test morning
Dependencies: ISR_Mini-explorer mbed
Fork of roboticLab_withclass_3_July by
Diff: Sonar.cpp
- Revision:
- 0:9f7ee7ed13e4
- Child:
- 2:11cd5173aa36
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Sonar.cpp Mon Jun 26 12:05:20 2017 +0000 @@ -0,0 +1,129 @@ +#include "Sonar.hpp" + +#define PI 3.14159 + +Sonar::Sonar(float angleFromCenter, float distanceXFromRobotCenter, float distanceYFromRobotCenter ){ + this->angleFromCenter=angleFromCenter; + this->distanceX=distanceXFromRobotCenter; + this->distanceY=distanceYFromRobotCenter; + this->maxRange=50;//cm + this->minRange=10;//Rmin cm + this->incertitudeRange=10;//cm + this->angleRange=3.14159/3;//Omega rad +} + +//return distance sonar to cell if in range, -1 if not +float Sonar::isInRange(float xCell, float yCell, float xRobotWorld, float yRobotWorld, float thetaWorld){ + float xSonar=xRobotWorld+this->distanceX; + float ySonar=yRobotWorld+this->distanceY; + float distanceCellToSonar=sqrt(pow(xCell-xSonar,2)+pow(yCell-ySonar,2)); + + //check if the distance between the cell and the robot is within the circle of range RADIUS_WHEELS + if( distanceCellToSonar < this->maxRange){ + //float anglePointToSonar=this->compute_angle_between_vectors(xCell,yCell,xSonar,ySonar);//angle beetween the point and the sonar beam + float angleCellToSonar=atan2(yCell-yRobotWorld,xCell-xRobotWorld);//like world system + + float angleOriginToMidleOfBeam=thetaWorld+this->angleFromCenter;// + + float angleDifference=angleCellToSonar-angleOriginToMidleOfBeam; + if(angleDifference > PI) + angleDifference=angleDifference-2*PI; + if(angleDifference < -PI) + angleDifference=angleDifference+2*PI; + //check if absolute difference between the angles is no more than Omega/2 + if(angleDifference > 0 && angleDifference <= this->angleRange/2 ||angleDifference < 0 && angleDifference >= -this->angleRange/2 ){ + return distanceCellToSonar; + } + } + return -1; +} + +//function that check if a cell A(x,y) is in the range of the front sonar S(xs,ys) (with an angle depending on the sonar used, front 0, left PI/3, right -PI/3) returns the probability it's occuPIed/empty [0;1] +float Sonar::compute_probability_t(float distanceObstacleDetected, float xCell, float yCell, float xRobotWorld, float yRobotWorld, float thetaWorld){ + float xSonar=xRobotWorld+this->distanceX; + float ySonar=yRobotWorld+this->distanceY; + float distancePointToSonar=sqrt(pow(xCell-xSonar,2)+pow(yCell-ySonar,2)); + //check if the distance between the cell and the robot is within the circle of range RADIUS_WHEELS + if( distancePointToSonar < this->maxRange){ + //float anglePointToSonar=this->compute_angle_between_vectors(xCell,yCell,xSonar,ySonar);//angle beetween the point and the sonar beam + float anglePointToSonar=atan2(yCell-yRobotWorld,xCell-xRobotWorld);//like world system + + float angleOriginToMidleOfBeam=thetaWorld+this->angleFromCenter;// + + float angleDifference=anglePointToSonar-angleOriginToMidleOfBeam; + if(angleDifference > PI) + angleDifference=angleDifference-2*PI; + if(angleDifference < -PI) + angleDifference=angleDifference+2*PI; + //check if absolute difference between the angles is no more than Omega/2 + if(angleDifference > 0 && angleDifference <= this->angleRange/2 ||angleDifference < 0 && angleDifference >= -this->angleRange/2 ){ + + if( distancePointToSonar < (distanceObstacleDetected - this->incertitudeRange)){ + //point before obstacle, probably empty + /*****************************************************************************/ + float Ea=1.f-pow((2*angleDifference)/this->angleRange,2); + float Er; + if(distancePointToSonar < this->minRange){ + //point before minimum sonar range + Er=0.f; + }else{ + //point after minimum sonar range + Er=1.f-pow((distancePointToSonar-this->minRange)/(distanceObstacleDetected-this->incertitudeRange-this->minRange),2); + } + /*****************************************************************************/ + //if((1.f-Er*Ea)/2.f >1 || (1.f-Er*Ea)/2.f < 0) + // pc.printf("\n\r return value=%f,Er=%f,Ea=%f,angleDifference=%f",(1.f-Er*Ea)/2.f,Er,Ea,angleDifference); + return (1.f-Er*Ea)/2.f; + }else{ + //probably occuPIed + /*****************************************************************************/ + float Oa=1.f-pow((2*angleDifference)/this->angleRange,2); + float Or; + if( distancePointToSonar <= (distanceObstacleDetected + this->incertitudeRange)){ + //point between distanceObstacleDetected +- INCERTITUDE_SONAR + Or=1-pow((distancePointToSonar-distanceObstacleDetected)/(this->incertitudeRange),2); + }else{ + //point after in range of the sonar but after the zone detected + Or=0; + } + /*****************************************************************************/ + //if((1+Or*Oa)/2 >1 || (1+Or*Oa)/2 < 0) + // pc.printf("\n\r return value=%f,Er=%f,Ea=%f,angleDifference=%f",(1+Or*Oa)/2,Or,Oa,angleDifference); + return (1+Or*Oa)/2; + } + } + } + //not checked by the sonar + return 0.5; +} + +//returns the angle between the vectors (x,y) and (xs,ys) +float Sonar::compute_angle_between_vectors(float x, float y,float xs,float ys){ + //alpha angle between ->x and ->SA + //vector S to A ->SA + float vSAx=x-xs; + float vSAy=y-ys; + //norme SA + float normeSA=sqrt(pow(vSAx,2)+pow(vSAy,2)); + //vector ->x (1,0) + float cosAlpha=1*vSAy/*+0*vSAx*//normeSA;; + //vector ->y (0,1) + float sinAlpha=/*0*vSAy+*/1*vSAx/normeSA;//+0*vSAx; + if (sinAlpha < 0) + return -acos(cosAlpha); + else + return acos(cosAlpha); +} + +//makes the angle inAngle between 0 and 2PI +float Sonar::rad_angle_check(float inAngle){ + if(inAngle > 0){ + while(inAngle > (2*PI)) + inAngle-=2*PI; + }else{ + while(inAngle < 0) + inAngle+=2*PI; + } + return inAngle; +} +