test morning
Dependencies: ISR_Mini-explorer mbed
Fork of roboticLab_withclass_3_July by
Sonar.cpp
- Committer:
- Ludwigfr
- Date:
- 2017-06-26
- Revision:
- 0:9f7ee7ed13e4
- Child:
- 2:11cd5173aa36
File content as of revision 0:9f7ee7ed13e4:
#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; }