Diff: MiniExplorerCoimbra.hpp

Revision:

5:19f24c363418

Parent:

2:11cd5173aa36

Child:

6:0e8db3a23486

--- a/MiniExplorerCoimbra.hpp	Thu Jul 06 12:13:14 2017 +0000
+++ b/MiniExplorerCoimbra.hpp	Thu Jul 06 16:51:40 2017 +0000
@@ -48,6 +48,8 @@
 	float rangeForce;
 	float attractionConstantForce;
 	float repulsionConstantForce;
+	
+	float covariancePositionEstimationK[3][3];
 
 	MiniExplorerCoimbra(float defaultXWorld, float defaultYWorld, float defaultThetaWorld, float widthRealMap, float heightRealMap);
 	
@@ -75,6 +77,16 @@
 	
 	void test_sonars_and_map(int nbIteration);
 	
+	void test_procedure_lab_4(float sizeX, float sizeY, int nbRectangle);
+	
+	void go_straight_kalman(float targetXWorld, float targetYWorld, float targetAngleWorld);
+	
+	void go_turn_kalman(float targetXWorld, float targetYWorld, float targetAngleWorld);
+	
+	void go_to_point_with_angle_kalman(float targetXWorld, float targetYWorld, float targetAngleWorld);
+	
+	void OdometriaKalmanFilter(float encoderRightFailureRate,float encoderLeftFailureRate); 
+	
 	private:
 	
 	void myOdometria();