test morning
Dependencies: ISR_Mini-explorer mbed
Fork of roboticLab_withclass_3_July by
Diff: MiniExplorerCoimbra.hpp
- Revision:
- 5:19f24c363418
- Parent:
- 2:11cd5173aa36
- Child:
- 6:0e8db3a23486
diff -r 8132a0291c4b -r 19f24c363418 MiniExplorerCoimbra.hpp --- 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();