Shuto Naruse
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Eurobot2012_Secondary
Eurobot2012_Secondary
Fork of Eurobot_2012_Secondary by
Diff: Kalman/Kalman.cpp
- Revision:
- 1:cc2a9eb0bd55
- Parent:
- 0:fbfafa6bf5f9
diff -r fbfafa6bf5f9 -r cc2a9eb0bd55 Kalman/Kalman.cpp --- a/Kalman/Kalman.cpp Fri Apr 20 21:32:24 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,262 +0,0 @@ -//*************************************************************************************** -//Kalman Filter implementation -//*************************************************************************************** -#include "Kalman.h" -#include "rtos.h" -#include "RFSRF05.h" -//#include "MatrixMath.h" -//#include "Matrix.h" -#include "math.h" -#include "globals.h" -#include "motors.h" -#include "system.h" -#include "geometryfuncs.h" - -#include <tvmet/Matrix.h> -#include <tvmet/Vector.h> -using namespace tvmet; -DigitalOut led1(LED1); -DigitalOut led2(LED2); -DigitalOut led3(LED3); -DigitalOut led4(LED4); - - -Kalman::Kalman(Motors &motorsin) : - sonararray(p10,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9), - motors(motorsin), - predictthread(predictloopwrapper, this, osPriorityNormal, 512), - predictticker( SIGTICKARGS(predictthread, 0x1) ), -// sonarthread(sonarloopwrapper, this, osPriorityNormal, 256), -// sonarticker( SIGTICKARGS(sonarthread, 0x1) ), - updatethread(updateloopwrapper, this, osPriorityNormal, 2048) { - - //Initilising matrices - - // X = x, y, theta; - X = 0.5, 0, 0; - - P = 1, 0, 0, - 0, 1, 0, - 0, 0, 0.04; - - //Q = 0.002, 0, 0, //temporary matrix, Use dt! - // 0, 0.002, 0, - // 0, 0, 0.002; - - //measurment variance R is provided by each sensor when calling runupdate - - //attach callback - sonararray.callbackobj = (DummyCT*)this; - sonararray.mcallbackfunc = (void (DummyCT::*)(int beaconnum, float distance, float variance)) &Kalman::runupdate; - - - predictticker.start(20); -// sonarticker.start(50); - - -} - - -void Kalman::predictloop() { - - float lastleft = 0; - float lastright = 0; - - while (1) { - Thread::signal_wait(0x1); - led1 = !led1; - - int leftenc = motors.getEncoder1(); - int rightenc = motors.getEncoder2(); - - float dleft = motors.encoderToDistance(leftenc-lastleft)/1000.0f; - float dright = motors.encoderToDistance(rightenc-lastright)/1000.0f; - - lastleft = leftenc; - lastright = rightenc; - - - //The below calculation are in body frame (where +x is forward) - float dxp, dyp,d,r; - float thetap = (dright - dleft)*PI / (float(robotCircumference)/1000.0f); - if (abs(thetap) < 0.02) { //if the rotation through the integration step is small, approximate with a straight line to avoid numerical error - d = (dright + dleft)/2.0f; - dxp = d*cos(thetap/2.0f); - dyp = d*sin(thetap/2.0f); - - } else { //calculate circle arc - //float r = (right + left) / (4.0f * PI * thetap); - r = (dright + dleft) / (2.0f*thetap); - dxp = abs(r)*sin(thetap); - dyp = r - r*cos(thetap); - } - - statelock.lock(); - - //rotating to cartesian frame and updating state - X(0) += dxp * cos(X(2)) - dyp * sin(X(2)); - X(1) += dxp * sin(X(2)) + dyp * cos(X(2)); - X(2) = rectifyAng(X(2) + thetap); - - //Linearising F around X - Matrix<float, 3, 3> F; - F = 1, 0, (dxp * -sin(X(2)) - dyp * cos(X(2))), - 0, 1, (dxp * cos(X(2)) - dyp * sin(X(2))), - 0, 0, 1; - - //Generating forward and rotational variance - float varfwd = fwdvarperunit * (dright + dleft) / 2.0f; - float varang = varperang * thetap; - float varxydt = xyvarpertime * PREDICTPERIOD; - float varangdt = angvarpertime * PREDICTPERIOD; - - //Rotating into cartesian frame - Matrix<float, 2, 2> Qsub,Qsubrot,Qrot; - Qsub = varfwd + varxydt, 0, - 0, varxydt; - - Qrot = Rotmatrix(X(2)); - - Qsubrot = Qrot * Qsub * trans(Qrot); - - //Generate Q - Matrix<float, 3, 3> Q;//(Qsubrot); - Q = Qsubrot(0,0), Qsubrot(0,1), 0, - Qsubrot(1,0), Qsubrot(1,1), 0, - 0, 0, varang + varangdt; - - P = F * P * trans(F) + Q; - - statelock.unlock(); - //Thread::wait(PREDICTPERIOD); - - //cout << "predict" << X << endl; - //cout << P << endl; - } -} - -//void Kalman::sonarloop() { -// while (1) { -// Thread::signal_wait(0x1); -// sonararray.startRange(); -// } -//} - - -void Kalman::runupdate(measurement_t type, float value, float variance) { - //printf("beacon %d dist %f\r\n", sonarid, dist); - //led2 = !led2; - - measurmentdata* measured = (measurmentdata*)measureMQ.alloc(); - if (measured) { - measured->mtype = type; - measured->value = value; - measured->variance = variance; - - osStatus putret = measureMQ.put(measured); - if (putret) - led4 = 1; - // printf("putting in MQ error code %#x\r\n", putret); - } else { - led4 = 1; - //printf("MQalloc returned NULL ptr\r\n"); - } - -} - -void Kalman::updateloop() { - measurement_t type; - float value,variance,rbx,rby,expecdist,Y; - float dhdx,dhdy; - bool aborton2stddev = false; - - Matrix<float, 1, 3> H; - - float S; - Matrix<float, 3, 3> I3( identity< Matrix<float, 3, 3> >() ); - - - while (1) { - led2 = !led2; - - osEvent evt = measureMQ.get(); - - if (evt.status == osEventMail) { - - measurmentdata &measured = *(measurmentdata*)evt.value.p; - type = measured.mtype; //Note, may support more measurment types than sonar in the future! - value = measured.value; - variance = measured.variance; - - // don't forget to free the memory - measureMQ.free(&measured); - - if (type <= maxmeasure) { - - if (type <= SONAR3) { - - float dist = value / 1000.0f; //converting to m from mm - int sonarid = type; - aborton2stddev = false; - - statelock.lock(); - SonarMeasures[sonarid] = dist; //update the current sonar readings - - rbx = X(0) - beaconpos[sonarid].x/1000.0f; - rby = X(1) - beaconpos[sonarid].y/1000.0f; - - expecdist = hypot(rbx, rby);//sqrt(rbx*rbx + rby*rby); - Y = dist - expecdist; - - dhdx = rbx / expecdist; - dhdy = rby / expecdist; - - H = dhdx, dhdy, 0; - - } else if (type <= IR3) { - - aborton2stddev = false; - int IRidx = type-3; - - statelock.lock(); - IRMeasures[IRidx] = value; - - rbx = X(0) - beaconpos[IRidx].x/1000.0f; - rby = X(1) - beaconpos[IRidx].y/1000.0f; - - float expecang = atan2(-rbx, -rby) - X(2); - //printf("expecang: %0.4f, value: %0.4f \n\r", expecang*180/PI,value*180/PI); - Y = rectifyAng(value + expecang); - - float dstsq = rbx*rbx + rby*rby; - H = -rby/dstsq, rbx/dstsq, -1; - } - - Matrix<float, 3, 1> PH (P * trans(H)); - S = (H * PH)(0,0) + variance; - - if (aborton2stddev && Y*Y > 4 * S) { - statelock.unlock(); - continue; - } - - Matrix<float, 3, 1> K (PH * (1/S)); - - //Updating state - X += col(K, 0) * Y; - X(2) = rectifyAng(X(2)); - - P = (I3 - K * H) * P; - - statelock.unlock(); - - } - - } else { - led4 = 1; - //printf("ERROR: in updateloop, code %#x", evt); - } - - } - -} \ No newline at end of file