roboticLab_withclass_3_July
Dependencies: ISR_Mini-explorer mbed
Fork of roboticLab_withclass by
MiniExplorerCoimbra.cpp
- Committer:
- geotsam
- Date:
- 2017-07-03
- Revision:
- 1:20f48907c726
- Parent:
- 0:9f7ee7ed13e4
File content as of revision 1:20f48907c726:
#include "MiniExplorerCoimbra.hpp" #include "robot.h" #define PI 3.14159 MiniExplorerCoimbra::MiniExplorerCoimbra(float defaultXWorld, float defaultYWorld, float defaultThetaWorld):map(200,200,20,20),sonarLeft(10*PI/36,-4,4),sonarFront(0,0,5),sonarRight(-10*PI/36,4,4){ i2c1.frequency(100000); initRobot(); //Initializing the robot pc.baud(9600); // baud for the pc communication measure_always_on();//TODO check if needed this->setXYThetaAndXYThetaWorld(defaultXWorld,defaultYWorld,defaultThetaWorld); this->radiusWheels=3.25; this->distanceWheels=7.2; this->k_linear=10; this->k_angular=200; this->khro=12; this->ka=30; this->kb=-13; this->kv=200; this->kh=200; this->kd=5; this->speed=300; this->rangeForce=30; this->attractionConstantForce=10000; this->repulsionConstantForce=1; } void MiniExplorerCoimbra::setXYThetaAndXYThetaWorld(float defaultXWorld, float defaultYWorld, float defaultThetaWorld){ this->xWorld=defaultXWorld; this->yWorld=defaultYWorld; this->thetaWorld=defaultThetaWorld; X=defaultYWorld; Y=-defaultXWorld; if(defaultThetaWorld < -PI/2) theta=PI/2+PI-defaultThetaWorld; else theta=defaultThetaWorld-PI/2; } void MiniExplorerCoimbra::myOdometria(){ Odometria(); this->xWorld=-Y; this->yWorld=X; if(theta >PI/2) this->thetaWorld=-PI+(theta-PI/2); else this->thetaWorld=theta+PI/2; } void MiniExplorerCoimbra::go_to_point(float targetXWorld, float targetYWorld) { float angleError; //angle error float d; //distance from target float k_linear=10, k_angular=200; float angularLeft, angularRight, linear, angular; int speed=300; do { //Updating X,Y and theta with the odometry values this->myOdometria(); //Computing angle error and distance towards the target value angleError = atan2((targetYWorld-this->yWorld),(targetXWorld-this->xWorld))-this->thetaWorld; if(angleError>PI) angleError=-(angleError-PI); else if(angleError<-PI) angleError=-(angleError+PI); pc.printf("\n\r error=%f",angleError); d=this->dist(this->xWorld, this->yWorld, targetXWorld, targetYWorld); pc.printf("\n\r dist=%f/n", d); //Computing linear and angular velocities linear=k_linear*d; angular=k_angular*angleError; angularLeft=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels; angularRight=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels; //Normalize speed for motors if(angularLeft>angularRight) { angularRight=speed*angularRight/angularLeft; angularLeft=speed; } else { angularLeft=speed*angularLeft/angularRight; angularRight=speed; } pc.printf("\n\r X=%f", this->xWorld); pc.printf("\n\r Y=%f", this->yWorld); pc.printf("\n\r theta=%f", this->thetaWorld); //Updating motor velocities if(angularLeft>0){ leftMotor(1,angularLeft); } else{ leftMotor(0,-angularLeft); } if(angularRight>0){ rightMotor(1,angularRight); } else{ rightMotor(0,-angularRight); } wait(0.5); } while(d>1); //Stop at the end leftMotor(1,0); rightMotor(1,0); } //generate a position randomly and makes the robot go there while updating the map void MiniExplorerCoimbra::randomize_and_map() { //TODO check that it's aurelien's work float movementOnX=rand()%(int)(this->map.widthRealMap/2); float movementOnY=rand()%(int)(this->map.heightRealMap/2); float signOfX=rand()%2; if(signOfX < 1) signOfX=-1; float signOfY=rand()%2; if(signOfY < 1) signOfY=-1; float targetXWorld = movementOnX*signOfX; float targetYWorld = movementOnY*signOfY; float targetAngleWorld = 2*((float)(rand()%31416)-15708)/10000.0; this->go_to_point_with_angle(targetXWorld, targetYWorld, targetAngleWorld); } //move of targetXWorld and targetYWorld ending in a targetAngleWorld void MiniExplorerCoimbra::go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld) { bool keepGoing=true; float leftMm; float frontMm; float rightMm; float dt; Timer t; float distanceToTarget; do { //Timer stuff dt = t.read(); t.reset(); t.start(); //Updating X,Y and theta with the odometry values this->myOdometria(); leftMm = get_distance_left_sensor(); frontMm = get_distance_front_sensor(); rightMm = get_distance_right_sensor(); //if in dangerzone if((frontMm < 150 && frontMm > 0)|| (leftMm <150 && leftMm > 0) || (rightMm <150 && rightMm > 0) ){ leftMotor(1,0); rightMotor(1,0); this->update_sonar_values(leftMm, frontMm, rightMm); //TODO Giorgos maybe you can also test the do_half_flip() function this->myOdometria(); //do a flip TODO keepGoing=false; this->do_half_flip(); }else{ //if not in danger zone continue as usual this->update_sonar_values(leftMm, frontMm, rightMm); //Updating motor velocities distanceToTarget=this->update_angular_speed_wheels_go_to_point_with_angle(targetXWorld,targetYWorld,targetAngleWorld,dt); wait(0.2); //Timer stuff t.stop(); pc.printf("\n\r dist to target= %f",distanceToTarget); } } while(distanceToTarget>1 && (abs(targetAngleWorld-this->thetaWorld)>0.01) && keepGoing); //Stop at the end leftMotor(1,0); rightMotor(1,0); } //move of targetXWorld and targetYWorld ending in a targetAngleWorld void MiniExplorerCoimbra::go_to_point_with_angle_first_lab(float targetXWorld, float targetYWorld, float targetAngleWorld) { float dt; Timer t; float distanceToTarget; do { //Timer stuff dt = t.read(); t.reset(); t.start(); //Updating X,Y and theta with the odometry values this->myOdometria(); //Updating motor velocities distanceToTarget=this->update_angular_speed_wheels_go_to_point_with_angle(targetXWorld,targetYWorld,targetAngleWorld,dt); wait(0.2); //Timer stuff t.stop(); pc.printf("\n\rdist to target= %f",distanceToTarget); } while(distanceToTarget>1 || (abs(targetAngleWorld-this->thetaWorld)>0.1)); //Stop at the end leftMotor(1,0); rightMotor(1,0); pc.printf("\r\nReached Target!"); } float MiniExplorerCoimbra::update_angular_speed_wheels_go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld, float dt){ //compute_angles_and_distance //atan2 take the deplacement on x and the deplacement on y as parameters float angleToPoint = atan2((targetYWorld-this->yWorld),(targetXWorld-this->xWorld))-this->thetaWorld; if(angleToPoint>PI) angleToPoint=-(angleToPoint-PI); else if(angleToPoint<-PI) angleToPoint=-(angleToPoint+PI); //rho is the distance to the point of arrival float rho = dist(targetXWorld,targetYWorld,this->xWorld,this->yWorld); float distanceToTarget = rho; //TODO check that float beta = targetAngleWorld-angleToPoint-this->thetaWorld; //Computing angle error and distance towards the target value rho += dt*(-this->khro*cos(angleToPoint)*rho); float temp = angleToPoint; angleToPoint += dt*(this->khro*sin(angleToPoint)-this->ka*angleToPoint-this->kb*beta); beta += dt*(-this->khro*sin(temp)); //Computing linear and angular velocities float linear; float angular; if(angleToPoint>=-1.5708 && angleToPoint<=1.5708){ linear=this->khro*rho; angular=this->ka*angleToPoint+this->kb*beta; } else{ linear=-this->khro*rho; angular=-this->ka*angleToPoint-this->kb*beta; } float angularLeft=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels; float angularRight=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels; //Slowing down at the end for more precision if (distanceToTarget<30) { this->speed = distanceToTarget*10; } //Normalize speed for motors if(angularLeft>angularRight) { angularRight=this->speed*angularRight/angularLeft; angularLeft=this->speed; } else { angularLeft=this->speed*angularLeft/angularRight; angularRight=this->speed; } //compute_linear_angular_velocities leftMotor(1,angularLeft); rightMotor(1,angularRight); return distanceToTarget; } void MiniExplorerCoimbra::update_sonar_values(float leftMm,float frontMm,float rightMm){ float xWorldCell; float yWorldCell; for(int i=0;i<this->map.nbCellWidth;i++){ for(int j=0;j<this->map.nbCellHeight;j++){ xWorldCell=this->map.cell_width_coordinate_to_world(i); yWorldCell=this->map.cell_height_coordinate_to_world(j); this->map.update_cell_value(i,j,this->sonarRight.compute_probability_t(rightMm/10,xWorldCell,yWorldCell,this->xWorld,this->yWorld,this->thetaWorld)); this->map.update_cell_value(i,j,this->sonarLeft.compute_probability_t(leftMm/10,xWorldCell,yWorldCell,this->xWorld,this->yWorld,this->thetaWorld)); this->map.update_cell_value(i,j,this->sonarFront.compute_probability_t(frontMm/10,xWorldCell,yWorldCell,this->xWorld,this->yWorld,this->thetaWorld)); } } } void MiniExplorerCoimbra::do_half_flip(){ this->myOdometria(); float theta_plus_h_pi=theta+PI/2;//theta is between -PI and PI if(theta_plus_h_pi > PI) theta_plus_h_pi=-(2*PI-theta_plus_h_pi); leftMotor(0,100); rightMotor(1,100); while(abs(theta_plus_h_pi-theta)>0.05){ this->myOdometria(); // pc.printf("\n\r diff=%f", abs(theta_plus_pi-theta)); } leftMotor(1,0); rightMotor(1,0); } //Distance computation function float MiniExplorerCoimbra::dist(float x1, float y1, float x2, float y2){ return sqrt(pow(y2-y1,2) + pow(x2-x1,2)); } //use virtual force field void MiniExplorerCoimbra::try_to_reach_target(float targetXWorld,float targetYWorld){ //atan2 gives the angle beetween PI and -PI this->myOdometria(); /* float deplacementOnXWorld=targetXWorld-this->xWorld; float deplacementOnYWorld=targetYWorld-this->yWorld; */ float angleToTarget=atan2(targetYWorld-this->yWorld,targetXWorld-this->xWorld); turn_to_target(angleToTarget); bool reached=false; int print=0; while (!reached) { this->vff(&reached,targetXWorld,targetYWorld); //test_got_to_line(&reached); if(print==10){ leftMotor(1,0); rightMotor(1,0); this->print_map_with_robot_position_and_target(targetXWorld,targetYWorld); print=0; }else print+=1; } //Stop at the end leftMotor(1,0); rightMotor(1,0); pc.printf("\r\n target reached"); wait(3);// } void MiniExplorerCoimbra::vff(bool* reached, float targetXWorld, float targetYWorld){ float line_a; float line_b; float line_c; //Updating X,Y and theta with the odometry values float forceXWorld=0; float forceYWorld=0; //we update the odometrie this->myOdometria(); //we check the sensors float leftMm = get_distance_left_sensor(); float frontMm = get_distance_front_sensor(); float rightMm = get_distance_right_sensor(); //update the probabilities values this->update_sonar_values(leftMm, frontMm, rightMm); //we compute the force on X and Y this->compute_forceX_and_forceY(&forceXWorld, &forceYWorld,targetXWorld,targetYWorld); //we compute a new ine this->calculate_line(forceXWorld, forceYWorld, &line_a,&line_b,&line_c); //Updating motor velocities this->go_to_line(line_a,line_b,line_c,targetXWorld,targetYWorld); //wait(0.1); this->myOdometria(); if(dist(this->xWorld,this->yWorld,targetXWorld,targetYWorld)<10) *reached=true; } /*angleToTarget is obtained through atan2 so it s: < 0 if the angle is bettween PI and 2pi on a trigo circle > 0 if it is between 0 and PI */ void MiniExplorerCoimbra::turn_to_target(float angleToTarget){ this->myOdometria(); float theta_plus_h_pi=theta+PI/2;//theta is between -PI and PI if(theta_plus_h_pi > PI) theta_plus_h_pi=-(2*PI-theta_plus_h_pi); if(angleToTarget>0){ leftMotor(0,1); rightMotor(1,1); }else{ leftMotor(1,1); rightMotor(0,1); } while(abs(angleToTarget-theta_plus_h_pi)>0.05){ this->myOdometria(); theta_plus_h_pi=theta+PI/2;//theta is between -PI and PI if(theta_plus_h_pi > PI) theta_plus_h_pi=-(2*PI-theta_plus_h_pi); //pc.printf("\n\r diff=%f", abs(angleToTarget-theta_plus_h_pi)); } leftMotor(1,0); rightMotor(1,0); } void MiniExplorerCoimbra::print_map_with_robot_position_and_target(float targetXWorld, float targetYWorld) { float currProba; float heightIndiceInOrthonormal; float widthIndiceInOrthonormal; float widthMalus=-(3*this->map.sizeCellWidth/2); float widthBonus=this->map.sizeCellWidth/2; float heightMalus=-(3*this->map.sizeCellHeight/2); float heightBonus=this->map.sizeCellHeight/2; pc.printf("\n\r"); for (int y = this->map.nbCellHeight -1; y>-1; y--) { for (int x= 0; x<this->map.nbCellWidth; x++) { heightIndiceInOrthonormal=this->map.cell_height_coordinate_to_world(y); widthIndiceInOrthonormal=this->map.cell_width_coordinate_to_world(x); if(this->yWorld >= (heightIndiceInOrthonormal+heightMalus) && this->yWorld <= (heightIndiceInOrthonormal+heightBonus) && this->xWorld >= (widthIndiceInOrthonormal+widthMalus) && this->xWorld <= (widthIndiceInOrthonormal+widthBonus)) pc.printf(" R "); else{ if(targetYWorld >= (heightIndiceInOrthonormal+heightMalus) && targetYWorld <= (heightIndiceInOrthonormal+heightBonus) && targetXWorld >= (widthIndiceInOrthonormal+widthMalus) && targetXWorld <= (widthIndiceInOrthonormal+widthBonus)) pc.printf(" T "); else{ currProba=this->map.log_to_proba(this->map.cellsLogValues[x][y]); if ( currProba < 0.5) pc.printf(" "); else{ if(currProba==0.5) pc.printf(" . "); else pc.printf(" X "); } } } } pc.printf("\n\r"); } } //robotX and robotY are from this->myOdometria(), calculate line_a, line_b and line_c void MiniExplorerCoimbra::calculate_line(float forceX, float forceY, float *line_a, float *line_b, float *line_c){ /* in the teachers maths it is *line_a=forceY; *line_b=-forceX; because a*x+b*y+c=0 a impact the vertical and b the horizontal and he has to put them like this because Robot space: World space: ^ ^ |x |y <- R O -> y x but since our forceX, forceY are already computed in the orthonormal space I m not sure we need to */ *line_a=forceX; *line_b=forceY; //because the line computed always pass by the robot center we dont need lince_c //*line_c=forceX*this->yWorld+forceY*this->xWorld; *line_c=0; } //compute the force on X and Y void MiniExplorerCoimbra::compute_forceX_and_forceY(float* forceXWorld, float* forceYWorld, float targetXWorld, float targetYWorld){ float forceRepulsionComputedX=0; float forceRepulsionComputedY=0; for(int i=0;i<this->map.nbCellWidth;i++){ //for each cell of the map we compute a force of repulsion for(int j=0;j<this->map.nbCellHeight;j++){ this->update_force(i,j,&forceRepulsionComputedX,&forceRepulsionComputedY); } } //update with attraction force *forceXWorld=+forceRepulsionComputedX; *forceYWorld=+forceRepulsionComputedY; float distanceTargetRobot=sqrt(pow(targetXWorld-this->xWorld,2)+pow(targetYWorld-this->yWorld,2)); if(distanceTargetRobot != 0){ *forceXWorld-=this->attractionConstantForce*(targetXWorld-this->xWorld)/distanceTargetRobot; *forceYWorld-=this->attractionConstantForce*(targetYWorld-this->yWorld)/distanceTargetRobot; } float amplitude=sqrt(pow(*forceXWorld,2)+pow(*forceYWorld,2)); if(amplitude!=0){//avoid division by 0 if forceX and forceY == 0 *forceXWorld=*forceXWorld/amplitude; *forceYWorld=*forceYWorld/amplitude; } } //currently line_c is not used void MiniExplorerCoimbra::go_to_line(float line_a, float line_b, float line_c,float targetXWorld, float targetYWorld){ float lineAngle; float angleError; float linear; float angular; //atan2 use the deplacement on X and the deplacement on Y float angleToTarget=atan2(targetYWorld-this->yWorld,targetXWorld-this->xWorld); bool aligned=false; //this condition is passed if the target is in the same direction as the robot orientation if((angleToTarget>0 && this->thetaWorld > 0) || (angleToTarget<0 && this->thetaWorld <0)) aligned=true; //line angle is beetween pi/2 and -pi/2 /* ax+by+c=0 (here c==0) y=x*-a/b if a*b > 0, the robot is going down if a*b <0, the robot is going up */ if(line_b!=0){ if(!aligned) lineAngle=atan(-line_a/line_b); else lineAngle=atan(line_a/-line_b); } else{ lineAngle=1.5708; } //Computing angle error angleError = lineAngle-this->thetaWorld;//TODO that I m not sure angleError = atan(sin(angleError)/cos(angleError)); //Calculating velocities linear=this->kv*(3.1416); angular=this->kh*angleError; float angularLeft=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels; float angularRight=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels; //Normalize speed for motors if(abs(angularLeft)>abs(angularRight)) { angularRight=this->speed*abs(angularRight/angularLeft)*this->sign1(angularRight); angularLeft=this->speed*this->sign1(angularLeft); } else { angularLeft=this->speed*abs(angularLeft/angularRight)*this->sign1(angularLeft); angularRight=this->speed*this->sign1(angularRight); } leftMotor(this->sign2(angularLeft),abs(angularLeft)); rightMotor(this->sign2(angularRight),abs(angularRight)); } void MiniExplorerCoimbra::go_to_line_first_lab(float line_a, float line_b, float line_c){ float lineAngle; float angleError; float linear; float angular; float d; //line angle is beetween pi/2 and -pi/2 if(line_b!=0){ lineAngle=atan(line_a/-line_b); } else{ lineAngle=1.5708; } do{ this->myOdometria(); //Computing angle error angleError = lineAngle-this->thetaWorld;//TODO that I m not sure if(angleError>PI) angleError=-(angleError-PI); else if(angleError<-PI) angleError=-(angleError+PI); d=this->distFromLine(xWorld, yWorld, line_a, line_b, line_c); //Calculating velocities linear= this->kv*(3.14); angular=-this->kd*d + this->kh*angleError; float angularLeft=(linear-0.5*this->distanceWheels*angular)/this->radiusWheels; float angularRight=(linear+0.5*this->distanceWheels*angular)/this->radiusWheels; //Normalize speed for motors if(abs(angularLeft)>abs(angularRight)) { angularRight=this->speed*abs(angularRight/angularLeft)*this->sign1(angularRight); angularLeft=this->speed*this->sign1(angularLeft); } else { angularLeft=this->speed*abs(angularLeft/angularRight)*this->sign1(angularLeft); angularRight=this->speed*this->sign1(angularRight); } pc.printf("\r\nd = %f", d); pc.printf("\r\nerror = %f\n", angleError); leftMotor(this->sign2(angularLeft),abs(angularLeft)); rightMotor(this->sign2(angularRight),abs(angularRight)); }while(1); } void MiniExplorerCoimbra::update_force(int widthIndice, int heightIndice, float* forceRepulsionComputedX, float* forceRepulsionComputedY ){ //get the coordonate of the map and the robot in the ortonormal space float xWorldCell=this->map.cell_width_coordinate_to_world(widthIndice); float yWorldCell=this->map.cell_height_coordinate_to_world(heightIndice); //compute the distance beetween the cell and the robot float distanceCellToRobot=sqrt(pow(xWorldCell-this->xWorld,2)+pow(yWorldCell-this->yWorld,2)); //check if the cell is in range if(distanceCellToRobot <= this->rangeForce) { float probaCell=this->map.get_proba_cell(widthIndice,heightIndice); *forceRepulsionComputedX+=this->repulsionConstantForce*probaCell*(xWorldCell-this->xWorld)/pow(distanceCellToRobot,3); *forceRepulsionComputedY+=this->repulsionConstantForce*probaCell*(yWorldCell-this->yWorld)/pow(distanceCellToRobot,3); } } //return 1 if positiv, -1 if negativ float MiniExplorerCoimbra::sign1(float value){ if(value>=0) return 1; else return -1; } //return 1 if positiv, 0 if negativ int MiniExplorerCoimbra::sign2(float value){ if(value>=0) return 1; else return 0; } float MiniExplorerCoimbra::distFromLine(float robot_x, float robot_y, float line_a, float line_b, float line_c){ return abs((line_a*robot_x+line_b*robot_y+line_c)/sqrt(line_a*line_a+line_b*line_b)); } /* void MiniExplorerCoimbra::test_procedure_lab_4(){ this->map.fill_map_with_initial(); float xEstimatedK=this->xWorld; float yEstimatedK=this->yWorld; float thetaWorldEstimatedK = this->thetaWorld; float distanceMoved; float angleMoved; float PreviousCovarianceOdometricPositionEstimate[3][3]; PreviousCovarianceOdometricPositionEstimate[0][0]=0; PreviousCovarianceOdometricPositionEstimate[0][1]=0; PreviousCovarianceOdometricPositionEstimate[0][2]=0; PreviousCovarianceOdometricPositionEstimate[1][0]=0; PreviousCovarianceOdometricPositionEstimate[1][1]=0; PreviousCovarianceOdometricPositionEstimate[1][2]=0; PreviousCovarianceOdometricPositionEstimate[2][0]=0; PreviousCovarianceOdometricPositionEstimate[2][1]=0; PreviousCovarianceOdometricPositionEstimate[2][2]=0; while(1){ distanceMoved=50; angleMoved=0; this->go_straight_line(50); wait(1); procedure_lab_4(xEstimatedK,yEstimatedK,thetaWorldEstimatedK,distanceMoved,angleMoved,PreviousCovarianceOdometricPositionEstimate); pc.printf("\n\r x:%f,y:%f,theta:%f",this->xWorld,this->yWorld,this->thetaWorld); pc.printf("\n\r xEstim:%f,yEstim:%f,thetaEstim:%f",xEstimatedK,yEstimatedK,thetaWorldEstimatedK); this->turn_to_target(PI/2); distanceMoved=0; angleMoved=PI/2; procedure_lab_4(xEstimatedK,yEstimatedK,thetaWorldEstimatedK,distanceMoved,angleMoved,PreviousCovarianceOdometricPositionEstimate); pc.printf("\n\r x:%f,y:%f,theta:%f",this->xWorld,this->yWorld,this->thetaWorld); pc.printf("\n\r xEstim:%f,yEstim:%f,thetaEstim:%f",xEstimatedK,yEstimatedK,thetaWorldEstimatedK); } } void MiniExplorerCoimbra::go_straight_line(float distanceCm){ leftMotor(1,1); rightMotor(1,1); float xEstimated=this->xWorld+distanceCm*cos(this->thetaWorld); float yEstimated=this->yWorld+distanceCm*sin(this->thetaWorld); while(1){ this->myOdometria(); if(abs(xEstimated-this->xWorld) < 0.1 && abs(yEstimated-this->yWorld) < 0.1) break; } leftMotor(1,0); rightMotor(1,0); } //compute predicted localisation (assume movements are either straight lines or pure rotation), update PreviousCovarianceOdometricPositionEstimate //TODO tweak constant rewritte it good void MiniExplorerCoimbra::procedure_lab_4(float xEstimatedK,float yEstimatedK, float thetaWorldEstimatedK, float distanceMoved, float angleMoved, float PreviousCovarianceOdometricPositionEstimate[3][3]){ float distanceMovedByLeftWheel=distanceMoved/2; float distanceMovedByRightWheel=distanceMoved/2; if(angleMoved !=0){ //TODO check that not sure distanceMovedByLeftWheel=-angleMoved/(2*this->distanceWheels); distanceMovedByRightWheel=angleMoved/(2*this->distanceWheels); }else{ distanceMovedByLeftWheel=distanceMoved/2; distanceMovedByRightWheel=distanceMoved/2; } float xEstimatedKNext=xEstimatedK+distanceMoved*cos(angleMoved); float yEstimatedKNext=yEstimatedK+distanceMoved*sin(angleMoved); float thetaWorldEstimatedKNext=thetaWorldEstimatedK+angleMoved; float kRight=0.1;//error constant float kLeft=0.1;//error constant float motionIncrementCovarianceMatrix[2][2]; motionIncrementCovarianceMatrix[0][0]=kRight*abs(distanceMovedByRightWheel); motionIncrementCovarianceMatrix[0][1]=0; motionIncrementCovarianceMatrix[1][0]=0; motionIncrementCovarianceMatrix[1][1]=kLeft*abs(distanceMovedByLeftWheel); float jacobianFp[3][3]; jacobianFp[0][0]=1; jacobianFp[0][1]=0; jacobianFp[0][2]=-distanceMoved*sin(thetaWorldEstimatedK+angleMoved/2); jacobianFp[1][0]=0; jacobianFp[1][1]=1; jacobianFp[1][2]=distanceMoved*cos(thetaWorldEstimatedK+angleMoved/2);; jacobianFp[2][0]=0; jacobianFp[2][1]=0; jacobianFp[2][2]=1; float jacobianFpTranspose[3][3]; jacobianFpTranspose[0][0]=1; jacobianFpTranspose[0][1]=0; jacobianFpTranspose[0][2]=0; jacobianFpTranspose[1][0]=0; jacobianFpTranspose[1][1]=1; jacobianFpTranspose[1][2]=0; jacobianFpTranspose[2][0]=-distanceMoved*sin(thetaWorldEstimatedK+angleMoved/2); jacobianFpTranspose[2][1]=distanceMoved*cos(thetaWorldEstimatedK+angleMoved/2); jacobianFpTranspose[2][2]=1; float jacobianFDeltarl[3][2]; jacobianFDeltarl[0][0]=(1/2)*cos(thetaWorldEstimatedK+angleMoved/2)-(distanceMoved/(2*this->distanceWheels))*sin(thetaWorldEstimatedK+angleMoved/2); jacobianFDeltarl[0][1]=(1/2)*cos(thetaWorldEstimatedK+angleMoved/2)+(distanceMoved/(2*this->distanceWheels))*sin(thetaWorldEstimatedK+angleMoved/2); jacobianFDeltarl[1][0]=(1/2)*sin(thetaWorldEstimatedK+angleMoved/2)+(distanceMoved/(2*this->distanceWheels))*cos(thetaWorldEstimatedK+angleMoved/2); jacobianFDeltarl[1][1]=(1/2)*sin(thetaWorldEstimatedK+angleMoved/2)-(distanceMoved/(2*this->distanceWheels))*cos(thetaWorldEstimatedK+angleMoved/2); jacobianFDeltarl[2][0]=1/this->distanceWheels; jacobianFDeltarl[2][1]=-1/this->distanceWheels; float jacobianFDeltarlTranspose[2][3];//1,3,5;2,4,6 jacobianFDeltarlTranspose[0][0]=(1/2)*cos(thetaWorldEstimatedK+angleMoved/2)-(distanceMoved/(2*this->distanceWheels))*sin(thetaWorldEstimatedK+angleMoved/2); jacobianFDeltarlTranspose[0][1]=(1/2)*sin(thetaWorldEstimatedK+angleMoved/2)+(distanceMoved/(2*this->distanceWheels))*cos(thetaWorldEstimatedK+angleMoved/2); jacobianFDeltarlTranspose[0][2]=1/this->distanceWheels; jacobianFDeltarlTranspose[1][0]=(1/2)*cos(thetaWorldEstimatedK+angleMoved/2)+(distanceMoved/(2*this->distanceWheels))*sin(thetaWorldEstimatedK+angleMoved/2); jacobianFDeltarlTranspose[1][1]=(1/2)*sin(thetaWorldEstimatedK+angleMoved/2)-(distanceMoved/(2*this->distanceWheels))*cos(thetaWorldEstimatedK+angleMoved/2); jacobianFDeltarlTranspose[1][2]=-1/this->distanceWheels; float tempMatrix3_3[3][3]; int i; int j; int k; for( i = 0; i < 3; ++i){//mult 3*3, 3*3 for(j = 0; j < 3; ++j){ for(k = 0; k < 3; ++k){ tempMatrix3_3[i][j] += jacobianFp[i][k] * PreviousCovarianceOdometricPositionEstimate[k][j]; } } } float sndTempMatrix3_3[3][3]; for(i = 0; i < 3; ++i){//mult 3*3, 3*3 for(j = 0; j < 3; ++j){ for(k = 0; k < 3; ++k){ sndTempMatrix3_3[i][j] += tempMatrix3_3[i][k] * jacobianFpTranspose[k][j]; } } } float tempMatrix3_2[3][2]; for(i = 0; i < 3; ++i){//mult 3*2 , 2,2 for(j = 0; j < 2; ++j){ for(k = 0; k < 2; ++k){ tempMatrix3_2[i][j] += jacobianFDeltarl[i][k] * motionIncrementCovarianceMatrix[k][j]; } } } float thrdTempMatrix3_3[3][3]; for(i = 0; i < 3; ++i){//mult 3*2 , 2,3 for(j = 0; j < 3; ++j){ for(k = 0; k < 2; ++k){ thrdTempMatrix3_3[i][j] += tempMatrix3_2[i][k] * jacobianFDeltarlTranspose[k][j]; } } } float newCovarianceOdometricPositionEstimate[3][3]; for(i = 0; i < 3; ++i){//add 3*3 , 3*3 for(j = 0; j < 3; ++j){ newCovarianceOdometricPositionEstimate[i][j]=sndTempMatrix3_3[i][j]+thrdTempMatrix3_3[i][j]; } } //check measurements from sonars, see if they passed the validation gate float leftCm = get_distance_left_sensor()/10; float frontCm = get_distance_front_sensor()/10; float rightCm = get_distance_right_sensor()/10; //if superior to sonar range, put the value to sonar max range + 1 if(leftCm > this->sonarLeft.maxRange) leftCm=this->sonarLeft.maxRange; if(frontCm > this->sonarFront.maxRange) frontCm=this->sonarFront.maxRange; if(rightCm > this->sonarRight.maxRange) rightCm=this->sonarRight.maxRange; //get the estimated measure we should have according to our knowledge of the map and the previously computed localisation float leftCmEstimated=this->sonarLeft.maxRange; float frontCmEstimated=this->sonarFront.maxRange; float rightCmEstimated=this->sonarRight.maxRange; float xWorldCell; float yWorldCell; float currDistance; float xClosestCellLeft; float yClosestCellLeft; float xClosestCellFront; float yClosestCellFront; float xClosestCellRight; float yClosestCellRight; for(int i=0;i<this->map.nbCellWidth;i++){ for(int j=0;j<this->map.nbCellHeight;j++){ //check if occupied, if not discard if(this->map.get_proba_cell(i,j)==1){ //check if in sonar range xWorldCell=this->map.cell_width_coordinate_to_world(i); yWorldCell=this->map.cell_height_coordinate_to_world(j); //check left currDistance=this->sonarLeft.isInRange(xWorldCell,yWorldCell,xEstimatedKNext,yEstimatedKNext,thetaWorldEstimatedKNext); if((currDistance < this->sonarLeft.maxRange) && currDistance!=-1){ //check if distance is lower than previous, update lowest if so if(currDistance < leftCmEstimated){ leftCmEstimated= currDistance; xClosestCellLeft=xWorldCell; yClosestCellLeft=yWorldCell; } } //check front currDistance=this->sonarFront.isInRange(xWorldCell,yWorldCell,xEstimatedKNext,yEstimatedKNext,thetaWorldEstimatedKNext); if((currDistance < this->sonarFront.maxRange) && currDistance!=-1){ //check if distance is lower than previous, update lowest if so if(currDistance < frontCmEstimated){ frontCmEstimated= currDistance; xClosestCellFront=xWorldCell; yClosestCellFront=yWorldCell; } } //check right currDistance=this->sonarRight.isInRange(xWorldCell,yWorldCell,xEstimatedKNext,yEstimatedKNext,thetaWorldEstimatedKNext); if((currDistance < this->sonarRight.maxRange) && currDistance!=-1){ //check if distance is lower than previous, update lowest if so if(currDistance < rightCmEstimated){ rightCmEstimated= currDistance; xClosestCellRight=xWorldCell; yClosestCellRight=yWorldCell; } } } } } //get the innoncation: the value of the difference between the actual measure and what we anticipated float innovationLeft=leftCm-leftCmEstimated; float innovationFront=frontCm-frontCmEstimated; float innovationRight=-rightCm-rightCmEstimated; //compute jacobian of observation float jacobianOfObservationLeft[3]; float jacobianOfObservationRight[3]; float jacobianOfObservationFront[3]; float xSonarLeft=xEstimatedKNext+this->sonarLeft.distanceX; float ySonarLeft=yEstimatedKNext+this->sonarLeft.distanceY; //left jacobianOfObservationLeft[0]=(xSonarLeft-xClosestCellLeft)/leftCmEstimated; jacobianOfObservationLeft[1]=(ySonarLeft-yClosestCellLeft)/leftCmEstimated; jacobianOfObservationLeft[2]=(xClosestCellLeft-xSonarLeft)*(xSonarLeft*sin(thetaWorldEstimatedKNext)+ySonarLeft*cos(thetaWorldEstimatedKNext))+(yClosestCellLeft-ySonarLeft)*(-xSonarLeft*cos(thetaWorldEstimatedKNext)+ySonarLeft*sin(thetaWorldEstimatedKNext)); //front float xSonarFront=xEstimatedKNext+this->sonarFront.distanceX; float ySonarFront=yEstimatedKNext+this->sonarFront.distanceY; jacobianOfObservationFront[0]=(xSonarFront-xClosestCellFront)/frontCmEstimated; jacobianOfObservationFront[1]=(ySonarFront-yClosestCellFront)/frontCmEstimated; jacobianOfObservationFront[2]=(xClosestCellFront-xSonarFront)*(xSonarFront*sin(thetaWorldEstimatedKNext)+ySonarFront*cos(thetaWorldEstimatedKNext))+(yClosestCellFront-ySonarFront)*(-xSonarFront*cos(thetaWorldEstimatedKNext)+ySonarFront*sin(thetaWorldEstimatedKNext)); //right float xSonarRight=xEstimatedKNext+this->sonarRight.distanceX; float ySonarRight=yEstimatedKNext+this->sonarRight.distanceY; jacobianOfObservationRight[0]=(xSonarRight-xClosestCellRight)/rightCmEstimated; jacobianOfObservationRight[1]=(ySonarRight-yClosestCellRight)/rightCmEstimated; jacobianOfObservationRight[2]=(xClosestCellRight-xSonarRight)*(xSonarRight*sin(thetaWorldEstimatedKNext)+ySonarRight*cos(thetaWorldEstimatedKNext))+(yClosestCellRight-ySonarRight)*(-xSonarRight*cos(thetaWorldEstimatedKNext)+ySonarRight*sin(thetaWorldEstimatedKNext)); //left float TempMatrix3_3InnovationLeft[3]; TempMatrix3_3InnovationLeft[0]=jacobianOfObservationLeft[0]*newCovarianceOdometricPositionEstimate[0][0]+jacobianOfObservationLeft[1]*newCovarianceOdometricPositionEstimate[1][0]+jacobianOfObservationLeft[2]*newCovarianceOdometricPositionEstimate[2][0]; TempMatrix3_3InnovationLeft[1]=jacobianOfObservationLeft[0]*newCovarianceOdometricPositionEstimate[0][1]+jacobianOfObservationLeft[1]*newCovarianceOdometricPositionEstimate[1][1]+jacobianOfObservationLeft[2]*newCovarianceOdometricPositionEstimate[2][1]; TempMatrix3_3InnovationLeft[2]=jacobianOfObservationLeft[0]*newCovarianceOdometricPositionEstimate[0][2]+jacobianOfObservationLeft[1]*newCovarianceOdometricPositionEstimate[1][2]+jacobianOfObservationLeft[2]*newCovarianceOdometricPositionEstimate[2][2]; float innovationConvarianceLeft=TempMatrix3_3InnovationLeft[0]*jacobianOfObservationLeft[0]+TempMatrix3_3InnovationLeft[1]*jacobianOfObservationLeft[1]+TempMatrix3_3InnovationLeft[2]*jacobianOfObservationLeft[2]; //front float TempMatrix3_3InnovationFront[3]; TempMatrix3_3InnovationFront[0]=jacobianOfObservationFront[0]*newCovarianceOdometricPositionEstimate[0][0]+jacobianOfObservationFront[1]*newCovarianceOdometricPositionEstimate[1][0]+jacobianOfObservationFront[2]*newCovarianceOdometricPositionEstimate[2][0]; TempMatrix3_3InnovationFront[1]=jacobianOfObservationFront[0]*newCovarianceOdometricPositionEstimate[0][1]+jacobianOfObservationFront[1]*newCovarianceOdometricPositionEstimate[1][1]+jacobianOfObservationFront[2]*newCovarianceOdometricPositionEstimate[2][1]; TempMatrix3_3InnovationFront[2]=jacobianOfObservationFront[0]*newCovarianceOdometricPositionEstimate[0][2]+jacobianOfObservationFront[1]*newCovarianceOdometricPositionEstimate[1][2]+jacobianOfObservationFront[2]*newCovarianceOdometricPositionEstimate[2][2]; float innovationConvarianceFront=TempMatrix3_3InnovationFront[0]*jacobianOfObservationFront[0]+TempMatrix3_3InnovationFront[1]*jacobianOfObservationFront[1]+TempMatrix3_3InnovationFront[2]*jacobianOfObservationFront[2]; //right float TempMatrix3_3InnovationRight[3]; TempMatrix3_3InnovationRight[0]=jacobianOfObservationRight[0]*newCovarianceOdometricPositionEstimate[0][0]+jacobianOfObservationRight[1]*newCovarianceOdometricPositionEstimate[1][0]+jacobianOfObservationRight[2]*newCovarianceOdometricPositionEstimate[2][0]; TempMatrix3_3InnovationRight[1]=jacobianOfObservationRight[0]*newCovarianceOdometricPositionEstimate[0][1]+jacobianOfObservationRight[1]*newCovarianceOdometricPositionEstimate[1][1]+jacobianOfObservationRight[2]*newCovarianceOdometricPositionEstimate[2][1]; TempMatrix3_3InnovationRight[2]=jacobianOfObservationRight[0]*newCovarianceOdometricPositionEstimate[0][2]+jacobianOfObservationRight[1]*newCovarianceOdometricPositionEstimate[1][2]+jacobianOfObservationRight[2]*newCovarianceOdometricPositionEstimate[2][2]; float innovationConvarianceRight=TempMatrix3_3InnovationRight[0]*jacobianOfObservationRight[0]+TempMatrix3_3InnovationRight[1]*jacobianOfObservationRight[1]+TempMatrix3_3InnovationRight[2]*jacobianOfObservationRight[2]; //check if it pass the validation gate float gateScoreLeft=innovationLeft*innovationLeft/innovationConvarianceLeft; float gateScoreFront=innovationFront*innovationFront/innovationConvarianceFront; float gateScoreRight=innovationRight*innovationRight/innovationConvarianceRight; int leftPassed=0; int frontPassed=0; int rightPassed=0; int e=10;//constant if(gateScoreLeft < e) leftPassed=1; if(gateScoreFront < e) frontPassed=10; if(gateScoreRight < e) rightPassed=100; //for those who passed //compute composite innovation float compositeInnovation[3]; int nbPassed=leftPassed+frontPassed+rightPassed; switch(nbPassed){ case 0://none compositeInnovation[0]=0; compositeInnovation[1]=0; compositeInnovation[2]=0; break; case 1://left compositeInnovation[0]=innovationLeft; compositeInnovation[1]=0; compositeInnovation[2]=0; break; case 10://front compositeInnovation[0]=0; compositeInnovation[1]=innovationFront; compositeInnovation[2]=0; break; case 11://left and front compositeInnovation[0]=innovationLeft; compositeInnovation[1]=innovationFront; compositeInnovation[2]=0; break; case 100://right compositeInnovation[0]=0; compositeInnovation[1]=0; compositeInnovation[2]=innovationRight; break; case 101://right and left compositeInnovation[0]=innovationLeft; compositeInnovation[1]=0; compositeInnovation[2]=innovationRight; break; case 110://right and front compositeInnovation[0]=0; compositeInnovation[1]=innovationFront; compositeInnovation[2]=innovationRight; break; case 111://right front and left compositeInnovation[0]=innovationLeft; compositeInnovation[1]=innovationFront; compositeInnovation[2]=innovationRight; break; } //compute composite measurement Jacobian float *compositeMeasurementJacobian; switch(nbPassed){ case 0://none break; case 1://left //compositeMeasurementJacobian = jacobianOfObservationLeft break; case 10://front //compositeMeasurementJacobian = jacobianOfObservationFront break; case 11://left and front compositeMeasurementJacobian=new float[6]; compositeMeasurementJacobian[0]= jacobianOfObservationLeft[0]; compositeMeasurementJacobian[1]= jacobianOfObservationLeft[1]; compositeMeasurementJacobian[2]= jacobianOfObservationLeft[2]; compositeMeasurementJacobian[3]= jacobianOfObservationFront[0]; compositeMeasurementJacobian[4]= jacobianOfObservationFront[1]; compositeMeasurementJacobian[5]= jacobianOfObservationFront[2]; break; case 100://right //compositeMeasurementJacobian = jacobianOfObservationRight break; case 101://right and left compositeMeasurementJacobian=new float[6]; compositeMeasurementJacobian[0]= jacobianOfObservationLeft[0]; compositeMeasurementJacobian[1]= jacobianOfObservationLeft[1]; compositeMeasurementJacobian[2]= jacobianOfObservationLeft[2]; compositeMeasurementJacobian[3]= jacobianOfObservationRight[0]; compositeMeasurementJacobian[4]= jacobianOfObservationRight[1]; compositeMeasurementJacobian[5]= jacobianOfObservationRight[2]; break; case 110://right and front compositeMeasurementJacobian=new float[6]; compositeMeasurementJacobian[0]= jacobianOfObservationFront[0]; compositeMeasurementJacobian[1]= jacobianOfObservationFront[1]; compositeMeasurementJacobian[2]= jacobianOfObservationFront[2]; compositeMeasurementJacobian[3]= jacobianOfObservationRight[0]; compositeMeasurementJacobian[4]= jacobianOfObservationRight[1]; compositeMeasurementJacobian[5]= jacobianOfObservationRight[2]; break; case 111://right front and left compositeMeasurementJacobian=new float[9]; compositeMeasurementJacobian[0]= jacobianOfObservationLeft[0]; compositeMeasurementJacobian[1]= jacobianOfObservationLeft[1]; compositeMeasurementJacobian[2]= jacobianOfObservationLeft[2]; compositeMeasurementJacobian[3]= jacobianOfObservationFront[0]; compositeMeasurementJacobian[4]= jacobianOfObservationFront[1]; compositeMeasurementJacobian[5]= jacobianOfObservationFront[2]; compositeMeasurementJacobian[6]= jacobianOfObservationRight[0]; compositeMeasurementJacobian[7]= jacobianOfObservationRight[1]; compositeMeasurementJacobian[8]= jacobianOfObservationRight[2]; break; } //compute composite innovation covariance TODO dont have time, I assume you can just multiply them, can also simply all this easily float compositeInnovationCovariance; switch(nbPassed){ case 0://none compositeInnovationCovariance=1; break; case 1://left compositeInnovationCovariance = innovationConvarianceLeft; break; case 10://front compositeInnovationCovariance = innovationConvarianceFront; break; case 11://left and front compositeInnovationCovariance=innovationConvarianceLeft*innovationConvarianceFront; break; case 100://right compositeInnovationCovariance = innovationConvarianceRight; break; case 101://right and left compositeInnovationCovariance=innovationConvarianceLeft*innovationConvarianceRight; break; case 110://right and front compositeInnovationCovariance=innovationConvarianceFront*innovationConvarianceRight; break; case 111://right front and left compositeInnovationCovariance=innovationConvarianceLeft*innovationConvarianceFront*innovationConvarianceRight; break; } //compute kalman gain float kalmanGain[3][3]; switch(nbPassed){ //mult nbSonarPassed*3 , 3*3 case 0://none break; case 1://left for(i = 0; i < 3; ++i){//mult 3*3, 3*1 for(j = 0; j < 1; ++j){ for(k = 0; k < 3; ++k){ kalmanGain[i][j] += newCovarianceOdometricPositionEstimate[i][k] * compositeInnovationCovariance[k]; } } } break; case 10://front for(i = 0; i < 3; ++i){//mult 3*3, 3*1 for(j = 0; j < 1; ++j){ for(k = 0; k < 3; ++k){ kalmanGain[i][j] += newCovarianceOdometricPositionEstimate[i][k] * compositeInnovationCovariance[k]; } } } break; case 11://left and front for(i = 0; i < 3; ++i){//mult 3*3, 3*2 for(j = 0; j < 2; ++j){ for(k = 0; k < 3; ++k){ kalmanGain[i][j] += newCovarianceOdometricPositionEstimate[i][k] * compositeInnovationCovariance[k+j*3]; } } } break; case 100://right for(i = 0; i < 3; ++i){//mult 3*3, 3*1 for(j = 0; j < 1; ++j){ for(k = 0; k < 3; ++k){ kalmanGain[i][j] += newCovarianceOdometricPositionEstimate[i][k] * compositeInnovationCovariance[k]; } } } break; case 101://right and left for(i = 0; i < 3; ++i){//mult 3*3, 3*2 for(j = 0; j < 2; ++j){ for(k = 0; k < 3; ++k){ kalmanGain[i][j] += newCovarianceOdometricPositionEstimate[i][k] * compositeInnovationCovariance[k+j*3]; } } } break; case 110://right and front for(i = 0; i < 3; ++i){//mult 3*3, 3*2 for(j = 0; j < 2; ++j){ for(k = 0; k < 3; ++k){ kalmanGain[i][j] += newCovarianceOdometricPositionEstimate[i][k] * compositeInnovationCovariance[k+j*3]; } } } break; case 111://right front and left for(i = 0; i < 3; ++i){//mult 3*3, 3*3 for(j = 0; j < 3; ++j){ for(k = 0; k < 3; ++k){ kalmanGain[i][j] += newCovarianceOdometricPositionEstimate[i][k] * compositeInnovationCovariance[k+j*3]; } } } break; } for(i = 0; i < 3; ++i){//mult 3*3, 3*3 for(j = 0; j < 3; ++j){ kalmanGain[i][j] = kalmanGain[i][j]/compositeInnovationCovariance; } } //compute kalman gain * composite innovation //mult 3*3 , 3*1 float result3_1[3]; for(i = 0; i < 3; ++i){//mult 3*3, 3*1 for(k = 0; k < 3; ++k){ result3_1[i] += kalmanGain[i][k] * compositeInnovation[k]; } } //compute updated robot position estimate float xEstimatedKLast=xEstimatedKNext+result3_1[0]; float yEstimatedKLast=yEstimatedKNext+result3_1[1]; float thetaWorldEstimatedKLast=thetaWorldEstimatedKNext+result3_1[2]; //store the resultant covariance for next estimation float kalmanGainTranspose[3][3]; kalmanGainTranspose[0][0]=kalmanGain[0][0]; kalmanGainTranspose[0][1]=kalmanGain[1][0]; kalmanGainTranspose[0][2]=kalmanGain[2][0]; kalmanGainTranspose[1][0]=kalmanGain[0][1]; kalmanGainTranspose[1][1]=kalmanGain[1][1]; kalmanGainTranspose[1][2]=kalmanGain[2][1]; kalmanGainTranspose[2][0]=kalmanGain[0][2]; kalmanGainTranspose[2][1]=kalmanGain[1][2]; kalmanGainTranspose[2][2]=kalmanGain[2][2]; //mult 3*3 , 3*3 float fithTempMatrix3_3[3][3]; for(i = 0; i < 3; ++i){//mult 3*3 , 3*3 for(j = 0; j < 3; ++j){ for(k = 0; k < 3; ++k){ fithTempMatrix3_3[i][j] += kalmanGain[i][k] * kalmanGainTranspose[k][j]; } } } for(i = 0; i < 3; ++i){//add 3*3 , 3*3 for(j = 0; j < 3; ++j){ fithTempMatrix3_3[i][j]=fithTempMatrix3_3[i][j]*compositeInnovationCovariance; } } float covariancePositionEsimatedLast[3][3]; for(i = 0; i < 3; ++i){//add 3*3 , 3*3 for(j = 0; j < 3; ++j){ covariancePositionEsimatedLast[i][j]=fithTempMatrix3_3[i][j]+newCovarianceOdometricPositionEstimate[i][j]; } } //update PreviousCovarianceOdometricPositionEstimate for(i = 0; i < 3; ++i){ for(j = 0; j < 3; ++j){ PreviousCovarianceOdometricPositionEstimate[i][j]=covariancePositionEsimatedLast[i][j]; } } xEstimatedK=xEstimatedKLast; yEstimatedK=yEstimatedKLast; thetaWorldEstimatedK=thetaWorldEstimatedKLast; } */