotsam 1:20f48907c726 240
geotsam 1:20f48907c726 241 //Stop at the end
geotsam 1:20f48907c726 242 leftMotor(1,0);
geotsam 1:20f48907c726 243 rightMotor(1,0);
geotsam 1:20f48907c726 244 pc.printf("\r\nReached Target!");
geotsam 1:20f48907c726 245 }
geotsam 1:20f48907c726 246
Ludwigfr 0:9f7ee7ed13e4 247 float MiniExplorerCoimbra::update_angular_speed_wheels_go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld, float dt){
Ludwigfr 0:9f7ee7ed13e4 248 //compute_angles_and_distance
Ludwigfr 0:9f7ee7ed13e4 249 //atan2 take the deplacement on x and the deplacement on y as parameters
Ludwigfr 0:9f7ee7ed13e4 250 float angleToPoint = atan2((targetYWorld-this->yWorld),(targetXWorld-this->xWorld))-this->thetaWorld;
geotsam 1:20f48907c726 251
geotsam 1:20f48907c726 252 if(angleToPoint>PI) angleToPoint=-(angleToPoint-PI);
Ludwigfr 3:37345c109dfc 253 else if(angleToPoint<-PI) angleToPoint=-(angleToPoint+PI);
geotsam 1:20f48907c726 254
Ludwigfr 3:37345c109dfc 255 //rho is the distance to the point of arrival
Ludwigfr 0:9f7ee7ed13e4 256 float rho = dist(targetXWorld,targetYWorld,this->xWorld,this->yWorld);
Ludwigfr 0:9f7ee7ed13e4 257 float distanceToTarget = rho;
Ludwigfr 0:9f7ee7ed13e4 258 //TODO check that
Ludwigfr 0:9f7ee7ed13e4 259 float beta = targetAngleWorld-angleToPoint-this->thetaWorld;
Ludwigfr 0:9f7ee7ed13e4 260
Ludwigfr 0:9f7ee7ed13e4 261 //Computing angle error and distance towards the target value
Ludwigfr 0:9f7ee7ed13e4 262 rho += dt*(-this->khro*cos(angleToPoint)*rho);
Ludwigfr 0:9f7ee7ed13e4 263 float temp = angleToPoint;
Ludwigfr 0:9f7ee7ed13e4 264 angleToPoint += dt*(this->khro*sin(angleToPoint)-this->ka*angleToPoint-this->kb*beta);
Ludwigfr 0:9f7ee7ed13e4 265 beta += dt*(-this->khro*sin(temp));
Ludwigfr 0:9f7ee7ed13e4 266
Ludwigfr 0:9f7ee7ed13e4 267 //Computing linear and angular velocities
Ludwigfr 0:9f7ee7ed13e4 268 float linear;
Ludwigfr 0:9f7ee7ed13e4 269 float angular;
Ludwigfr 0:9f7ee7ed13e4 270 if(angleToPoint>=-1.5708 && angleToPoint<=1.5708){
Ludwigfr 0:9f7ee7ed13e4 271 linear=this->khro*rho;
Ludwigfr 0:9f7ee7ed13e4 272 angular=this->ka*angleToPoint+this->kb*beta;
Ludwigfr 0:9f7ee7ed13e4 273 }
Ludwigfr 0:9f7ee7ed13e4 274 else{
Ludwigfr 0:9f7ee7ed13e4 275 linear=-this->khro*rho;
Ludwigfr 0:9f7ee7ed13e4 276 angular=-this->ka*angleToPoint-this->kb*beta;
Ludwigfr 0:9f7ee7ed13e4 277 }
geotsam 1:20f48907c726 278
geotsam 1:20f48907c726 279 float angularLeft=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels;
geotsam 1:20f48907c726 280 float angularRight=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels;
geotsam 1:20f48907c726 281
geotsam 1:20f48907c726 282 //Slowing down at the end for more precision
geotsam 1:20f48907c726 283 if (distanceToTarget<30) {
geotsam 1:20f48907c726 284 this->speed = distanceToTarget*10;
geotsam 1:20f48907c726 285 }
Ludwigfr 0:9f7ee7ed13e4 286
Ludwigfr 0:9f7ee7ed13e4 287 //Normalize speed for motors
geotsam 1:20f48907c726 288 if(angularLeft>angularRight) {
geotsam 1:20f48907c726 289 angularRight=this->speed*angularRight/angularLeft;
geotsam 1:20f48907c726 290 angularLeft=this->speed;
Ludwigfr 0:9f7ee7ed13e4 291 } else {
geotsam 1:20f48907c726 292 angularLeft=this->speed*angularLeft/angularRight;
geotsam 1:20f48907c726 293 angularRight=this->speed;
Ludwigfr 0:9f7ee7ed13e4 294 }
Ludwigfr 0:9f7ee7ed13e4 295
Ludwigfr 0:9f7ee7ed13e4 296 //compute_linear_angular_velocities
geotsam 1:20f48907c726 297 leftMotor(1,angularLeft);
geotsam 1:20f48907c726 298 rightMotor(1,angularRight);
Ludwigfr 0:9f7ee7ed13e4 299
Ludwigfr 0:9f7ee7ed13e4 300 return distanceToTarget;
Ludwigfr 0:9f7ee7ed13e4 301 }
Ludwigfr 0:9f7ee7ed13e4 302
Ludwigfr 0:9f7ee7ed13e4 303 void MiniExplorerCoimbra::update_sonar_values(float leftMm,float frontMm,float rightMm){
Ludwigfr 0:9f7ee7ed13e4 304 float xWorldCell;
Ludwigfr 0:9f7ee7ed13e4 305 float yWorldCell;
Ludwigfr 3:37345c109dfc 306 float probaLeft;
Ludwigfr 3:37345c109dfc 307 float probaFront;
Ludwigfr 3:37345c109dfc 308 float probaRight;
Ludwigfr 3:37345c109dfc 309 float leftCm=leftMm/10;
Ludwigfr 3:37345c109dfc 310 float frontCm=frontMm/10;
Ludwigfr 3:37345c109dfc 311 float rightCm=rightMm/10;
Ludwigfr 0:9f7ee7ed13e4 312 for(int i=0;i<this->map.nbCellWidth;i++){
Ludwigfr 0:9f7ee7ed13e4 313 for(int j=0;j<this->map.nbCellHeight;j++){
Ludwigfr 0:9f7ee7ed13e4 314 xWorldCell=this->map.cell_width_coordinate_to_world(i);
Ludwigfr 0:9f7ee7ed13e4 315 yWorldCell=this->map.cell_height_coordinate_to_world(j);
Ludwigfr 3:37345c109dfc 316
Ludwigfr 3:37345c109dfc 317 probaLeft=this->sonarLeft.compute_probability_t(leftCm,xWorldCell,yWorldCell,this->xWorld,this->yWorld,this->thetaWorld);
Ludwigfr 3:37345c109dfc 318 probaFront=this->sonarFront.compute_probability_t(frontCm,xWorldCell,yWorldCell,this->xWorld,this->yWorld,this->thetaWorld);
Ludwigfr 3:37345c109dfc 319 probaRight=this->sonarRight.compute_probability_t(rightCm,xWorldCell,yWorldCell,this->xWorld,this->yWorld,this->thetaWorld);
Ludwigfr 3:37345c109dfc 320
Ludwigfr 3:37345c109dfc 321 /*
Ludwigfr 3:37345c109dfc 322 pc.printf("\n\r leftCm= %f",leftCm);
Ludwigfr 3:37345c109dfc 323 pc.printf("\n\r frontCm= %f",frontCm);
Ludwigfr 3:37345c109dfc 324 pc.printf("\n\r rightCm= %f",rightCm);
Ludwigfr 3:37345c109dfc 325 */
Ludwigfr 3:37345c109dfc 326 /*
Ludwigfr 3:37345c109dfc 327 pc.printf("\n\r probaLeft= %f",probaLeft);
Ludwigfr 3:37345c109dfc 328 pc.printf("\n\r probaFront= %f",probaFront);
Ludwigfr 3:37345c109dfc 329 pc.printf("\n\r probaRight= %f",probaRight);
Ludwigfr 3:37345c109dfc 330 if(probaLeft> 1 || probaLeft < 0 || probaFront> 1 || probaFront < 0 ||probaRight> 1 || probaRight < 0)){
Ludwigfr 3:37345c109dfc 331 pwm_buzzer.pulsewidth_us(250);
Ludwigfr 3:37345c109dfc 332 wait_ms(50);
Ludwigfr 3:37345c109dfc 333 pwm_buzzer.pulsewidth_us(0);
Ludwigfr 3:37345c109dfc 334 wait(20);
Ludwigfr 3:37345c109dfc 335 pwm_buzzer.pulsewidth_us(250);
Ludwigfr 3:37345c109dfc 336 wait_ms(50);
Ludwigfr 3:37345c109dfc 337 pwm_buzzer.pulsewidth_us(0);
Ludwigfr 3:37345c109dfc 338 }
Ludwigfr 3:37345c109dfc 339 */
Ludwigfr 3:37345c109dfc 340 this->map.update_cell_value(i,j,probaLeft);
Ludwigfr 3:37345c109dfc 341 this->map.update_cell_value(i,j,probaFront);
Ludwigfr 3:37345c109dfc 342 this->map.update_cell_value(i,j,probaRight);
Ludwigfr 0:9f7ee7ed13e4 343 }
Ludwigfr 0:9f7ee7ed13e4 344 }
Ludwigfr 0:9f7ee7ed13e4 345 }
Ludwigfr 0:9f7ee7ed13e4 346
Ludwigfr 0:9f7ee7ed13e4 347 void MiniExplorerCoimbra::do_half_flip(){
Ludwigfr 0:9f7ee7ed13e4 348 this->myOdometria();
Ludwigfr 0:9f7ee7ed13e4 349 float theta_plus_h_pi=theta+PI/2;//theta is between -PI and PI
Ludwigfr 0:9f7ee7ed13e4 350 if(theta_plus_h_pi > PI)
Ludwigfr 0:9f7ee7ed13e4 351 theta_plus_h_pi=-(2*PI-theta_plus_h_pi);
Ludwigfr 0:9f7ee7ed13e4 352 leftMotor(0,100);
Ludwigfr 0:9f7ee7ed13e4 353 rightMotor(1,100);
Ludwigfr 0:9f7ee7ed13e4 354 while(abs(theta_plus_h_pi-theta)>0.05){
Ludwigfr 0:9f7ee7ed13e4 355 this->myOdometria();
Ludwigfr 0:9f7ee7ed13e4 356 // pc.printf("\n\r diff=%f", abs(theta_plus_pi-theta));
Ludwigfr 0:9f7ee7ed13e4 357 }
Ludwigfr 0:9f7ee7ed13e4 358 leftMotor(1,0);
Ludwigfr 0:9f7ee7ed13e4 359 rightMotor(1,0);
Ludwigfr 0:9f7ee7ed13e4 360 }
Ludwigfr 0:9f7ee7ed13e4 361
Ludwigfr 0:9f7ee7ed13e4 362 //Distance computation function
Ludwigfr 0:9f7ee7ed13e4 363 float MiniExplorerCoimbra::dist(float x1, float y1, float x2, float y2){
Ludwigfr 0:9f7ee7ed13e4 364 return sqrt(pow(y2-y1,2) + pow(x2-x1,2));
Ludwigfr 0:9f7ee7ed13e4 365 }
Ludwigfr 0:9f7ee7ed13e4 366
Ludwigfr 0:9f7ee7ed13e4 367 //use virtual force field
Ludwigfr 0:9f7ee7ed13e4 368 void MiniExplorerCoimbra::try_to_reach_target(float targetXWorld,float targetYWorld){
Ludwigfr 0:9f7ee7ed13e4 369 //atan2 gives the angle beetween PI and -PI
Ludwigfr 0:9f7ee7ed13e4 370 this->myOdometria();
Ludwigfr 0:9f7ee7ed13e4 371 /*
Ludwigfr 0:9f7ee7ed13e4 372 float deplacementOnXWorld=targetXWorld-this->xWorld;
Ludwigfr 0:9f7ee7ed13e4 373 float deplacementOnYWorld=targetYWorld-this->yWorld;
Ludwigfr 0:9f7ee7ed13e4 374 */
Ludwigfr 3:37345c109dfc 375 //float angleToTarget=atan2(targetYWorld-this->yWorld,targetXWorld-this->xWorld);
Ludwigfr 3:37345c109dfc 376 //pc.printf("\n angleToTarget=%f",angleToTarget);
Ludwigfr 3:37345c109dfc 377 //turn_to_target(angleToTarget);
Ludwigfr 3:37345c109dfc 378 //TODO IDEA check if maybe set a low max range
Ludwigfr 3:37345c109dfc 379 //this->sonarLeft.setMaxRange(30);
Ludwigfr 3:37345c109dfc 380 //this->sonarFront.setMaxRange(30);
Ludwigfr 3:37345c109dfc 381 //this->sonarRight.setMaxRange(30);
Ludwigfr 0:9f7ee7ed13e4 382 bool reached=false;
Ludwigfr 0:9f7ee7ed13e4 383 int print=0;
Ludwigfr 3:37345c109dfc 384 int printLimit=1000;
Ludwigfr 0:9f7ee7ed13e4 385 while (!reached) {
Ludwigfr 0:9f7ee7ed13e4 386 this->vff(&reached,targetXWorld,targetYWorld);
Ludwigfr 0:9f7ee7ed13e4 387 //test_got_to_line(&reached);
Ludwigfr 3:37345c109dfc 388 if(print==printLimit){
Ludwigfr 0:9f7ee7ed13e4 389 leftMotor(1,0);
Ludwigfr 0:9f7ee7ed13e4 390 rightMotor(1,0);
Ludwigfr 0:9f7ee7ed13e4 391 this->print_map_with_robot_position_and_target(targetXWorld,targetYWorld);
Ludwigfr 0:9f7ee7ed13e4 392 print=0;
Ludwigfr 0:9f7ee7ed13e4 393 }else
Ludwigfr 0:9f7ee7ed13e4 394 print+=1;
Ludwigfr 0:9f7ee7ed13e4 395 }
Ludwigfr 0:9f7ee7ed13e4 396 //Stop at the end
Ludwigfr 0:9f7ee7ed13e4 397 leftMotor(1,0);
Ludwigfr 0:9f7ee7ed13e4 398 rightMotor(1,0);
Ludwigfr 0:9f7ee7ed13e4 399 pc.printf("\r\n target reached");
Ludwigfr 5:19f24c363418 400 //wait(3);//
Ludwigfr 0:9f7ee7ed13e4 401 }
Ludwigfr 0:9f7ee7ed13e4 402
Ludwigfr 0:9f7ee7ed13e4 403 void MiniExplorerCoimbra::vff(bool* reached, float targetXWorld, float targetYWorld){
Ludwigfr 0:9f7ee7ed13e4 404 float line_a;
Ludwigfr 0:9f7ee7ed13e4 405 float line_b;
Ludwigfr 0:9f7ee7ed13e4 406 float line_c;
Ludwigfr 0:9f7ee7ed13e4 407 //Updating X,Y and theta with the odometry values
Ludwigfr 0:9f7ee7ed13e4 408 float forceXWorld=0;
Ludwigfr 0:9f7ee7ed13e4 409 float forceYWorld=0;
Ludwigfr 0:9f7ee7ed13e4 410 //we update the odometrie
Ludwigfr 0:9f7ee7ed13e4 411 this->myOdometria();
Ludwigfr 0:9f7ee7ed13e4 412 //we check the sensors
Ludwigfr 0:9f7ee7ed13e4 413 float leftMm = get_distance_left_sensor();
Ludwigfr 0:9f7ee7ed13e4 414 float frontMm = get_distance_front_sensor();
Ludwigfr 0:9f7ee7ed13e4 415 float rightMm = get_distance_right_sensor();
Ludwigfr 0:9f7ee7ed13e4 416 //update the probabilities values
Ludwigfr 0:9f7ee7ed13e4 417 this->update_sonar_values(leftMm, frontMm, rightMm);
Ludwigfr 8:072a76960e27 418 this->myOdometria();
Ludwigfr 0:9f7ee7ed13e4 419 //we compute the force on X and Y
Ludwigfr 0:9f7ee7ed13e4 420 this->compute_forceX_and_forceY(&forceXWorld, &forceYWorld,targetXWorld,targetYWorld);
Ludwigfr 0:9f7ee7ed13e4 421 //we compute a new ine
Ludwigfr 0:9f7ee7ed13e4 422 this->calculate_line(forceXWorld, forceYWorld, &line_a,&line_b,&line_c);
Ludwigfr 0:9f7ee7ed13e4 423 //Updating motor velocities
Ludwigfr 8:072a76960e27 424 //pc.printf("\r\nX=%f;Y=%f",xWorld,yWorld);
Ludwigfr 8:072a76960e27 425 //pc.printf("\r\n%f*x+%f*y+%f=0",line_a,line_b,line_c);
Ludwigfr 0:9f7ee7ed13e4 426 this->go_to_line(line_a,line_b,line_c,targetXWorld,targetYWorld);
Ludwigfr 3:37345c109dfc 427
Ludwigfr 0:9f7ee7ed13e4 428 //wait(0.1);
Ludwigfr 0:9f7ee7ed13e4 429 this->myOdometria();
Ludwigfr 3:37345c109dfc 430 if(dist(this->xWorld,this->yWorld,targetXWorld,targetYWorld)<3)
Ludwigfr 0:9f7ee7ed13e4 431 *reached=true;
Ludwigfr 0:9f7ee7ed13e4 432 }
Ludwigfr 0:9f7ee7ed13e4 433
Ludwigfr 0:9f7ee7ed13e4 434 /*angleToTarget is obtained through atan2 so it s:
Ludwigfr 0:9f7ee7ed13e4 435 < 0 if the angle is bettween PI and 2pi on a trigo circle
Ludwigfr 0:9f7ee7ed13e4 436 > 0 if it is between 0 and PI
Ludwigfr 0:9f7ee7ed13e4 437 */
Ludwigfr 0:9f7ee7ed13e4 438 void MiniExplorerCoimbra::turn_to_target(float angleToTarget){
Ludwigfr 0:9f7ee7ed13e4 439 this->myOdometria();
Ludwigfr 3:37345c109dfc 440 if(angleToTarget!=0){
Ludwigfr 3:37345c109dfc 441 if(angleToTarget>0){
Ludwigfr 3:37345c109dfc 442 leftMotor(0,1);
Ludwigfr 3:37345c109dfc 443 rightMotor(1,1);
Ludwigfr 3:37345c109dfc 444 }else{
Ludwigfr 3:37345c109dfc 445 leftMotor(1,1);
Ludwigfr 3:37345c109dfc 446 rightMotor(0,1);
Ludwigfr 3:37345c109dfc 447 }
Ludwigfr 3:37345c109dfc 448 while(abs(angleToTarget-this->thetaWorld)>0.05)
Ludwigfr 3:37345c109dfc 449 this->myOdometria();
Ludwigfr 0:9f7ee7ed13e4 450 }
Ludwigfr 0:9f7ee7ed13e4 451 leftMotor(1,0);
Ludwigfr 0:9f7ee7ed13e4 452 rightMotor(1,0);
Ludwigfr 0:9f7ee7ed13e4 453 }
Ludwigfr 0:9f7ee7ed13e4 454
Ludwigfr 0:9f7ee7ed13e4 455
Ludwigfr 0:9f7ee7ed13e4 456 void MiniExplorerCoimbra::print_map_with_robot_position_and_target(float targetXWorld, float targetYWorld) {
Ludwigfr 0:9f7ee7ed13e4 457 float currProba;
Ludwigfr 0:9f7ee7ed13e4 458
Ludwigfr 0:9f7ee7ed13e4 459 float heightIndiceInOrthonormal;
Ludwigfr 0:9f7ee7ed13e4 460 float widthIndiceInOrthonormal;
Ludwigfr 0:9f7ee7ed13e4 461
Ludwigfr 0:9f7ee7ed13e4 462 float widthMalus=-(3*this->map.sizeCellWidth/2);
Ludwigfr 0:9f7ee7ed13e4 463 float widthBonus=this->map.sizeCellWidth/2;
Ludwigfr 0:9f7ee7ed13e4 464
Ludwigfr 0:9f7ee7ed13e4 465 float heightMalus=-(3*this->map.sizeCellHeight/2);
Ludwigfr 0:9f7ee7ed13e4 466 float heightBonus=this->map.sizeCellHeight/2;
Ludwigfr 0:9f7ee7ed13e4 467
Ludwigfr 0:9f7ee7ed13e4 468 pc.printf("\n\r");
Ludwigfr 0:9f7ee7ed13e4 469 for (int y = this->map.nbCellHeight -1; y>-1; y--) {
Ludwigfr 0:9f7ee7ed13e4 470 for (int x= 0; x<this->map.nbCellWidth; x++) {
Ludwigfr 0:9f7ee7ed13e4 471 heightIndiceInOrthonormal=this->map.cell_height_coordinate_to_world(y);
Ludwigfr 0:9f7ee7ed13e4 472 widthIndiceInOrthonormal=this->map.cell_width_coordinate_to_world(x);
Ludwigfr 0:9f7ee7ed13e4 473 if(this->yWorld >= (heightIndiceInOrthonormal+heightMalus) && this->yWorld <= (heightIndiceInOrthonormal+heightBonus) && this->xWorld >= (widthIndiceInOrthonormal+widthMalus) && this->xWorld <= (widthIndiceInOrthonormal+widthBonus))
Ludwigfr 0:9f7ee7ed13e4 474 pc.printf(" R ");
Ludwigfr 0:9f7ee7ed13e4 475 else{
Ludwigfr 0:9f7ee7ed13e4 476 if(targetYWorld >= (heightIndiceInOrthonormal+heightMalus) && targetYWorld <= (heightIndiceInOrthonormal+heightBonus) && targetXWorld >= (widthIndiceInOrthonormal+widthMalus) && targetXWorld <= (widthIndiceInOrthonormal+widthBonus))
Ludwigfr 0:9f7ee7ed13e4 477 pc.printf(" T ");
Ludwigfr 0:9f7ee7ed13e4 478 else{
Ludwigfr 0:9f7ee7ed13e4 479 currProba=this->map.log_to_proba(this->map.cellsLogValues[x][y]);
Ludwigfr 5:19f24c363418 480 if ( currProba < 0.5){
Ludwigfr 0:9f7ee7ed13e4 481 pc.printf(" ");
Ludwigfr 5:19f24c363418 482 //pc.printf("%f",currProba);
Ludwigfr 5:19f24c363418 483 }else{
Ludwigfr 5:19f24c363418 484 if(currProba==0.5){
Ludwigfr 0:9f7ee7ed13e4 485 pc.printf(" . ");
Ludwigfr 5:19f24c363418 486 //pc.printf("%f",currProba);
Ludwigfr 5:19f24c363418 487 }else{
Ludwigfr 0:9f7ee7ed13e4 488 pc.printf(" X ");
Ludwigfr 5:19f24c363418 489 //pc.printf("%f",currProba);
Ludwigfr 5:19f24c363418 490 }
Ludwigfr 0:9f7ee7ed13e4 491 }
Ludwigfr 0:9f7ee7ed13e4 492 }
Ludwigfr 0:9f7ee7ed13e4 493 }
Ludwigfr 0:9f7ee7ed13e4 494 }
Ludwigfr 0:9f7ee7ed13e4 495 pc.printf("\n\r");
Ludwigfr 0:9f7ee7ed13e4 496 }
Ludwigfr 0:9f7ee7ed13e4 497 }
Ludwigfr 0:9f7ee7ed13e4 498
Ludwigfr 2:11cd5173aa36 499 void MiniExplorerCoimbra::print_map_with_robot_position(){
Ludwigfr 2:11cd5173aa36 500 float currProba;
Ludwigfr 2:11cd5173aa36 501
Ludwigfr 2:11cd5173aa36 502 float heightIndiceInOrthonormal;
Ludwigfr 2:11cd5173aa36 503 float widthIndiceInOrthonormal;
Ludwigfr 2:11cd5173aa36 504
Ludwigfr 2:11cd5173aa36 505 float widthMalus=-(3*this->map.sizeCellWidth/2);
Ludwigfr 2:11cd5173aa36 506 float widthBonus=this->map.sizeCellWidth/2;
Ludwigfr 2:11cd5173aa36 507
Ludwigfr 2:11cd5173aa36 508 float heightMalus=-(3*this->map.sizeCellHeight/2);
Ludwigfr 2:11cd5173aa36 509 float heightBonus=this->map.sizeCellHeight/2;
Ludwigfr 2:11cd5173aa36 510
Ludwigfr 2:11cd5173aa36 511 pc.printf("\n\r");
Ludwigfr 2:11cd5173aa36 512 for (int y = this->map.nbCellHeight -1; y>-1; y--) {
Ludwigfr 2:11cd5173aa36 513 for (int x= 0; x<this->map.nbCellWidth; x++) {
Ludwigfr 2:11cd5173aa36 514 heightIndiceInOrthonormal=this->map.cell_height_coordinate_to_world(y);
Ludwigfr 2:11cd5173aa36 515 widthIndiceInOrthonormal=this->map.cell_width_coordinate_to_world(x);
Ludwigfr 5:19f24c363418 516 if(this->yWorld >= (heightIndiceInOrthonormal+heightMalus) && this->yWorld <= (heightIndiceInOrthonormal+heightBonus) && this->xWorld >= (widthIndiceInOrthonormal+widthMalus) && this->xWorld <= (widthIndiceInOrthonormal+widthBonus)){
Ludwigfr 2:11cd5173aa36 517 pc.printf(" R ");
Ludwigfr 5:19f24c363418 518 //pc.printf("%f",currProba);
Ludwigfr 5:19f24c363418 519 }else{
Ludwigfr 2:11cd5173aa36 520 currProba=this->map.log_to_proba(this->map.cellsLogValues[x][y]);
Ludwigfr 5:19f24c363418 521 if ( currProba < 0.5){
Ludwigfr 2:11cd5173aa36 522 pc.printf(" ");
Ludwigfr 5:19f24c363418 523 //pc.printf("%f",currProba);
Ludwigfr 5:19f24c363418 524 }else{
Ludwigfr 5:19f24c363418 525 if(currProba==0.5){
Ludwigfr 2:11cd5173aa36 526 pc.printf(" . ");
Ludwigfr 5:19f24c363418 527 //pc.printf("%f",currProba);
Ludwigfr 5:19f24c363418 528 }else{
Ludwigfr 5:19f24c363418 529 pc.printf(" X ");
Ludwigfr 5:19f24c363418 530 //pc.printf("%f",currProba);
Ludwigfr 5:19f24c363418 531 }
Ludwigfr 2:11cd5173aa36 532 }
Ludwigfr 2:11cd5173aa36 533 }
Ludwigfr 2:11cd5173aa36 534 }
Ludwigfr 2:11cd5173aa36 535 pc.printf("\n\r");
Ludwigfr 2:11cd5173aa36 536 }
Ludwigfr 2:11cd5173aa36 537 }
Ludwigfr 0:9f7ee7ed13e4 538
Ludwigfr 0:9f7ee7ed13e4 539 //robotX and robotY are from this->myOdometria(), calculate line_a, line_b and line_c
Ludwigfr 0:9f7ee7ed13e4 540 void MiniExplorerCoimbra::calculate_line(float forceX, float forceY, float *line_a, float *line_b, float *line_c){
Ludwigfr 0:9f7ee7ed13e4 541 /*
Ludwigfr 0:9f7ee7ed13e4 542 in the teachers maths it is
Ludwigfr 0:9f7ee7ed13e4 543
Ludwigfr 0:9f7ee7ed13e4 544 *line_a=forceY;
Ludwigfr 0:9f7ee7ed13e4 545 *line_b=-forceX;
Ludwigfr 0:9f7ee7ed13e4 546
Ludwigfr 0:9f7ee7ed13e4 547 because a*x+b*y+c=0
Ludwigfr 0:9f7ee7ed13e4 548 a impact the vertical and b the horizontal
Ludwigfr 0:9f7ee7ed13e4 549 and he has to put them like this because
Ludwigfr 0:9f7ee7ed13e4 550 Robot space: World space:
Ludwigfr 0:9f7ee7ed13e4 551 ^ ^
Ludwigfr 0:9f7ee7ed13e4 552 |x |y
Ludwigfr 0:9f7ee7ed13e4 553 <- R O ->
Ludwigfr 0:9f7ee7ed13e4 554 y x
Ludwigfr 0:9f7ee7ed13e4 555 but since our forceX, forceY are already computed in the orthonormal space I m not sure we need to
Ludwigfr 0:9f7ee7ed13e4 556 */
Ludwigfr 3:37345c109dfc 557 //*line_a=forceX;
Ludwigfr 3:37345c109dfc 558 //*line_b=forceY;
Ludwigfr 3:37345c109dfc 559
Ludwigfr 3:37345c109dfc 560 *line_a=forceY;
Ludwigfr 3:37345c109dfc 561 *line_b=-forceX;
Ludwigfr 0:9f7ee7ed13e4 562 //because the line computed always pass by the robot center we dont need lince_c
Ludwigfr 8:072a76960e27 563 *line_c=forceX*this->yWorld+forceY*this->xWorld;
Ludwigfr 8:072a76960e27 564 //*line_c=0;
Ludwigfr 0:9f7ee7ed13e4 565 }
Ludwigfr 0:9f7ee7ed13e4 566 //compute the force on X and Y
Ludwigfr 0:9f7ee7ed13e4 567 void MiniExplorerCoimbra::compute_forceX_and_forceY(float* forceXWorld, float* forceYWorld, float targetXWorld, float targetYWorld){
Ludwigfr 0:9f7ee7ed13e4 568 float forceRepulsionComputedX=0;
Ludwigfr 0:9f7ee7ed13e4 569 float forceRepulsionComputedY=0;
Ludwigfr 8:072a76960e27 570 this->print_map_with_robot_position();
Ludwigfr 8:072a76960e27 571 for(int i=0;i<this->map.nbCellWidth;i++){ //for each cell of the map we compute a force of repulsion
Ludwigfr 0:9f7ee7ed13e4 572 for(int j=0;j<this->map.nbCellHeight;j++){
Ludwigfr 0:9f7ee7ed13e4 573 this->update_force(i,j,&forceRepulsionComputedX,&forceRepulsionComputedY);
Ludwigfr 0:9f7ee7ed13e4 574 }
Ludwigfr 0:9f7ee7ed13e4 575 }
Ludwigfr 0:9f7ee7ed13e4 576 //update with attraction force
Ludwigfr 3:37345c109dfc 577 *forceXWorld=forceRepulsionComputedX;
Ludwigfr 3:37345c109dfc 578 *forceYWorld=forceRepulsionComputedY;
Ludwigfr 8:072a76960e27 579 //this->print_map_with_robot_position();
Ludwigfr 8:072a76960e27 580 //pc.printf("\r\nForce X repul:%f",*forceXWorld);
Ludwigfr 8:072a76960e27 581 //pc.printf("\r\nForce Y repul:%f",*forceYWorld);
Ludwigfr 9:1cc27f33d3e1 582
Ludwigfr 9:1cc27f33d3e1 583 //test without atraction being impacted by distance
Ludwigfr 9:1cc27f33d3e1 584 //*forceXWorld+=this->attractionConstantForce*(targetXWorld-this->xWorld);
Ludwigfr 9:1cc27f33d3e1 585 //*forceYWorld+=this->attractionConstantForce*(targetYWorld-this->yWorld);
Ludwigfr 9:1cc27f33d3e1 586
Ludwigfr 0:9f7ee7ed13e4 587 float distanceTargetRobot=sqrt(pow(targetXWorld-this->xWorld,2)+pow(targetYWorld-this->yWorld,2));
Ludwigfr 0:9f7ee7ed13e4 588 if(distanceTargetRobot != 0){
Ludwigfr 8:072a76960e27 589 *forceXWorld+=this->attractionConstantForce*(targetXWorld-this->xWorld)/distanceTargetRobot;
Ludwigfr 8:072a76960e27 590 *forceYWorld+=this->attractionConstantForce*(targetYWorld-this->yWorld)/distanceTargetRobot;
Ludwigfr 3:37345c109dfc 591 }else{
Ludwigfr 8:072a76960e27 592 *forceXWorld+=this->attractionConstantForce*(targetXWorld-this->xWorld)/0.001;
Ludwigfr 8:072a76960e27 593 *forceYWorld+=this->attractionConstantForce*(targetYWorld-this->yWorld)/0.001;
Ludwigfr 0:9f7ee7ed13e4 594 }
Ludwigfr 9:1cc27f33d3e1 595
Ludwigfr 8:072a76960e27 596 //pc.printf("\r\nForce X after attract:%f",*forceXWorld);
Ludwigfr 8:072a76960e27 597 //pc.printf("\r\nForce Y after attract:%f",*forceYWorld);
Ludwigfr 3:37345c109dfc 598
Ludwigfr 0:9f7ee7ed13e4 599 float amplitude=sqrt(pow(*forceXWorld,2)+pow(*forceYWorld,2));
Ludwigfr 0:9f7ee7ed13e4 600 if(amplitude!=0){//avoid division by 0 if forceX and forceY == 0
Ludwigfr 0:9f7ee7ed13e4 601 *forceXWorld=*forceXWorld/amplitude;
Ludwigfr 0:9f7ee7ed13e4 602 *forceYWorld=*forceYWorld/amplitude;
Ludwigfr 3:37345c109dfc 603 }else{
Ludwigfr 8:072a76960e27 604 *forceXWorld=*forceXWorld/0.001;
Ludwigfr 8:072a76960e27 605 *forceYWorld=*forceYWorld/0.001;
Ludwigfr 0:9f7ee7ed13e4 606 }
Ludwigfr 0:9f7ee7ed13e4 607 }
Ludwigfr 0:9f7ee7ed13e4 608
Ludwigfr 2:11cd5173aa36 609 //for vff
Ludwigfr 0:9f7ee7ed13e4 610 void MiniExplorerCoimbra::go_to_line(float line_a, float line_b, float line_c,float targetXWorld, float targetYWorld){
Ludwigfr 0:9f7ee7ed13e4 611 float lineAngle;
Ludwigfr 0:9f7ee7ed13e4 612 float angleError;
Ludwigfr 0:9f7ee7ed13e4 613 float linear;
Ludwigfr 0:9f7ee7ed13e4 614 float angular;
Ludwigfr 2:11cd5173aa36 615 float d;
Ludwigfr 0:9f7ee7ed13e4 616
Ludwigfr 0:9f7ee7ed13e4 617 //line angle is beetween pi/2 and -pi/2
Ludwigfr 2:11cd5173aa36 618
Ludwigfr 2:11cd5173aa36 619 if(line_b!=0){
Ludwigfr 2:11cd5173aa36 620 lineAngle=atan(line_a/-line_b);
Ludwigfr 0:9f7ee7ed13e4 621 }
Ludwigfr 0:9f7ee7ed13e4 622 else{
Ludwigfr 3:37345c109dfc 623 lineAngle=0;
Ludwigfr 0:9f7ee7ed13e4 624 }
Ludwigfr 0:9f7ee7ed13e4 625
Ludwigfr 2:11cd5173aa36 626 this->myOdometria();
Ludwigfr 2:11cd5173aa36 627 //Computing angle error
Ludwigfr 2:11cd5173aa36 628 angleError = lineAngle-this->thetaWorld;//TODO that I m not sure
Ludwigfr 2:11cd5173aa36 629 if(angleError>PI)
Ludwigfr 2:11cd5173aa36 630 angleError=-(angleError-PI);
Ludwigfr 2:11cd5173aa36 631 else
Ludwigfr 2:11cd5173aa36 632 if(angleError<-PI)
Ludwigfr 2:11cd5173aa36 633 angleError=-(angleError+PI);
Ludwigfr 2:11cd5173aa36 634
Ludwigfr 3:37345c109dfc 635 //d=this->distFromLine(this->xWorld, this->yWorld, line_a, line_b, line_c);//this could be 0
Ludwigfr 3:37345c109dfc 636 d=0;
Ludwigfr 8:072a76960e27 637 //pc.printf("\r\ndistance from line:%f",d);
Ludwigfr 0:9f7ee7ed13e4 638 //Calculating velocities
Ludwigfr 2:11cd5173aa36 639 linear= this->kv*(3.14);
Ludwigfr 2:11cd5173aa36 640 angular=-this->kd*d + this->kh*angleError;
Ludwigfr 0:9f7ee7ed13e4 641
Ludwigfr 0:9f7ee7ed13e4 642 float angularLeft=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels;
Ludwigfr 2:11cd5173aa36 643 float angularRight=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels;
Ludwigfr 0:9f7ee7ed13e4 644
Ludwigfr 2:11cd5173aa36 645 //Normalize speed for motors
Ludwigfr 0:9f7ee7ed13e4 646 if(abs(angularLeft)>abs(angularRight)) {
Ludwigfr 0:9f7ee7ed13e4 647 angularRight=this->speed*abs(angularRight/angularLeft)*this->sign1(angularRight);
Ludwigfr 0:9f7ee7ed13e4 648 angularLeft=this->speed*this->sign1(angularLeft);
Ludwigfr 0:9f7ee7ed13e4 649 }
Ludwigfr 0:9f7ee7ed13e4 650 else {
Ludwigfr 0:9f7ee7ed13e4 651 angularLeft=this->speed*abs(angularLeft/angularRight)*this->sign1(angularLeft);
Ludwigfr 0:9f7ee7ed13e4 652 angularRight=this->speed*this->sign1(angularRight);
Ludwigfr 0:9f7ee7ed13e4 653 }
Ludwigfr 2:11cd5173aa36 654
Ludwigfr 2:11cd5173aa36 655 pc.printf("\r\nd = %f", d);
Ludwigfr 3:37345c109dfc 656 pc.printf("\r\nerror = %f, lineAngle=%f, robotAngle=%f\n", angleError,lineAngle,this->thetaWorld);
Ludwigfr 2:11cd5173aa36 657
Ludwigfr 0:9f7ee7ed13e4 658 leftMotor(this->sign2(angularLeft),abs(angularLeft));
Ludwigfr 0:9f7ee7ed13e4 659 rightMotor(this->sign2(angularRight),abs(angularRight));
Ludwigfr 0:9f7ee7ed13e4 660 }
Ludwigfr 0:9f7ee7ed13e4 661
geotsam 1:20f48907c726 662 void MiniExplorerCoimbra::go_to_line_first_lab(float line_a, float line_b, float line_c){
geotsam 1:20f48907c726 663 float lineAngle;
geotsam 1:20f48907c726 664 float angleError;
geotsam 1:20f48907c726 665 float linear;
geotsam 1:20f48907c726 666 float angular;
geotsam 1:20f48907c726 667 float d;
geotsam 1:20f48907c726 668
geotsam 1:20f48907c726 669 //line angle is beetween pi/2 and -pi/2
geotsam 1:20f48907c726 670
geotsam 1:20f48907c726 671 if(line_b!=0){
geotsam 1:20f48907c726 672 lineAngle=atan(line_a/-line_b);
geotsam 1:20f48907c726 673 }
geotsam 1:20f48907c726 674 else{
geotsam 1:20f48907c726 675 lineAngle=1.5708;
geotsam 1:20f48907c726 676 }
geotsam 1:20f48907c726 677
geotsam 1:20f48907c726 678 do{
geotsam 1:20f48907c726 679 this->myOdometria();
geotsam 1:20f48907c726 680 //Computing angle error
Ludwigfr 3:37345c109dfc 681 pc.printf("\r\nline angle = %f", lineAngle);
Ludwigfr 3:37345c109dfc 682 pc.printf("\r\nthetaWorld = %f", thetaWorld);
geotsam 1:20f48907c726 683 angleError = lineAngle-this->thetaWorld;//TODO that I m not sure
geotsam 1:20f48907c726 684
Ludwigfr 3:37345c109dfc 685 if(angleError>PI)
Ludwigfr 3:37345c109dfc 686 angleError=-(angleError-PI);
Ludwigfr 3:37345c109dfc 687 else
Ludwigfr 3:37345c109dfc 688 if(angleError<-PI)
Ludwigfr 3:37345c109dfc 689 angleError=-(angleError+PI);
geotsam 1:20f48907c726 690
Ludwigfr 3:37345c109dfc 691 pc.printf("\r\nangleError = %f\n", angleError);
geotsam 1:20f48907c726 692 d=this->distFromLine(xWorld, yWorld, line_a, line_b, line_c);
Ludwigfr 3:37345c109dfc 693 pc.printf("\r\ndistance to line = %f", d);
geotsam 1:20f48907c726 694
geotsam 1:20f48907c726 695 //Calculating velocities
geotsam 1:20f48907c726 696 linear= this->kv*(3.14);
geotsam 1:20f48907c726 697 angular=-this->kd*d + this->kh*angleError;
geotsam 1:20f48907c726 698
geotsam 1:20f48907c726 699 float angularLeft=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels;
geotsam 1:20f48907c726 700 float angularRight=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels;
geotsam 1:20f48907c726 701
geotsam 1:20f48907c726 702 //Normalize speed for motors
geotsam 1:20f48907c726 703 if(abs(angularLeft)>abs(angularRight)) {
geotsam 1:20f48907c726 704 angularRight=this->speed*abs(angularRight/angularLeft)*this->sign1(angularRight);
geotsam 1:20f48907c726 705 angularLeft=this->speed*this->sign1(angularLeft);
geotsam 1:20f48907c726 706 }
geotsam 1:20f48907c726 707 else {
geotsam 1:20f48907c726 708 angularLeft=this->speed*abs(angularLeft/angularRight)*this->sign1(angularLeft);
geotsam 1:20f48907c726 709 angularRight=this->speed*this->sign1(angularRight);
geotsam 1:20f48907c726 710 }
geotsam 1:20f48907c726 711
geotsam 1:20f48907c726 712 leftMotor(this->sign2(angularLeft),abs(angularLeft));
geotsam 1:20f48907c726 713 rightMotor(this->sign2(angularRight),abs(angularRight));
geotsam 1:20f48907c726 714 }while(1);
geotsam 1:20f48907c726 715 }
geotsam 1:20f48907c726 716
Ludwigfr 0:9f7ee7ed13e4 717 void MiniExplorerCoimbra::update_force(int widthIndice, int heightIndice, float* forceRepulsionComputedX, float* forceRepulsionComputedY ){
Ludwigfr 0:9f7ee7ed13e4 718 //get the coordonate of the map and the robot in the ortonormal space
Ludwigfr 0:9f7ee7ed13e4 719 float xWorldCell=this->map.cell_width_coordinate_to_world(widthIndice);
Ludwigfr 0:9f7ee7ed13e4 720 float yWorldCell=this->map.cell_height_coordinate_to_world(heightIndice);
Ludwigfr 0:9f7ee7ed13e4 721 //compute the distance beetween the cell and the robot
Ludwigfr 0:9f7ee7ed13e4 722 float distanceCellToRobot=sqrt(pow(xWorldCell-this->xWorld,2)+pow(yWorldCell-this->yWorld,2));
Ludwigfr 3:37345c109dfc 723 float probaCell;
Ludwigfr 0:9f7ee7ed13e4 724 //check if the cell is in range
Ludwigfr 8:072a76960e27 725 //float anglePointToRobot=atan2(yWorldCell-this->yWorld,xWorldCell-this->xWorld);//like world system
Ludwigfr 3:37345c109dfc 726 float temp1;
Ludwigfr 3:37345c109dfc 727 float temp2;
Ludwigfr 0:9f7ee7ed13e4 728 if(distanceCellToRobot <= this->rangeForce) {
Ludwigfr 3:37345c109dfc 729 probaCell=this->map.get_proba_cell(widthIndice,heightIndice);
Ludwigfr 8:072a76960e27 730 //pc.printf("\r\nupdate force proba:%f",probaCell);
Ludwigfr 3:37345c109dfc 731 temp1=this->repulsionConstantForce*probaCell/pow(distanceCellToRobot,2);
Ludwigfr 3:37345c109dfc 732 temp2=(xWorldCell-this->xWorld)/distanceCellToRobot;
Ludwigfr 3:37345c109dfc 733 *forceRepulsionComputedX+=temp1*temp2;
Ludwigfr 3:37345c109dfc 734 temp2=(yWorldCell-this->yWorld)/distanceCellToRobot;
Ludwigfr 3:37345c109dfc 735 *forceRepulsionComputedY+=temp1*temp2;
Ludwigfr 0:9f7ee7ed13e4 736 }
Ludwigfr 0:9f7ee7ed13e4 737 }
Ludwigfr 0:9f7ee7ed13e4 738
Ludwigfr 0:9f7ee7ed13e4 739 //return 1 if positiv, -1 if negativ
Ludwigfr 0:9f7ee7ed13e4 740 float MiniExplorerCoimbra::sign1(float value){
Ludwigfr 0:9f7ee7ed13e4 741 if(value>=0)
Ludwigfr 0:9f7ee7ed13e4 742 return 1;
Ludwigfr 0:9f7ee7ed13e4 743 else
Ludwigfr 0:9f7ee7ed13e4 744 return -1;
Ludwigfr 0:9f7ee7ed13e4 745 }
Ludwigfr 0:9f7ee7ed13e4 746
Ludwigfr 0:9f7ee7ed13e4 747 //return 1 if positiv, 0 if negativ
Ludwigfr 0:9f7ee7ed13e4 748 int MiniExplorerCoimbra::sign2(float value){
Ludwigfr 0:9f7ee7ed13e4 749 if(value>=0)
Ludwigfr 0:9f7ee7ed13e4 750 return 1;
Ludwigfr 0:9f7ee7ed13e4 751 else
Ludwigfr 0:9f7ee7ed13e4 752 return 0;
Ludwigfr 0:9f7ee7ed13e4 753 }
Ludwigfr 0:9f7ee7ed13e4 754
geotsam 1:20f48907c726 755 float MiniExplorerCoimbra::distFromLine(float robot_x, float robot_y, float line_a, float line_b, float line_c){
geotsam 1:20f48907c726 756 return abs((line_a*robot_x+line_b*robot_y+line_c)/sqrt(line_a*line_a+line_b*line_b));
geotsam 1:20f48907c726 757 }
geotsam 1:20f48907c726 758
Ludwigfr 5:19f24c363418 759 //4th LAB
Ludwigfr 5:19f24c363418 760 //starting position lower left
Ludwigfr 5:19f24c363418 761
Ludwigfr 10:d0109d7cbe7c 762 void MiniExplorerCoimbra::test_procedure_lab_4(float sizeX, float sizeY){
Ludwigfr 5:19f24c363418 763
Ludwigfr 5:19f24c363418 764 this->map.fill_map_with_kalman_knowledge();
Ludwigfr 10:d0109d7cbe7c 765 this->go_to_point_kalman(this->xWorld+sizeX,this->yWorld+sizeY);
Ludwigfr 5:19f24c363418 766 }
Ludwigfr 5:19f24c363418 767
Ludwigfr 5:19f24c363418 768 //move of targetXWorld and targetYWorld ending in a targetAngleWorld
Ludwigfr 5:19f24c363418 769 void MiniExplorerCoimbra::go_turn_kalman(float targetXWorld, float targetYWorld, float targetAngleWorld) {
Ludwigfr 5:19f24c363418 770 //make sure the target is correct
Ludwigfr 5:19f24c363418 771 if(targetAngleWorld > PI)
Ludwigfr 5:19f24c363418 772 targetAngleWorld=-2*PI+targetAngleWorld;
Ludwigfr 5:19f24c363418 773 if(targetAngleWorld < -PI)
Ludwigfr 5:19f24c363418 774 targetAngleWorld=2*PI+targetAngleWorld;
Ludwigfr 5:19f24c363418 775
Ludwigfr 5:19f24c363418 776 float distanceToTarget=100;
Ludwigfr 5:19f24c363418 777 do {
Ludwigfr 5:19f24c363418 778 leftMotor(1,50);
Ludwigfr 5:19f24c363418 779 rightMotor(0,50);
Ludwigfr 10:d0109d7cbe7c 780 pc.printf("\r\n test lab 4: OdometriaKalmanFilter");
Ludwigfr 6:0e8db3a23486 781 this->OdometriaKalmanFilter();
Ludwigfr 5:19f24c363418 782
Ludwigfr 5:19f24c363418 783 float distanceToTarget=this->dist(this->xWorld, this->yWorld, targetXWorld, targetYWorld);
Ludwigfr 5:19f24c363418 784 //pc.printf("\n\rdist to target= %f",distanceToTarget);
Ludwigfr 5:19f24c363418 785
Ludwigfr 5:19f24c363418 786 } while(distanceToTarget>1 || (abs(targetAngleWorld-this->thetaWorld)>0.1));
Ludwigfr 5:19f24c363418 787
Ludwigfr 5:19f24c363418 788 //Stop at the end
Ludwigfr 5:19f24c363418 789 leftMotor(1,0);
Ludwigfr 5:19f24c363418 790 rightMotor(1,0);
Ludwigfr 5:19f24c363418 791 pc.printf("\r\nReached Target!");
Ludwigfr 5:19f24c363418 792 }
Ludwigfr 5:19f24c363418 793
Ludwigfr 5:19f24c363418 794 //move of targetXWorld and targetYWorld ending in a targetAngleWorld
Ludwigfr 5:19f24c363418 795 void MiniExplorerCoimbra::go_straight_kalman(float targetXWorld, float targetYWorld, float targetAngleWorld) {
Ludwigfr 5:19f24c363418 796 //make sure the target is correct
Ludwigfr 5:19f24c363418 797 if(targetAngleWorld > PI)
Ludwigfr 5:19f24c363418 798 targetAngleWorld=-2*PI+targetAngleWorld;
Ludwigfr 5:19f24c363418 799 if(targetAngleWorld < -PI)
Ludwigfr 5:19f24c363418 800 targetAngleWorld=2*PI+targetAngleWorld;
Ludwigfr 5:19f24c363418 801
Ludwigfr 5:19f24c363418 802 float distanceToTarget=100;;
Ludwigfr 5:19f24c363418 803
Ludwigfr 5:19f24c363418 804 do {
Ludwigfr 5:19f24c363418 805 leftMotor(1,400);
Ludwigfr 5:19f24c363418 806 rightMotor(1,400);
Ludwigfr 6:0e8db3a23486 807 this->OdometriaKalmanFilter();
Ludwigfr 5:19f24c363418 808
Ludwigfr 5:19f24c363418 809 float distanceToTarget=this->dist(this->xWorld, this->yWorld, targetXWorld, targetYWorld);
Ludwigfr 5:19f24c363418 810 pc.printf("\n\rdist to target= %f",distanceToTarget);
Ludwigfr 5:19f24c363418 811
Ludwigfr 5:19f24c363418 812 } while(distanceToTarget>1 || (abs(targetAngleWorld-this->thetaWorld)>0.1));
Ludwigfr 5:19f24c363418 813
Ludwigfr 5:19f24c363418 814 //Stop at the end
Ludwigfr 5:19f24c363418 815 leftMotor(1,0);
Ludwigfr 5:19f24c363418 816 rightMotor(1,0);
Ludwigfr 5:19f24c363418 817 pc.printf("\r\nReached Target!");
Ludwigfr 5:19f24c363418 818 }
Ludwigfr 5:19f24c363418 819
Ludwigfr 10:d0109d7cbe7c 820 void MiniExplorerCoimbra::OdometriaKalmanFilter(){
Ludwigfr 10:d0109d7cbe7c 821 //=====KINEMATICS===========================
Ludwigfr 5:19f24c363418 822 float R_cm;
Ludwigfr 5:19f24c363418 823 float L_cm;
Ludwigfr 5:19f24c363418 824
Ludwigfr 5:19f24c363418 825 //fill R_cm and L_cm with how much is wheel has moved (custom robot.h)
Ludwigfr 5:19f24c363418 826 OdometriaKalman(&R_cm, &L_cm);
Ludwigfr 6:0e8db3a23486 827 float encoderRightFailureRate=0.95;
Ludwigfr 6:0e8db3a23486 828 float encoderLeftFailureRate=1;
Ludwigfr 5:19f24c363418 829
Ludwigfr 5:19f24c363418 830 R_cm=R_cm*encoderRightFailureRate;
Ludwigfr 5:19f24c363418 831 L_cm=L_cm*encoderLeftFailureRate;
Ludwigfr 5:19f24c363418 832
Ludwigfr 5:19f24c363418 833 float distanceMoved=(R_cm+L_cm)/2;
Ludwigfr 5:19f24c363418 834 float angleMoved=(R_cm-L_cm)/this->distanceWheels;
Ludwigfr 5:19f24c363418 835
Ludwigfr 5:19f24c363418 836 float distanceMovedX=distanceMoved*cos(this->thetaWorld+angleMoved/2);
Ludwigfr 5:19f24c363418 837 float distanceMovedY=distanceMoved*sin(this->thetaWorld+angleMoved/2);
Ludwigfr 5:19f24c363418 838
Ludwigfr 5:19f24c363418 839 //try with world coordinate system
Ludwigfr 10:d0109d7cbe7c 840
Ludwigfr 9:1cc27f33d3e1 841 myMatrix poseKplus1K(3,1);
Ludwigfr 9:1cc27f33d3e1 842 poseKplus1K.data[0][0]=this->xWorld+distanceMovedX;
Ludwigfr 9:1cc27f33d3e1 843 poseKplus1K.data[1][0]=this->yWorld+distanceMovedY;
Ludwigfr 9:1cc27f33d3e1 844 poseKplus1K.data[2][0]=this->thetaWorld+angleMoved;
Ludwigfr 10:d0109d7cbe7c 845
Ludwigfr 11:b91fe0ed4fed 846 pc.printf("\r\n Without correction: X=%f, Y=%f, theta=%f",poseKplus1K.get(0,0),poseKplus1K.get(1,0),poseKplus1K.get(2,0));
Ludwigfr 6:0e8db3a23486 847 //=====ERROR_MODEL===========================
Ludwigfr 6:0e8db3a23486 848
Ludwigfr 11:b91fe0ed4fed 849 //FP Matrix slide LocalizationKALMAN
Ludwigfr 9:1cc27f33d3e1 850 myMatrix Fp(3,3);
Ludwigfr 9:1cc27f33d3e1 851 Fp.data[0][0]=1;
Ludwigfr 9:1cc27f33d3e1 852 Fp.data[1][1]=1;
Ludwigfr 9:1cc27f33d3e1 853 Fp.data[2][2]=1;
Ludwigfr 9:1cc27f33d3e1 854 Fp.data[0][2]=-1*distanceMoved*sin(this->thetaWorld+(angleMoved/2));
Ludwigfr 9:1cc27f33d3e1 855 Fp.data[1][2]=distanceMoved*cos(this->thetaWorld+(angleMoved/2));
Ludwigfr 9:1cc27f33d3e1 856
Ludwigfr 9:1cc27f33d3e1 857 myMatrix FpTranspose(3,3);
Ludwigfr 9:1cc27f33d3e1 858 FpTranspose.fillWithTranspose(Fp);
Ludwigfr 9:1cc27f33d3e1 859
Ludwigfr 11:b91fe0ed4fed 860 //Frl matrix slide LocalizationKALMAN
Ludwigfr 9:1cc27f33d3e1 861 myMatrix Frl(3,2);
Ludwigfr 9:1cc27f33d3e1 862 Frl.data[0][0]=0.5*cos(this->thetaWorld+(angleMoved/2))-(distanceMoved/(2*this->distanceWheels))*sin(this->thetaWorld+(angleMoved/2));
Ludwigfr 9:1cc27f33d3e1 863 Frl.data[0][1]=0.5*cos(this->thetaWorld+(angleMoved/2))+(distanceMoved/(2*this->distanceWheels))*sin(this->thetaWorld+(angleMoved/2));
Ludwigfr 9:1cc27f33d3e1 864 Frl.data[1][0]=0.5*sin(this->thetaWorld+(angleMoved/2))+(distanceMoved/(2*this->distanceWheels))*cos(this->thetaWorld+(angleMoved/2));
Ludwigfr 9:1cc27f33d3e1 865 Frl.data[1][1]=0.5*sin(this->thetaWorld+(angleMoved/2))-(distanceMoved/(2*this->distanceWheels))*cos(this->thetaWorld+(angleMoved/2));
Ludwigfr 9:1cc27f33d3e1 866 Frl.data[2][0]=(1/this->distanceWheels);
Ludwigfr 9:1cc27f33d3e1 867 Frl.data[2][1]=-(1/this->distanceWheels) ;
Ludwigfr 9:1cc27f33d3e1 868
Ludwigfr 9:1cc27f33d3e1 869 myMatrix FrlTranspose(2,3);
Ludwigfr 9:1cc27f33d3e1 870 FrlTranspose.fillWithTranspose(Frl);
Ludwigfr 9:1cc27f33d3e1 871
Ludwigfr 6:0e8db3a23486 872 //error constants...
Ludwigfr 6:0e8db3a23486 873 float kr=1;
Ludwigfr 6:0e8db3a23486 874 float kl=1;
Ludwigfr 9:1cc27f33d3e1 875 myMatrix covar(2,2);
Ludwigfr 9:1cc27f33d3e1 876 covar.data[0][0]=kr*abs(R_cm);
Ludwigfr 9:1cc27f33d3e1 877 covar.data[1][1]=kl*abs(L_cm);
Ludwigfr 6:0e8db3a23486 878
Ludwigfr 6:0e8db3a23486 879 //uncertainty positionx, and theta at
Ludwigfr 6:0e8db3a23486 880 //1,1,1
Ludwigfr 9:1cc27f33d3e1 881 myMatrix Q(3,3);
Ludwigfr 9:1cc27f33d3e1 882 Q.data[0][0]=1;
Ludwigfr 9:1cc27f33d3e1 883 Q.data[1][1]=2;
Ludwigfr 9:1cc27f33d3e1 884 Q.data[2][2]=0.01;
Ludwigfr 9:1cc27f33d3e1 885
Ludwigfr 11:b91fe0ed4fed 886 //new covariance= Fp*old covariance*FpTranspose +Frl*covar*FrlTranspose +Q slide LocalizationKALMAN
Ludwigfr 9:1cc27f33d3e1 887 myMatrix covariancePositionEstimationKplus1K(3,3);
Ludwigfr 9:1cc27f33d3e1 888 myMatrix temp1(3,3);
Ludwigfr 9:1cc27f33d3e1 889 temp1.fillByMultiplication(Fp,this->covariancePositionEstimationK);//Fp*old covariance
Ludwigfr 9:1cc27f33d3e1 890 myMatrix temp2(3,3);
Ludwigfr 9:1cc27f33d3e1 891 temp2.fillByMultiplication(temp1,FpTranspose);//Fp*old covariance*FpTranspose
Ludwigfr 9:1cc27f33d3e1 892 temp1.fillWithZeroes();
Ludwigfr 9:1cc27f33d3e1 893 myMatrix temp3(3,2);
Ludwigfr 9:1cc27f33d3e1 894 temp3.fillByMultiplication(Frl,covar);//Frl*covar
Ludwigfr 9:1cc27f33d3e1 895 temp1.fillByMultiplication(temp3,FrlTranspose);//Frl*covar*FrlTranspose
Ludwigfr 9:1cc27f33d3e1 896
Ludwigfr 9:1cc27f33d3e1 897 covariancePositionEstimationKplus1K.addition(temp2);//Fp*old covariance*FpTranspose
Ludwigfr 9:1cc27f33d3e1 898 covariancePositionEstimationKplus1K.addition(temp1);//Fp*old covariance*FpTranspose +Frl*covar*FrlTranspose
Ludwigfr 9:1cc27f33d3e1 899 covariancePositionEstimationKplus1K.addition(Q);//Fp*old covariance*FpTranspose +Frl*covar*FrlTranspose +Q
Ludwigfr 9:1cc27f33d3e1 900
Ludwigfr 6:0e8db3a23486 901 //=====OBSERVATION=====
Ludwigfr 6:0e8db3a23486 902 //get the estimated measure we should have according to our knowledge of the map and the previously computed localisation
Ludwigfr 6:0e8db3a23486 903
Ludwigfr 6:0e8db3a23486 904 float leftCmEstimated=this->sonarLeft.maxRange;
Ludwigfr 6:0e8db3a23486 905 float frontCmEstimated=this->sonarFront.maxRange;
Ludwigfr 6:0e8db3a23486 906 float rightCmEstimated=this->sonarRight.maxRange;
Ludwigfr 6:0e8db3a23486 907 float xWorldCell;
Ludwigfr 6:0e8db3a23486 908 float yWorldCell;
Ludwigfr 6:0e8db3a23486 909 float currDistance;
Ludwigfr 6:0e8db3a23486 910 float xClosestCellLeft;
Ludwigfr 6:0e8db3a23486 911 float yClosestCellLeft;
Ludwigfr 6:0e8db3a23486 912 float xClosestCellFront;
Ludwigfr 6:0e8db3a23486 913 float yClosestCellFront;
Ludwigfr 6:0e8db3a23486 914 float xClosestCellRight;
Ludwigfr 6:0e8db3a23486 915 float yClosestCellRight;
Ludwigfr 11:b91fe0ed4fed 916
Ludwigfr 11:b91fe0ed4fed 917 float xSonarLeft=poseKplus1K.data[0][0]+this->sonarLeft.distanceX;
Ludwigfr 11:b91fe0ed4fed 918 float ySonarLeft=poseKplus1K.data[1][0]+this->sonarLeft.distanceY;
Ludwigfr 11:b91fe0ed4fed 919
Ludwigfr 11:b91fe0ed4fed 920 float xSonarFront=poseKplus1K.data[0][0]+this->sonarFront.distanceX;
Ludwigfr 11:b91fe0ed4fed 921 float ySonarFront=poseKplus1K.data[1][0]+this->sonarFront.distanceY;
Ludwigfr 11:b91fe0ed4fed 922
Ludwigfr 11:b91fe0ed4fed 923 float xSonarRight=poseKplus1K.data[0][0]+this->sonarRight.distanceX;
Ludwigfr 11:b91fe0ed4fed 924 float ySonarRight=poseKplus1K.data[1][0]+this->sonarRight.distanceY;
Ludwigfr 11:b91fe0ed4fed 925
Ludwigfr 11:b91fe0ed4fed 926 //note: sonar.isInRange already incorpore the sonar position and angle relative to the robot
Ludwigfr 11:b91fe0ed4fed 927
Ludwigfr 6:0e8db3a23486 928 //get theorical distance to sonar
Ludwigfr 6:0e8db3a23486 929 for(int i=0;i<this->map.nbCellWidth;i++){
Ludwigfr 6:0e8db3a23486 930 for(int j=0;j<this->map.nbCellHeight;j++){
Ludwigfr 6:0e8db3a23486 931 //check if occupied, if not discard
Ludwigfr 6:0e8db3a23486 932 if(this->map.get_proba_cell(i,j)>0.5){
Ludwigfr 6:0e8db3a23486 933 //check if in sonar range
Ludwigfr 6:0e8db3a23486 934 xWorldCell=this->map.cell_width_coordinate_to_world(i);
Ludwigfr 6:0e8db3a23486 935 yWorldCell=this->map.cell_height_coordinate_to_world(j);
Ludwigfr 6:0e8db3a23486 936 //check left
Ludwigfr 9:1cc27f33d3e1 937 currDistance=this->sonarLeft.isInRange(xWorldCell,yWorldCell,poseKplus1K.data[0][0],poseKplus1K.data[1][0],poseKplus1K.data[2][0]);
Ludwigfr 6:0e8db3a23486 938 if((currDistance < this->sonarLeft.maxRange) && currDistance > -1){
Ludwigfr 6:0e8db3a23486 939 //check if distance is lower than previous, update lowest if so
Ludwigfr 6:0e8db3a23486 940 if(currDistance < leftCmEstimated){
Ludwigfr 6:0e8db3a23486 941 leftCmEstimated= currDistance;
Ludwigfr 6:0e8db3a23486 942 xClosestCellLeft=xWorldCell;
Ludwigfr 6:0e8db3a23486 943 yClosestCellLeft=yWorldCell;
Ludwigfr 6:0e8db3a23486 944 }
Ludwigfr 6:0e8db3a23486 945 }
Ludwigfr 6:0e8db3a23486 946 //check front
Ludwigfr 9:1cc27f33d3e1 947 currDistance=this->sonarFront.isInRange(xWorldCell,yWorldCell,poseKplus1K.data[0][0],poseKplus1K.data[1][0],poseKplus1K.data[2][0]);
Ludwigfr 6:0e8db3a23486 948 if((currDistance < this->sonarFront.maxRange) && currDistance > -1){
Ludwigfr 6:0e8db3a23486 949 //check if distance is lower than previous, update lowest if so
Ludwigfr 6:0e8db3a23486 950 if(currDistance < frontCmEstimated){
Ludwigfr 6:0e8db3a23486 951 frontCmEstimated= currDistance;
Ludwigfr 6:0e8db3a23486 952 xClosestCellFront=xWorldCell;
Ludwigfr 6:0e8db3a23486 953 yClosestCellFront=yWorldCell;
Ludwigfr 6:0e8db3a23486 954 }
Ludwigfr 6:0e8db3a23486 955 }
Ludwigfr 6:0e8db3a23486 956 //check right
Ludwigfr 9:1cc27f33d3e1 957 currDistance=this->sonarRight.isInRange(xWorldCell,yWorldCell,poseKplus1K.data[0][0],poseKplus1K.data[1][0],poseKplus1K.data[2][0]);
Ludwigfr 6:0e8db3a23486 958 if((currDistance < this->sonarRight.maxRange) && currDistance > -1){
Ludwigfr 6:0e8db3a23486 959 //check if distance is lower than previous, update lowest if so
Ludwigfr 6:0e8db3a23486 960 if(currDistance < rightCmEstimated){
Ludwigfr 6:0e8db3a23486 961 rightCmEstimated= currDistance;
Ludwigfr 6:0e8db3a23486 962 xClosestCellRight=xWorldCell;
Ludwigfr 6:0e8db3a23486 963 yClosestCellRight=yWorldCell;
Ludwigfr 6:0e8db3a23486 964 }
Ludwigfr 6:0e8db3a23486 965 }
Ludwigfr 6:0e8db3a23486 966 }
Ludwigfr 6:0e8db3a23486 967 }
Ludwigfr 6:0e8db3a23486 968 }
Ludwigfr 6:0e8db3a23486 969
Ludwigfr 6:0e8db3a23486 970 //check measurements from sonars, see if they passed the validation gate
Ludwigfr 6:0e8db3a23486 971 float leftCm = get_distance_left_sensor()/10;
Ludwigfr 6:0e8db3a23486 972 float frontCm = get_distance_front_sensor()/10;
Ludwigfr 6:0e8db3a23486 973 float rightCm = get_distance_right_sensor()/10;
Ludwigfr 6:0e8db3a23486 974
Ludwigfr 10:d0109d7cbe7c 975 pc.printf("\r\ndistance sonars Lcm=%f, FCm=%f, RCm=%f",leftCm,frontCm,rightCm);
Ludwigfr 6:0e8db3a23486 976
Ludwigfr 6:0e8db3a23486 977 //if superior to sonar range, put the value to sonar max range + 1
Ludwigfr 6:0e8db3a23486 978 if(leftCm > this->sonarLeft.maxRange)
Ludwigfr 6:0e8db3a23486 979 leftCm=this->sonarLeft.maxRange;
Ludwigfr 6:0e8db3a23486 980 if(frontCm > this->sonarFront.maxRange)
Ludwigfr 6:0e8db3a23486 981 frontCm=this->sonarFront.maxRange;
Ludwigfr 6:0e8db3a23486 982 if(rightCm > this->sonarRight.maxRange)
Ludwigfr 6:0e8db3a23486 983 rightCm=this->sonarRight.maxRange;
Ludwigfr 6:0e8db3a23486 984
Ludwigfr 6:0e8db3a23486 985 //======INNOVATION========
Ludwigfr 6:0e8db3a23486 986 //get the innoncation: the value of the difference between the actual measure and what we anticipated
Ludwigfr 6:0e8db3a23486 987 float innovationLeft=leftCm-leftCmEstimated;
Ludwigfr 6:0e8db3a23486 988 float innovationFront=frontCm-frontCmEstimated;
Ludwigfr 6:0e8db3a23486 989 float innovationRight=rightCm-rightCmEstimated;
Ludwigfr 6:0e8db3a23486 990
Ludwigfr 6:0e8db3a23486 991 //compute jacobian of observation
Ludwigfr 9:1cc27f33d3e1 992 myMatrix jacobianOfObservationLeft(1,3);
Ludwigfr 9:1cc27f33d3e1 993 myMatrix jacobianOfObservationRight(1,3);
Ludwigfr 9:1cc27f33d3e1 994 myMatrix jacobianOfObservationFront(1,3);
Ludwigfr 9:1cc27f33d3e1 995
Ludwigfr 6:0e8db3a23486 996 //left
Ludwigfr 9:1cc27f33d3e1 997 jacobianOfObservationLeft.data[0][0]=(xSonarLeft-xClosestCellLeft)/leftCmEstimated;
Ludwigfr 9:1cc27f33d3e1 998 jacobianOfObservationLeft.data[0][1]=(ySonarLeft-yClosestCellLeft)/leftCmEstimated;
Ludwigfr 9:1cc27f33d3e1 999 jacobianOfObservationLeft.data[0][2]=(xClosestCellLeft-xSonarLeft)*(xSonarLeft*sin(poseKplus1K.data[2][0])+ySonarLeft*cos(poseKplus1K.data[2][0]))+(yClosestCellLeft-ySonarLeft)*(-xSonarLeft*cos(poseKplus1K.data[2][0])+ySonarLeft*sin(poseKplus1K.data[2][0]));
Ludwigfr 6:0e8db3a23486 1000 //front
Ludwigfr 11:b91fe0ed4fed 1001
Ludwigfr 9:1cc27f33d3e1 1002 jacobianOfObservationFront.data[0][0]=(xSonarFront-xClosestCellFront)/frontCmEstimated;
Ludwigfr 9:1cc27f33d3e1 1003 jacobianOfObservationFront.data[0][1]=(ySonarFront-yClosestCellFront)/frontCmEstimated;
Ludwigfr 9:1cc27f33d3e1 1004 jacobianOfObservationFront.data[0][2]=(xClosestCellFront-xSonarFront)*(xSonarFront*sin(poseKplus1K.data[2][0])+ySonarFront*cos(poseKplus1K.data[2][0]))+(yClosestCellFront-ySonarFront)*(-xSonarFront*cos(poseKplus1K.data[2][0])+ySonarFront*sin(poseKplus1K.data[2][0]));
Ludwigfr 6:0e8db3a23486 1005 //right
Ludwigfr 11:b91fe0ed4fed 1006
Ludwigfr 9:1cc27f33d3e1 1007 jacobianOfObservationRight.data[0][0]=(xSonarRight-xClosestCellRight)/rightCmEstimated;
Ludwigfr 9:1cc27f33d3e1 1008 jacobianOfObservationRight.data[0][1]=(ySonarRight-yClosestCellRight)/rightCmEstimated;
Ludwigfr 9:1cc27f33d3e1 1009 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 9:1cc27f33d3e1 1010
Ludwigfr 9:1cc27f33d3e1 1011 myMatrix jacobianOfObservationRightTranspose(3,1);
Ludwigfr 9:1cc27f33d3e1 1012 jacobianOfObservationRightTranspose.fillWithTranspose(jacobianOfObservationRight);
Ludwigfr 9:1cc27f33d3e1 1013
Ludwigfr 9:1cc27f33d3e1 1014 myMatrix jacobianOfObservationFrontTranspose(3,1);
Ludwigfr 9:1cc27f33d3e1 1015 jacobianOfObservationFrontTranspose.fillWithTranspose(jacobianOfObservationFront);
Ludwigfr 9:1cc27f33d3e1 1016
Ludwigfr 9:1cc27f33d3e1 1017 myMatrix jacobianOfObservationLeftTranspose(3,1);
Ludwigfr 9:1cc27f33d3e1 1018 jacobianOfObservationLeftTranspose.fillWithTranspose(jacobianOfObservationLeft);
Ludwigfr 6:0e8db3a23486 1019 //error constants 0,0,0 sonars perfect; must be found by experimenting; gives mean and standanrt deviation
Ludwigfr 6:0e8db3a23486 1020 //let's assume
Ludwigfr 6:0e8db3a23486 1021 //in centimeters
Ludwigfr 6:0e8db3a23486 1022 float R_front=4;
Ludwigfr 6:0e8db3a23486 1023 float R_left=4;
Ludwigfr 6:0e8db3a23486 1024 float R_right=4;
Ludwigfr 6:0e8db3a23486 1025
Ludwigfr 6:0e8db3a23486 1026 //R-> 4 in diagonal
Ludwigfr 6:0e8db3a23486 1027
Ludwigfr 6:0e8db3a23486 1028 //S for each sonar (concatenated covariance matrix of innovation)
Ludwigfr 9:1cc27f33d3e1 1029 //equ (12), innovationCovariance =JacobianObservation*covariancePositionEstimationKplus1K*JacobianObservationTranspose+R
Ludwigfr 9:1cc27f33d3e1 1030 myMatrix temp4(1,3);
Ludwigfr 9:1cc27f33d3e1 1031 temp4.fillByMultiplication(jacobianOfObservationFront,covariancePositionEstimationKplus1K);
Ludwigfr 9:1cc27f33d3e1 1032 myMatrix temp5(1,1);
Ludwigfr 9:1cc27f33d3e1 1033 temp5.fillByMultiplication(temp4,jacobianOfObservationFrontTranspose);
Ludwigfr 9:1cc27f33d3e1 1034 float innovationCovarianceFront=temp5.data[0][0]+R_front;
Ludwigfr 9:1cc27f33d3e1 1035 temp4.fillWithZeroes();
Ludwigfr 9:1cc27f33d3e1 1036 temp5.fillWithZeroes();
Ludwigfr 9:1cc27f33d3e1 1037
Ludwigfr 9:1cc27f33d3e1 1038
Ludwigfr 9:1cc27f33d3e1 1039 temp4.fillByMultiplication(jacobianOfObservationLeft,covariancePositionEstimationKplus1K);
Ludwigfr 9:1cc27f33d3e1 1040 temp5.fillByMultiplication(temp4,jacobianOfObservationLeftTranspose);
Ludwigfr 9:1cc27f33d3e1 1041 float innovationCovarianceLeft=temp5.data[0][0]+R_left;
Ludwigfr 9:1cc27f33d3e1 1042 temp4.fillWithZeroes();
Ludwigfr 9:1cc27f33d3e1 1043 temp5.fillWithZeroes();
Ludwigfr 9:1cc27f33d3e1 1044
Ludwigfr 9:1cc27f33d3e1 1045
Ludwigfr 9:1cc27f33d3e1 1046 temp4.fillByMultiplication(jacobianOfObservationRight,covariancePositionEstimationKplus1K);
Ludwigfr 9:1cc27f33d3e1 1047 temp5.fillByMultiplication(temp4,jacobianOfObservationRightTranspose);
Ludwigfr 9:1cc27f33d3e1 1048 float innovationCovarianceRight=temp5.data[0][0]+R_right;
Ludwigfr 6:0e8db3a23486 1049
Ludwigfr 6:0e8db3a23486 1050 //check if it pass the validation gate
Ludwigfr 6:0e8db3a23486 1051 float gateScoreLeft=innovationLeft*innovationLeft/innovationCovarianceLeft;
Ludwigfr 6:0e8db3a23486 1052 float gateScoreFront=innovationFront*innovationFront/innovationCovarianceFront;
Ludwigfr 6:0e8db3a23486 1053 float gateScoreRight=innovationRight*innovationRight/innovationCovarianceRight;
Ludwigfr 6:0e8db3a23486 1054 int leftPassed=0;
Ludwigfr 6:0e8db3a23486 1055 int frontPassed=0;
Ludwigfr 6:0e8db3a23486 1056 int rightPassed=0;
Ludwigfr 6:0e8db3a23486 1057
Ludwigfr 6:0e8db3a23486 1058 //5cm -> 25
Ludwigfr 6:0e8db3a23486 1059 int errorsquare=25;//constant error
Ludwigfr 6:0e8db3a23486 1060
Ludwigfr 6:0e8db3a23486 1061 if(gateScoreLeft <= errorsquare)
Ludwigfr 6:0e8db3a23486 1062 leftPassed=1;
Ludwigfr 6:0e8db3a23486 1063 if(gateScoreFront <= errorsquare)
Ludwigfr 6:0e8db3a23486 1064 frontPassed=10;
Ludwigfr 6:0e8db3a23486 1065 if(gateScoreRight <= errorsquare)
Ludwigfr 6:0e8db3a23486 1066 rightPassed=100;
Ludwigfr 6:0e8db3a23486 1067 //for those who passed
Ludwigfr 6:0e8db3a23486 1068 //compute composite innovation
Ludwigfr 6:0e8db3a23486 1069 int nbPassed=leftPassed+frontPassed+rightPassed;
Ludwigfr 10:d0109d7cbe7c 1070 pc.printf("\r\n nbPassed=%d, ",nbPassed);
Ludwigfr 9:1cc27f33d3e1 1071
Ludwigfr 9:1cc27f33d3e1 1072 //compositeMeasurementJacobian
Ludwigfr 9:1cc27f33d3e1 1073 myMatrix compositeMeasurementJacobian1x3(1,3);
Ludwigfr 9:1cc27f33d3e1 1074 myMatrix compositeMeasurementJacobian2x3(2,3);
Ludwigfr 9:1cc27f33d3e1 1075 myMatrix compositeMeasurementJacobian3x3(3,3);
Ludwigfr 9:1cc27f33d3e1 1076
Ludwigfr 9:1cc27f33d3e1 1077 myMatrix compositeMeasurementJacobian1x3Transpose(3,1);
Ludwigfr 9:1cc27f33d3e1 1078 myMatrix compositeMeasurementJacobian2x3Transpose(3,2);
Ludwigfr 9:1cc27f33d3e1 1079 myMatrix compositeMeasurementJacobian3x3Transpose(3,3);
Ludwigfr 9:1cc27f33d3e1 1080
Ludwigfr 9:1cc27f33d3e1 1081 //compositeInnovation
Ludwigfr 9:1cc27f33d3e1 1082 myMatrix compositeInnovation3x1(3,1);
Ludwigfr 9:1cc27f33d3e1 1083 myMatrix compositeInnovation2x1(2,1);
Ludwigfr 9:1cc27f33d3e1 1084 myMatrix compositeInnovation1x1(1,1);
Ludwigfr 9:1cc27f33d3e1 1085
Ludwigfr 9:1cc27f33d3e1 1086 //compositeInnovationCovariance
Ludwigfr 9:1cc27f33d3e1 1087 myMatrix compositeInnovationCovariance3x3(3,3);
Ludwigfr 9:1cc27f33d3e1 1088 myMatrix compositeInnovationCovariance2x2(2,2);
Ludwigfr 9:1cc27f33d3e1 1089 myMatrix compositeInnovationCovariance1x1(1,1);
Ludwigfr 9:1cc27f33d3e1 1090
Ludwigfr 9:1cc27f33d3e1 1091 myMatrix tempCompositeInnovationCovariance3x3(3,3);
Ludwigfr 9:1cc27f33d3e1 1092 myMatrix tempCompositeInnovationCovariance2x2(2,2);
Ludwigfr 9:1cc27f33d3e1 1093
Ludwigfr 9:1cc27f33d3e1 1094 myMatrix compositeInnovationCovariance3x3Inverse(3,3);
Ludwigfr 9:1cc27f33d3e1 1095 myMatrix compositeInnovationCovariance2x2Inverse(2,2);
Ludwigfr 9:1cc27f33d3e1 1096 myMatrix compositeInnovationCovariance1x1Inverse(1,1);
Ludwigfr 9:1cc27f33d3e1 1097
Ludwigfr 9:1cc27f33d3e1 1098 //Kalman Gain
Ludwigfr 9:1cc27f33d3e1 1099 myMatrix kalmanGain3X3(3,3);
Ludwigfr 9:1cc27f33d3e1 1100 myMatrix kalmanGain3X2(3,2);
Ludwigfr 9:1cc27f33d3e1 1101 myMatrix kalmanGain3X1(3,1);
Ludwigfr 9:1cc27f33d3e1 1102
Ludwigfr 9:1cc27f33d3e1 1103 myMatrix tempKalmanGain3X3(3,3);
Ludwigfr 9:1cc27f33d3e1 1104 myMatrix tempKalmanGain3X2(3,2);
Ludwigfr 9:1cc27f33d3e1 1105 myMatrix tempKalmanGain3X1(3,1);
Ludwigfr 9:1cc27f33d3e1 1106
Ludwigfr 9:1cc27f33d3e1 1107 myMatrix kalmanGain3X3Transpose(3,3);
Ludwigfr 9:1cc27f33d3e1 1108 myMatrix kalmanGain3X2Transpose(2,3);
Ludwigfr 9:1cc27f33d3e1 1109 myMatrix kalmanGain3X1Transpose(1,3);
Ludwigfr 9:1cc27f33d3e1 1110
Ludwigfr 9:1cc27f33d3e1 1111 //new pose estimation
Ludwigfr 9:1cc27f33d3e1 1112 myMatrix poseKplus1Kplus1(3,1);
Ludwigfr 10:d0109d7cbe7c 1113 poseKplus1Kplus1.fillByCopy(poseKplus1K);
Ludwigfr 9:1cc27f33d3e1 1114 myMatrix tempPoseKplus1Kplus1(3,1);
Ludwigfr 9:1cc27f33d3e1 1115
Ludwigfr 9:1cc27f33d3e1 1116 //covariancePositionEstimationKplus1Kplus1
Ludwigfr 9:1cc27f33d3e1 1117 myMatrix covariancePositionEstimationKplus1Kplus1(3,3);
Ludwigfr 9:1cc27f33d3e1 1118 covariancePositionEstimationKplus1Kplus1.fillByCopy(covariancePositionEstimationKplus1K);
Ludwigfr 9:1cc27f33d3e1 1119
Ludwigfr 9:1cc27f33d3e1 1120 myMatrix temp2CovariancePositionEstimationKplus1Kplus13x3(3,3);
Ludwigfr 9:1cc27f33d3e1 1121 myMatrix tempCovariancePositionEstimationKplus1Kplus13x3(3,3);
Ludwigfr 9:1cc27f33d3e1 1122 myMatrix tempCovariancePositionEstimationKplus1Kplus13x2(3,2);
Ludwigfr 9:1cc27f33d3e1 1123 myMatrix tempCovariancePositionEstimationKplus1Kplus13x1(3,1);
Ludwigfr 9:1cc27f33d3e1 1124
Ludwigfr 5:19f24c363418 1125 //we do not use the composite measurement jacobian (16), we directly use the values from the measurement jacobian (jacobianOfObservation)
Ludwigfr 5:19f24c363418 1126 switch(nbPassed){
Ludwigfr 5:19f24c363418 1127 case 0://none
Ludwigfr 5:19f24c363418 1128 //nothings happens it's okay
Ludwigfr 5:19f24c363418 1129 break;
Ludwigfr 5:19f24c363418 1130 case 1://left
Ludwigfr 9:1cc27f33d3e1 1131 //compute compositeMeasurementJacobian
Ludwigfr 9:1cc27f33d3e1 1132 //here compositeMeasurementJacobian= jacobianOfObservationLeft
Ludwigfr 9:1cc27f33d3e1 1133 compositeMeasurementJacobian1x3.fillByCopy(jacobianOfObservationLeft);
Ludwigfr 9:1cc27f33d3e1 1134 //get the compositeMeasurementJacobianTranspose
Ludwigfr 9:1cc27f33d3e1 1135 compositeMeasurementJacobian1x3Transpose.fillWithTranspose(compositeMeasurementJacobian1x3);
Ludwigfr 9:1cc27f33d3e1 1136 //compute compositeInnovation
Ludwigfr 9:1cc27f33d3e1 1137 //here compositeInnovation=innovationLeft
Ludwigfr 9:1cc27f33d3e1 1138 compositeInnovation1x1.data[0][0]=innovationLeft;
Ludwigfr 9:1cc27f33d3e1 1139 //compute compositeInnovationCovariance=compositeMeasurementJacobian*covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranpose
Ludwigfr 9:1cc27f33d3e1 1140 //add the right R on the diagonal
Ludwigfr 9:1cc27f33d3e1 1141 //here compositeInnovationCovariance=innovationCovarianceLeft
Ludwigfr 9:1cc27f33d3e1 1142 compositeInnovationCovariance1x1.data[0][0]=innovationCovarianceLeft;
Ludwigfr 9:1cc27f33d3e1 1143 //get the inverse of the compositeInnovationCovariance
Ludwigfr 9:1cc27f33d3e1 1144 compositeInnovationCovariance1x1Inverse.data[0][0]=1/innovationCovarianceLeft;
Ludwigfr 9:1cc27f33d3e1 1145 //compute KalmanGain=covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranspose*Inverse(compositeInnovationCovariance)
Ludwigfr 9:1cc27f33d3e1 1146 tempKalmanGain3X1.fillByMultiplication(covariancePositionEstimationKplus1K,compositeMeasurementJacobian1x3Transpose);
Ludwigfr 9:1cc27f33d3e1 1147 kalmanGain3X1.fillByMultiplication(tempKalmanGain3X1,compositeInnovationCovariance1x1Inverse);
Ludwigfr 9:1cc27f33d3e1 1148 //get the transpose of the kalman gain
Ludwigfr 9:1cc27f33d3e1 1149 kalmanGain3X1Transpose.fillWithTranspose(kalmanGain3X1);
Ludwigfr 9:1cc27f33d3e1 1150 //update pose estimation=old pose estimation + kalman gain*compositeInnovation
Ludwigfr 9:1cc27f33d3e1 1151 tempPoseKplus1Kplus1.fillByMultiplication(kalmanGain3X1,compositeInnovation1x1);
Ludwigfr 9:1cc27f33d3e1 1152 poseKplus1Kplus1.addition(tempPoseKplus1Kplus1);
Ludwigfr 9:1cc27f33d3e1 1153 //compute covariancePositionEstimationKplus1Kplus1=covariancePositionEstimationKplus1K-kalmanGain*compositeInnovationCovariance*KalmanGainTranspose
Ludwigfr 9:1cc27f33d3e1 1154 tempCovariancePositionEstimationKplus1Kplus13x1.fillByMultiplication(kalmanGain3X1,compositeInnovationCovariance1x1);
Ludwigfr 9:1cc27f33d3e1 1155 tempCovariancePositionEstimationKplus1Kplus13x3.fillByMultiplication(tempCovariancePositionEstimationKplus1Kplus13x1,kalmanGain3X1Transpose);
Ludwigfr 9:1cc27f33d3e1 1156 covariancePositionEstimationKplus1Kplus1.subtraction(tempCovariancePositionEstimationKplus1Kplus13x3);
Ludwigfr 5:19f24c363418 1157
Ludwigfr 5:19f24c363418 1158 break;
Ludwigfr 5:19f24c363418 1159 case 10://front
Ludwigfr 9:1cc27f33d3e1 1160 //compute compositeMeasurementJacobian
Ludwigfr 9:1cc27f33d3e1 1161 compositeMeasurementJacobian1x3.fillByCopy(jacobianOfObservationFront);
Ludwigfr 9:1cc27f33d3e1 1162 //get the compositeMeasurementJacobianTranspose
Ludwigfr 9:1cc27f33d3e1 1163 compositeMeasurementJacobian1x3Transpose.fillWithTranspose(compositeMeasurementJacobian1x3);
Ludwigfr 9:1cc27f33d3e1 1164 //compute compositeInnovation
Ludwigfr 9:1cc27f33d3e1 1165 compositeInnovation1x1.data[0][0]=innovationFront;
Ludwigfr 9:1cc27f33d3e1 1166 //compute compositeInnovationCovariance=compositeMeasurementJacobian*covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranpose
Ludwigfr 9:1cc27f33d3e1 1167 //add the right R on the diagonal
Ludwigfr 9:1cc27f33d3e1 1168 compositeInnovationCovariance1x1.data[0][0]=innovationCovarianceFront;
Ludwigfr 9:1cc27f33d3e1 1169 //get the inverse of the compositeInnovationCovariance
Ludwigfr 9:1cc27f33d3e1 1170 compositeInnovationCovariance1x1Inverse.data[0][0]=1/innovationCovarianceFront;
Ludwigfr 9:1cc27f33d3e1 1171 //compute KalmanGain=covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranspose*Inverse(compositeInnovationCovariance)
Ludwigfr 9:1cc27f33d3e1 1172 tempKalmanGain3X1.fillByMultiplication(covariancePositionEstimationKplus1K,compositeMeasurementJacobian1x3Transpose);
Ludwigfr 9:1cc27f33d3e1 1173 kalmanGain3X1.fillByMultiplication(tempKalmanGain3X1,compositeInnovationCovariance1x1Inverse);
Ludwigfr 9:1cc27f33d3e1 1174 //get the transpose of the kalman gain
Ludwigfr 9:1cc27f33d3e1 1175 kalmanGain3X1Transpose.fillWithTranspose(kalmanGain3X1);
Ludwigfr 9:1cc27f33d3e1 1176 //update pose estimation=old pose estimation + kalman gain*compositeInnovation
Ludwigfr 9:1cc27f33d3e1 1177 tempPoseKplus1Kplus1.fillByMultiplication(kalmanGain3X1,compositeInnovation1x1);
Ludwigfr 9:1cc27f33d3e1 1178 poseKplus1Kplus1.addition(tempPoseKplus1Kplus1);
Ludwigfr 9:1cc27f33d3e1 1179 //compute covariancePositionEstimationKplus1Kplus1=covariancePositionEstimationKplus1K-kalmanGain*compositeInnovationCovariance*KalmanGainTranspose
Ludwigfr 9:1cc27f33d3e1 1180 tempCovariancePositionEstimationKplus1Kplus13x1.fillByMultiplication(kalmanGain3X1,compositeInnovationCovariance1x1);
Ludwigfr 9:1cc27f33d3e1 1181 tempCovariancePositionEstimationKplus1Kplus13x3.fillByMultiplication(tempCovariancePositionEstimationKplus1Kplus13x1,kalmanGain3X1Transpose);
Ludwigfr 9:1cc27f33d3e1 1182 covariancePositionEstimationKplus1Kplus1.subtraction(tempCovariancePositionEstimationKplus1Kplus13x3);
Ludwigfr 5:19f24c363418 1183
Ludwigfr 5:19f24c363418 1184 break;
Ludwigfr 5:19f24c363418 1185 case 11://left and front
Ludwigfr 9:1cc27f33d3e1 1186 //compute compositeMeasurementJacobian
Ludwigfr 9:1cc27f33d3e1 1187 compositeMeasurementJacobian2x3.data[0][0]=jacobianOfObservationLeft.data[0][0];
Ludwigfr 9:1cc27f33d3e1 1188 compositeMeasurementJacobian2x3.data[0][1]=jacobianOfObservationLeft.data[0][1];
Ludwigfr 9:1cc27f33d3e1 1189 compositeMeasurementJacobian2x3.data[0][2]=jacobianOfObservationLeft.data[0][2];
Ludwigfr 9:1cc27f33d3e1 1190
Ludwigfr 9:1cc27f33d3e1 1191 compositeMeasurementJacobian2x3.data[1][0]=jacobianOfObservationFront.data[0][0];
Ludwigfr 9:1cc27f33d3e1 1192 compositeMeasurementJacobian2x3.data[1][1]=jacobianOfObservationFront.data[0][1];
Ludwigfr 9:1cc27f33d3e1 1193 compositeMeasurementJacobian2x3.data[1][2]=jacobianOfObservationFront.data[0][2];
Ludwigfr 9:1cc27f33d3e1 1194
Ludwigfr 9:1cc27f33d3e1 1195 //get the compositeMeasurementJacobianTranspose
Ludwigfr 9:1cc27f33d3e1 1196 compositeMeasurementJacobian2x3Transpose.fillWithTranspose(compositeMeasurementJacobian2x3);
Ludwigfr 9:1cc27f33d3e1 1197 //compute compositeInnovation
Ludwigfr 9:1cc27f33d3e1 1198 compositeInnovation2x1.data[0][0]=innovationLeft;
Ludwigfr 9:1cc27f33d3e1 1199 compositeInnovation2x1.data[1][0]=innovationFront;
Ludwigfr 9:1cc27f33d3e1 1200 //compute compositeInnovationCovariance=compositeMeasurementJacobian*covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranpose+R
Ludwigfr 9:1cc27f33d3e1 1201 tempCompositeInnovationCovariance2x2.fillByMultiplication(compositeMeasurementJacobian2x3,covariancePositionEstimationKplus1K);
Ludwigfr 9:1cc27f33d3e1 1202 compositeInnovationCovariance2x2.fillByMultiplication(tempCompositeInnovationCovariance2x2,compositeMeasurementJacobian2x3Transpose);
Ludwigfr 9:1cc27f33d3e1 1203 //add the right R on the diagonal
Ludwigfr 9:1cc27f33d3e1 1204 compositeInnovationCovariance2x2.data[0][0]+=R_left;
Ludwigfr 9:1cc27f33d3e1 1205 compositeInnovationCovariance2x2.data[1][1]+=R_front;
Ludwigfr 9:1cc27f33d3e1 1206 //get the inverse of the compositeInnovationCovariance
Ludwigfr 9:1cc27f33d3e1 1207 compositeInnovationCovariance2x2Inverse.fillWithInverse(compositeInnovationCovariance2x2);
Ludwigfr 9:1cc27f33d3e1 1208 //compute KalmanGain=covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranspose*Inverse(compositeInnovationCovariance)
Ludwigfr 9:1cc27f33d3e1 1209 tempKalmanGain3X2.fillByMultiplication(covariancePositionEstimationKplus1K,compositeMeasurementJacobian2x3Transpose);
Ludwigfr 9:1cc27f33d3e1 1210 kalmanGain3X2.fillByMultiplication(tempKalmanGain3X2,compositeInnovationCovariance2x2Inverse);
Ludwigfr 9:1cc27f33d3e1 1211 //get the transpose of the kalman gain
Ludwigfr 9:1cc27f33d3e1 1212 kalmanGain3X2Transpose.fillWithTranspose(kalmanGain3X2);
Ludwigfr 9:1cc27f33d3e1 1213 //update pose estimation=old pose estimation + kalman gain*compositeInnovation
Ludwigfr 9:1cc27f33d3e1 1214 tempPoseKplus1Kplus1.fillByMultiplication(kalmanGain3X2,compositeInnovation2x1);
Ludwigfr 9:1cc27f33d3e1 1215 poseKplus1Kplus1.addition(tempPoseKplus1Kplus1);
Ludwigfr 9:1cc27f33d3e1 1216 //compute covariancePositionEstimationKplus1Kplus1=covariancePositionEstimationKplus1K-kalmanGain*compositeInnovationCovariance*KalmanGainTranspose
Ludwigfr 9:1cc27f33d3e1 1217 tempCovariancePositionEstimationKplus1Kplus13x2.fillByMultiplication(kalmanGain3X2,compositeInnovationCovariance2x2);
Ludwigfr 9:1cc27f33d3e1 1218 tempCovariancePositionEstimationKplus1Kplus13x3.fillByMultiplication(tempCovariancePositionEstimationKplus1Kplus13x2,kalmanGain3X2Transpose);
Ludwigfr 9:1cc27f33d3e1 1219 covariancePositionEstimationKplus1Kplus1.subtraction(tempCovariancePositionEstimationKplus1Kplus13x3);
Ludwigfr 9:1cc27f33d3e1 1220
Ludwigfr 9:1cc27f33d3e1 1221 break;
Ludwigfr 5:19f24c363418 1222
Ludwigfr 5:19f24c363418 1223 case 100://right
Ludwigfr 9:1cc27f33d3e1 1224 //compute compositeMeasurementJacobian
Ludwigfr 9:1cc27f33d3e1 1225 compositeMeasurementJacobian1x3.fillByCopy(jacobianOfObservationRight);
Ludwigfr 9:1cc27f33d3e1 1226 //get the compositeMeasurementJacobianTranspose
Ludwigfr 9:1cc27f33d3e1 1227 compositeMeasurementJacobian1x3Transpose.fillWithTranspose(compositeMeasurementJacobian1x3);
Ludwigfr 9:1cc27f33d3e1 1228 //compute compositeInnovation
Ludwigfr 9:1cc27f33d3e1 1229 compositeInnovation1x1.data[0][0]=innovationRight;
Ludwigfr 9:1cc27f33d3e1 1230 //compute compositeInnovationCovariance=compositeMeasurementJacobian*covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranpose
Ludwigfr 9:1cc27f33d3e1 1231 //add the right R on the diagonal
Ludwigfr 9:1cc27f33d3e1 1232 compositeInnovationCovariance1x1.data[0][0]=innovationCovarianceRight;
Ludwigfr 9:1cc27f33d3e1 1233 //get the inverse of the compositeInnovationCovariance
Ludwigfr 9:1cc27f33d3e1 1234 compositeInnovationCovariance1x1Inverse.data[0][0]=1/innovationCovarianceRight;
Ludwigfr 9:1cc27f33d3e1 1235 //compute KalmanGain=covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranspose*Inverse(compositeInnovationCovariance)
Ludwigfr 9:1cc27f33d3e1 1236 tempKalmanGain3X1.fillByMultiplication(covariancePositionEstimationKplus1K,compositeMeasurementJacobian1x3Transpose);
Ludwigfr 9:1cc27f33d3e1 1237 kalmanGain3X1.fillByMultiplication(tempKalmanGain3X1,compositeInnovationCovariance1x1Inverse);
Ludwigfr 9:1cc27f33d3e1 1238 //get the transpose of the kalman gain
Ludwigfr 9:1cc27f33d3e1 1239 kalmanGain3X1Transpose.fillWithTranspose(kalmanGain3X1);
Ludwigfr 9:1cc27f33d3e1 1240 //update pose estimation=old pose estimation + kalman gain*compositeInnovation
Ludwigfr 9:1cc27f33d3e1 1241 tempPoseKplus1Kplus1.fillByMultiplication(kalmanGain3X1,compositeInnovation1x1);
Ludwigfr 9:1cc27f33d3e1 1242 poseKplus1Kplus1.addition(tempPoseKplus1Kplus1);
Ludwigfr 9:1cc27f33d3e1 1243 //compute covariancePositionEstimationKplus1Kplus1=covariancePositionEstimationKplus1K-kalmanGain*compositeInnovationCovariance*KalmanGainTranspose
Ludwigfr 9:1cc27f33d3e1 1244 tempCovariancePositionEstimationKplus1Kplus13x1.fillByMultiplication(kalmanGain3X1,compositeInnovationCovariance1x1);
Ludwigfr 9:1cc27f33d3e1 1245 tempCovariancePositionEstimationKplus1Kplus13x3.fillByMultiplication(tempCovariancePositionEstimationKplus1Kplus13x1,kalmanGain3X1Transpose);
Ludwigfr 9:1cc27f33d3e1 1246 covariancePositionEstimationKplus1Kplus1.subtraction(tempCovariancePositionEstimationKplus1Kplus13x3);
Ludwigfr 5:19f24c363418 1247
Ludwigfr 5:19f24c363418 1248 break;
Ludwigfr 9:1cc27f33d3e1 1249 case 101://left and right
Ludwigfr 9:1cc27f33d3e1 1250 //compute compositeMeasurementJacobian
Ludwigfr 9:1cc27f33d3e1 1251 compositeMeasurementJacobian2x3.data[0][0]=jacobianOfObservationLeft.data[0][0];
Ludwigfr 9:1cc27f33d3e1 1252 compositeMeasurementJacobian2x3.data[0][1]=jacobianOfObservationLeft.data[0][1];
Ludwigfr 9:1cc27f33d3e1 1253 compositeMeasurementJacobian2x3.data[0][2]=jacobianOfObservationLeft.data[0][2];
Ludwigfr 9:1cc27f33d3e1 1254
Ludwigfr 9:1cc27f33d3e1 1255 compositeMeasurementJacobian2x3.data[1][0]=jacobianOfObservationRight.data[0][0];
Ludwigfr 9:1cc27f33d3e1 1256 compositeMeasurementJacobian2x3.data[1][1]=jacobianOfObservationRight.data[0][1];
Ludwigfr 9:1cc27f33d3e1 1257 compositeMeasurementJacobian2x3.data[1][2]=jacobianOfObservationRight.data[0][2];
Ludwigfr 9:1cc27f33d3e1 1258
Ludwigfr 9:1cc27f33d3e1 1259 //get the compositeMeasurementJacobianTranspose
Ludwigfr 9:1cc27f33d3e1 1260 compositeMeasurementJacobian2x3Transpose.fillWithTranspose(compositeMeasurementJacobian2x3);
Ludwigfr 9:1cc27f33d3e1 1261 //compute compositeInnovation
Ludwigfr 9:1cc27f33d3e1 1262 compositeInnovation2x1.data[0][0]=innovationLeft;
Ludwigfr 9:1cc27f33d3e1 1263 compositeInnovation2x1.data[1][0]=innovationRight;
Ludwigfr 9:1cc27f33d3e1 1264 //compute compositeInnovationCovariance=compositeMeasurementJacobian*covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranpose+R
Ludwigfr 9:1cc27f33d3e1 1265 tempCompositeInnovationCovariance2x2.fillByMultiplication(compositeMeasurementJacobian2x3,covariancePositionEstimationKplus1K);
Ludwigfr 9:1cc27f33d3e1 1266 compositeInnovationCovariance2x2.fillByMultiplication(tempCompositeInnovationCovariance2x2,compositeMeasurementJacobian2x3Transpose);
Ludwigfr 9:1cc27f33d3e1 1267 //add the right R on the diagonal
Ludwigfr 9:1cc27f33d3e1 1268 compositeInnovationCovariance2x2.data[0][0]+=R_left;
Ludwigfr 9:1cc27f33d3e1 1269 compositeInnovationCovariance2x2.data[1][1]+=R_right;
Ludwigfr 9:1cc27f33d3e1 1270 //get the inverse of the compositeInnovationCovariance
Ludwigfr 9:1cc27f33d3e1 1271 compositeInnovationCovariance2x2Inverse.fillWithInverse(compositeInnovationCovariance2x2);
Ludwigfr 9:1cc27f33d3e1 1272 //compute KalmanGain=covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranspose*Inverse(compositeInnovationCovariance)
Ludwigfr 9:1cc27f33d3e1 1273 tempKalmanGain3X2.fillByMultiplication(covariancePositionEstimationKplus1K,compositeMeasurementJacobian2x3Transpose);
Ludwigfr 9:1cc27f33d3e1 1274 kalmanGain3X2.fillByMultiplication(tempKalmanGain3X2,compositeInnovationCovariance2x2Inverse);
Ludwigfr 9:1cc27f33d3e1 1275 //get the transpose of the kalman gain
Ludwigfr 9:1cc27f33d3e1 1276 kalmanGain3X2Transpose.fillWithTranspose(kalmanGain3X2);
Ludwigfr 9:1cc27f33d3e1 1277 //update pose estimation=old pose estimation + kalman gain*compositeInnovation
Ludwigfr 9:1cc27f33d3e1 1278 tempPoseKplus1Kplus1.fillByMultiplication(kalmanGain3X2,compositeInnovation2x1);
Ludwigfr 9:1cc27f33d3e1 1279 poseKplus1Kplus1.addition(tempPoseKplus1Kplus1);
Ludwigfr 9:1cc27f33d3e1 1280 //compute covariancePositionEstimationKplus1Kplus1=covariancePositionEstimationKplus1K-kalmanGain*compositeInnovationCovariance*KalmanGainTranspose
Ludwigfr 9:1cc27f33d3e1 1281 tempCovariancePositionEstimationKplus1Kplus13x2.fillByMultiplication(kalmanGain3X2,compositeInnovationCovariance2x2);
Ludwigfr 9:1cc27f33d3e1 1282 tempCovariancePositionEstimationKplus1Kplus13x3.fillByMultiplication(tempCovariancePositionEstimationKplus1Kplus13x2,kalmanGain3X2Transpose);
Ludwigfr 9:1cc27f33d3e1 1283 covariancePositionEstimationKplus1Kplus1.subtraction(tempCovariancePositionEstimationKplus1Kplus13x3);
Ludwigfr 9:1cc27f33d3e1 1284
Ludwigfr 5:19f24c363418 1285 break;
Ludwigfr 9:1cc27f33d3e1 1286 case 110:// front and right
Ludwigfr 9:1cc27f33d3e1 1287 //compute compositeMeasurementJacobian
Ludwigfr 9:1cc27f33d3e1 1288 compositeMeasurementJacobian2x3.data[0][0]=jacobianOfObservationFront.data[0][0];
Ludwigfr 9:1cc27f33d3e1 1289 compositeMeasurementJacobian2x3.data[0][1]=jacobianOfObservationFront.data[0][1];
Ludwigfr 9:1cc27f33d3e1 1290 compositeMeasurementJacobian2x3.data[0][2]=jacobianOfObservationFront.data[0][2];
Ludwigfr 9:1cc27f33d3e1 1291
Ludwigfr 9:1cc27f33d3e1 1292 compositeMeasurementJacobian2x3.data[1][0]=jacobianOfObservationRight.data[0][0];
Ludwigfr 9:1cc27f33d3e1 1293 compositeMeasurementJacobian2x3.data[1][1]=jacobianOfObservationRight.data[0][1];
Ludwigfr 9:1cc27f33d3e1 1294 compositeMeasurementJacobian2x3.data[1][2]=jacobianOfObservationRight.data[0][2];
Ludwigfr 9:1cc27f33d3e1 1295
Ludwigfr 9:1cc27f33d3e1 1296 //get the compositeMeasurementJacobianTranspose
Ludwigfr 9:1cc27f33d3e1 1297 compositeMeasurementJacobian2x3Transpose.fillWithTranspose(compositeMeasurementJacobian2x3);
Ludwigfr 9:1cc27f33d3e1 1298 //compute compositeInnovation
Ludwigfr 9:1cc27f33d3e1 1299 compositeInnovation2x1.data[0][0]=innovationFront;
Ludwigfr 9:1cc27f33d3e1 1300 compositeInnovation2x1.data[1][0]=innovationRight;
Ludwigfr 9:1cc27f33d3e1 1301 //compute compositeInnovationCovariance=compositeMeasurementJacobian*covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranpose+R
Ludwigfr 9:1cc27f33d3e1 1302 tempCompositeInnovationCovariance2x2.fillByMultiplication(compositeMeasurementJacobian2x3,covariancePositionEstimationKplus1K);
Ludwigfr 9:1cc27f33d3e1 1303 compositeInnovationCovariance2x2.fillByMultiplication(tempCompositeInnovationCovariance2x2,compositeMeasurementJacobian2x3Transpose);
Ludwigfr 9:1cc27f33d3e1 1304 //add the right R on the diagonal
Ludwigfr 9:1cc27f33d3e1 1305 compositeInnovationCovariance2x2.data[0][0]+=R_front;
Ludwigfr 9:1cc27f33d3e1 1306 compositeInnovationCovariance2x2.data[1][1]+=R_right;
Ludwigfr 9:1cc27f33d3e1 1307 //get the inverse of the compositeInnovationCovariance
Ludwigfr 9:1cc27f33d3e1 1308 compositeInnovationCovariance2x2Inverse.fillWithInverse(compositeInnovationCovariance2x2);
Ludwigfr 9:1cc27f33d3e1 1309 //compute KalmanGain=covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranspose*Inverse(compositeInnovationCovariance)
Ludwigfr 9:1cc27f33d3e1 1310 tempKalmanGain3X2.fillByMultiplication(covariancePositionEstimationKplus1K,compositeMeasurementJacobian2x3Transpose);
Ludwigfr 9:1cc27f33d3e1 1311 kalmanGain3X2.fillByMultiplication(tempKalmanGain3X2,compositeInnovationCovariance2x2Inverse);
Ludwigfr 9:1cc27f33d3e1 1312 //get the transpose of the kalman gain
Ludwigfr 9:1cc27f33d3e1 1313 kalmanGain3X2Transpose.fillWithTranspose(kalmanGain3X2);
Ludwigfr 9:1cc27f33d3e1 1314 //update pose estimation=old pose estimation + kalman gain*compositeInnovation
Ludwigfr 9:1cc27f33d3e1 1315 tempPoseKplus1Kplus1.fillByMultiplication(kalmanGain3X2,compositeInnovation2x1);
Ludwigfr 9:1cc27f33d3e1 1316 poseKplus1Kplus1.addition(tempPoseKplus1Kplus1);
Ludwigfr 9:1cc27f33d3e1 1317 //compute covariancePositionEstimationKplus1Kplus1=covariancePositionEstimationKplus1K-kalmanGain*compositeInnovationCovariance*KalmanGainTranspose
Ludwigfr 9:1cc27f33d3e1 1318 tempCovariancePositionEstimationKplus1Kplus13x2.fillByMultiplication(kalmanGain3X2,compositeInnovationCovariance2x2);
Ludwigfr 9:1cc27f33d3e1 1319 tempCovariancePositionEstimationKplus1Kplus13x3.fillByMultiplication(tempCovariancePositionEstimationKplus1Kplus13x2,kalmanGain3X2Transpose);
Ludwigfr 9:1cc27f33d3e1 1320 covariancePositionEstimationKplus1Kplus1.subtraction(tempCovariancePositionEstimationKplus1Kplus13x3);
Ludwigfr 9:1cc27f33d3e1 1321
Ludwigfr 5:19f24c363418 1322 break;
Ludwigfr 9:1cc27f33d3e1 1323 case 111://left front and right
Ludwigfr 9:1cc27f33d3e1 1324 //compute compositeMeasurementJacobian
Ludwigfr 9:1cc27f33d3e1 1325 compositeMeasurementJacobian3x3.data[0][0]=jacobianOfObservationLeft.data[0][0];
Ludwigfr 9:1cc27f33d3e1 1326 compositeMeasurementJacobian3x3.data[0][1]=jacobianOfObservationLeft.data[0][1];
Ludwigfr 9:1cc27f33d3e1 1327 compositeMeasurementJacobian3x3.data[0][2]=jacobianOfObservationLeft.data[0][2];
Ludwigfr 9:1cc27f33d3e1 1328
Ludwigfr 9:1cc27f33d3e1 1329 compositeMeasurementJacobian3x3.data[1][0]=jacobianOfObservationFront.data[0][0];
Ludwigfr 9:1cc27f33d3e1 1330 compositeMeasurementJacobian3x3.data[1][1]=jacobianOfObservationFront.data[0][1];
Ludwigfr 9:1cc27f33d3e1 1331 compositeMeasurementJacobian3x3.data[1][2]=jacobianOfObservationFront.data[0][2];
Ludwigfr 9:1cc27f33d3e1 1332
Ludwigfr 9:1cc27f33d3e1 1333 compositeMeasurementJacobian3x3.data[2][0]=jacobianOfObservationRight.data[0][0];
Ludwigfr 9:1cc27f33d3e1 1334 compositeMeasurementJacobian3x3.data[2][1]=jacobianOfObservationRight.data[0][1];
Ludwigfr 9:1cc27f33d3e1 1335 compositeMeasurementJacobian3x3.data[2][2]=jacobianOfObservationRight.data[0][2];
Ludwigfr 9:1cc27f33d3e1 1336
Ludwigfr 9:1cc27f33d3e1 1337 //get the compositeMeasurementJacobianTranspose
Ludwigfr 9:1cc27f33d3e1 1338 compositeMeasurementJacobian3x3Transpose.fillWithTranspose(compositeMeasurementJacobian3x3);
Ludwigfr 9:1cc27f33d3e1 1339 //compute compositeInnovation
Ludwigfr 9:1cc27f33d3e1 1340 compositeInnovation3x1.data[0][0]=innovationLeft;
Ludwigfr 9:1cc27f33d3e1 1341 compositeInnovation3x1.data[1][0]=innovationFront;
Ludwigfr 9:1cc27f33d3e1 1342 compositeInnovation3x1.data[2][0]=innovationRight;
Ludwigfr 9:1cc27f33d3e1 1343 //compute compositeInnovationCovariance=compositeMeasurementJacobian*covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranpose+R
Ludwigfr 9:1cc27f33d3e1 1344 tempCompositeInnovationCovariance3x3.fillByMultiplication(compositeMeasurementJacobian3x3,covariancePositionEstimationKplus1K);
Ludwigfr 9:1cc27f33d3e1 1345 compositeInnovationCovariance3x3.fillByMultiplication(tempCompositeInnovationCovariance3x3,compositeMeasurementJacobian3x3Transpose);
Ludwigfr 9:1cc27f33d3e1 1346 //add the right R on the diagonal
Ludwigfr 9:1cc27f33d3e1 1347 compositeInnovationCovariance3x3.data[0][0]+=R_left;
Ludwigfr 9:1cc27f33d3e1 1348 compositeInnovationCovariance3x3.data[1][1]+=R_front;
Ludwigfr 9:1cc27f33d3e1 1349 compositeInnovationCovariance3x3.data[2][2]+=R_right;
Ludwigfr 9:1cc27f33d3e1 1350 //get the inverse of the compositeInnovationCovariance
Ludwigfr 9:1cc27f33d3e1 1351 compositeInnovationCovariance3x3Inverse.fillWithInverse(compositeInnovationCovariance3x3);
Ludwigfr 9:1cc27f33d3e1 1352 //compute KalmanGain=covariancePositionEstimationKplus1K*compositeMeasurementJacobianTranspose*Inverse(compositeInnovationCovariance)
Ludwigfr 9:1cc27f33d3e1 1353 tempKalmanGain3X3.fillByMultiplication(covariancePositionEstimationKplus1K,compositeMeasurementJacobian3x3Transpose);
Ludwigfr 9:1cc27f33d3e1 1354 kalmanGain3X3.fillByMultiplication(tempKalmanGain3X3,compositeInnovationCovariance3x3Inverse);
Ludwigfr 9:1cc27f33d3e1 1355 //get the transpose of the kalman gain
Ludwigfr 9:1cc27f33d3e1 1356 kalmanGain3X3Transpose.fillWithTranspose(kalmanGain3X3);
Ludwigfr 9:1cc27f33d3e1 1357 //update pose estimation=old pose estimation + kalman gain*compositeInnovation
Ludwigfr 9:1cc27f33d3e1 1358 tempPoseKplus1Kplus1.fillByMultiplication(kalmanGain3X3,compositeInnovation3x1);
Ludwigfr 9:1cc27f33d3e1 1359 poseKplus1Kplus1.addition(tempPoseKplus1Kplus1);
Ludwigfr 9:1cc27f33d3e1 1360 //compute covariancePositionEstimationKplus1Kplus1=covariancePositionEstimationKplus1K-kalmanGain*compositeInnovationCovariance*KalmanGainTranspose
Ludwigfr 9:1cc27f33d3e1 1361 temp2CovariancePositionEstimationKplus1Kplus13x3.fillByMultiplication(kalmanGain3X3,compositeInnovationCovariance3x3);
Ludwigfr 9:1cc27f33d3e1 1362 tempCovariancePositionEstimationKplus1Kplus13x3.fillByMultiplication(temp2CovariancePositionEstimationKplus1Kplus13x3,kalmanGain3X3Transpose);
Ludwigfr 9:1cc27f33d3e1 1363 covariancePositionEstimationKplus1Kplus1.subtraction(tempCovariancePositionEstimationKplus1Kplus13x3);
Ludwigfr 9:1cc27f33d3e1 1364
Ludwigfr 5:19f24c363418 1365 break;
Ludwigfr 5:19f24c363418 1366 }
Ludwigfr 9:1cc27f33d3e1 1367 //update covariancePositionEstimationK =covariancePositionEstimationKplus1Kplus1
Ludwigfr 9:1cc27f33d3e1 1368 this->covariancePositionEstimationK.fillByCopy(covariancePositionEstimationKplus1Kplus1);
Ludwigfr 5:19f24c363418 1369
Ludwigfr 9:1cc27f33d3e1 1370 //update pose
Ludwigfr 9:1cc27f33d3e1 1371 this->xWorld=poseKplus1Kplus1.data[0][0];
Ludwigfr 9:1cc27f33d3e1 1372 this->yWorld=poseKplus1Kplus1.data[1][0];
Ludwigfr 9:1cc27f33d3e1 1373 this->thetaWorld=poseKplus1Kplus1.data[2][0];
Ludwigfr 5:19f24c363418 1374
Ludwigfr 10:d0109d7cbe7c 1375 pc.printf("\r\nAfter Kalman X=%f, Y=%f, theta=%f",xWorld,yWorld,thetaWorld);
Ludwigfr 5:19f24c363418 1376 //try with robot one
Ludwigfr 5:19f24c363418 1377 /*
Ludwigfr 5:19f24c363418 1378 X=xEstimatedKNext;
Ludwigfr 5:19f24c363418 1379 Y=yEstimatedKNext;
Ludwigfr 5:19f24c363418 1380 theta=thetaWorldEstimatedKNext;
Ludwigfr 5:19f24c363418 1381 this->xWorld=-Y;
Ludwigfr 5:19f24c363418 1382 this->yWorld=X;
Ludwigfr 5:19f24c363418 1383 if(theta >PI/2)
Ludwigfr 5:19f24c363418 1384 this->thetaWorld=-PI+(theta-PI/2);
Ludwigfr 5:19f24c363418 1385 else
Ludwigfr 5:19f24c363418 1386 this->thetaWorld=theta+PI/2;
Ludwigfr 5:19f24c363418 1387
Ludwigfr 5:19f24c363418 1388
Ludwigfr 5:19f24c363418 1389 this->print_map_with_robot_position();
Ludwigfr 5:19f24c363418 1390 pc.printf("\n\rX= %f",this->xWorld);
Ludwigfr 5:19f24c363418 1391 pc.printf("\n\rY= %f",this->yWorld);
Ludwigfr 5:19f24c363418 1392 pc.printf("\n\rtheta= %f",this->thetaWorld);
Ludwigfr 5:19f24c363418 1393 */
Ludwigfr 5:19f24c363418 1394 //update odometrie X Y theta...
Ludwigfr 5:19f24c363418 1395 }
Ludwigfr 5:19f24c363418 1396
Ludwigfr 10:d0109d7cbe7c 1397 void MiniExplorerCoimbra::go_to_point_kalman(float targetXWorld, float targetYWorld) {
Ludwigfr 10:d0109d7cbe7c 1398
Ludwigfr 10:d0109d7cbe7c 1399 float angleError; //angle error
Ludwigfr 10:d0109d7cbe7c 1400 float d; //distance from target
Ludwigfr 10:d0109d7cbe7c 1401 float angularLeft, angularRight, linear, angular;
Ludwigfr 10:d0109d7cbe7c 1402 int speed=300;
Ludwigfr 5:19f24c363418 1403
Ludwigfr 10:d0109d7cbe7c 1404 do {
Ludwigfr 10:d0109d7cbe7c 1405 //Updating X,Y and theta with the odometry values
Ludwigfr 10:d0109d7cbe7c 1406 this->OdometriaKalmanFilter();
Ludwigfr 5:19f24c363418 1407
Ludwigfr 10:d0109d7cbe7c 1408 //Computing angle error and distance towards the target value
Ludwigfr 10:d0109d7cbe7c 1409 angleError = atan2((targetYWorld-this->yWorld),(targetXWorld-this->xWorld))-this->thetaWorld;
Ludwigfr 10:d0109d7cbe7c 1410 if(angleError>PI) angleError=-(angleError-PI);
Ludwigfr 10:d0109d7cbe7c 1411 else if(angleError<-PI) angleError=-(angleError+PI);
Ludwigfr 10:d0109d7cbe7c 1412 //pc.printf("\n\r error=%f",angleError);
Ludwigfr 10:d0109d7cbe7c 1413
Ludwigfr 10:d0109d7cbe7c 1414 d=this->dist(this->xWorld, this->yWorld, targetXWorld, targetYWorld);
Ludwigfr 10:d0109d7cbe7c 1415 //pc.printf("\n\r dist=%f/n", d);
Ludwigfr 10:d0109d7cbe7c 1416
Ludwigfr 10:d0109d7cbe7c 1417 //Computing linear and angular velocities
Ludwigfr 10:d0109d7cbe7c 1418 linear=k_linear*d;
Ludwigfr 10:d0109d7cbe7c 1419 angular=k_angular*angleError;
Ludwigfr 10:d0109d7cbe7c 1420 angularLeft=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels;
Ludwigfr 10:d0109d7cbe7c 1421 angularRight=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels;
Ludwigfr 10:d0109d7cbe7c 1422
Ludwigfr 10:d0109d7cbe7c 1423 //Normalize speed for motors
Ludwigfr 10:d0109d7cbe7c 1424 if(angularLeft>angularRight) {
Ludwigfr 10:d0109d7cbe7c 1425 angularRight=speed*angularRight/angularLeft;
Ludwigfr 10:d0109d7cbe7c 1426 angularLeft=speed;
Ludwigfr 10:d0109d7cbe7c 1427 } else {
Ludwigfr 10:d0109d7cbe7c 1428 angularLeft=speed*angularLeft/angularRight;
Ludwigfr 10:d0109d7cbe7c 1429 angularRight=speed;
Ludwigfr 10:d0109d7cbe7c 1430 }
Ludwigfr 10:d0109d7cbe7c 1431
Ludwigfr 10:d0109d7cbe7c 1432 //pc.printf("\n\r X=%f", this->xWorld);
Ludwigfr 10:d0109d7cbe7c 1433 //pc.printf("\n\r Y=%f", this->yWorld);
Ludwigfr 10:d0109d7cbe7c 1434 //pc.printf("\n\r theta=%f", this->thetaWorld);
Ludwigfr 10:d0109d7cbe7c 1435
Ludwigfr 10:d0109d7cbe7c 1436 //Updating motor velocities
Ludwigfr 10:d0109d7cbe7c 1437 if(angularLeft>0){
Ludwigfr 10:d0109d7cbe7c 1438 leftMotor(1,angularLeft);
Ludwigfr 10:d0109d7cbe7c 1439 }
Ludwigfr 10:d0109d7cbe7c 1440 else{
Ludwigfr 10:d0109d7cbe7c 1441 leftMotor(0,-angularLeft);
Ludwigfr 10:d0109d7cbe7c 1442 }
Ludwigfr 10:d0109d7cbe7c 1443
Ludwigfr 10:d0109d7cbe7c 1444 if(angularRight>0){
Ludwigfr 10:d0109d7cbe7c 1445 rightMotor(1,angularRight);
Ludwigfr 10:d0109d7cbe7c 1446 }
Ludwigfr 10:d0109d7cbe7c 1447 else{
Ludwigfr 10:d0109d7cbe7c 1448 rightMotor(0,-angularRight);
Ludwigfr 10:d0109d7cbe7c 1449 }
Ludwigfr 10:d0109d7cbe7c 1450
Ludwigfr 10:d0109d7cbe7c 1451 //wait(0.5);
Ludwigfr 10:d0109d7cbe7c 1452 } while(d>5);
Ludwigfr 10:d0109d7cbe7c 1453
Ludwigfr 10:d0109d7cbe7c 1454 //Stop at the end
Ludwigfr 10:d0109d7cbe7c 1455 leftMotor(1,0);
Ludwigfr 10:d0109d7cbe7c 1456 rightMotor(1,0);
Ludwigfr 10:d0109d7cbe7c 1457 }
Ludwigfr 10:d0109d7cbe7c 1458
Ludwigfr 10:d0109d7cbe7c 1459 void MiniExplorerCoimbra::printMatrix(myMatrix mat1){
Ludwigfr 10:d0109d7cbe7c 1460 for(int i = 0; i < mat1.nbRow; ++i) {
Ludwigfr 10:d0109d7cbe7c 1461 for(int j = 0; j < mat1.nbColumn; ++j) {
Ludwigfr 10:d0109d7cbe7c 1462 pc.printf("\r%f",mat1.data[i][j]);
Ludwigfr 10:d0109d7cbe7c 1463 }
Ludwigfr 10:d0109d7cbe7c 1464 pc.printf("\n");
Ludwigfr 10:d0109d7cbe7c 1465 }
Ludwigfr 10:d0109d7cbe7c 1466 }