Yo Fleyt / Mbed 2 deprecated roboticLab_withclass

lab robotic coimbra

Dependencies:   ISR_Mini-explorer mbed

Sonar.cpp@0:9f7ee7ed13e4, 2017-06-26 (annotated)

Committer:
Ludwigfr
Date:
Mon Jun 26 12:05:20 2017 +0000
Revision:
0:9f7ee7ed13e4
this version should work, though it would be nice to test all the lab demo; there's also some code on the 4th lab at the end of MiniExplorerCoimbra.cpp

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Ludwigfr 0:9f7ee7ed13e4 1 #include "Sonar.hpp"
Ludwigfr 0:9f7ee7ed13e4 2
Ludwigfr 0:9f7ee7ed13e4 3 #define PI 3.14159
Ludwigfr 0:9f7ee7ed13e4 4
Ludwigfr 0:9f7ee7ed13e4 5 Sonar::Sonar(float angleFromCenter, float distanceXFromRobotCenter, float distanceYFromRobotCenter ){
Ludwigfr 0:9f7ee7ed13e4 6 this->angleFromCenter=angleFromCenter;
Ludwigfr 0:9f7ee7ed13e4 7 this->distanceX=distanceXFromRobotCenter;
Ludwigfr 0:9f7ee7ed13e4 8 this->distanceY=distanceYFromRobotCenter;
Ludwigfr 0:9f7ee7ed13e4 9 this->maxRange=50;//cm
Ludwigfr 0:9f7ee7ed13e4 10 this->minRange=10;//Rmin cm
Ludwigfr 0:9f7ee7ed13e4 11 this->incertitudeRange=10;//cm
Ludwigfr 0:9f7ee7ed13e4 12 this->angleRange=3.14159/3;//Omega rad
Ludwigfr 0:9f7ee7ed13e4 13 }
Ludwigfr 0:9f7ee7ed13e4 14
Ludwigfr 0:9f7ee7ed13e4 15 //return distance sonar to cell if in range, -1 if not
Ludwigfr 0:9f7ee7ed13e4 16 float Sonar::isInRange(float xCell, float yCell, float xRobotWorld, float yRobotWorld, float thetaWorld){
Ludwigfr 0:9f7ee7ed13e4 17 float xSonar=xRobotWorld+this->distanceX;
Ludwigfr 0:9f7ee7ed13e4 18 float ySonar=yRobotWorld+this->distanceY;
Ludwigfr 0:9f7ee7ed13e4 19 float distanceCellToSonar=sqrt(pow(xCell-xSonar,2)+pow(yCell-ySonar,2));
Ludwigfr 0:9f7ee7ed13e4 20
Ludwigfr 0:9f7ee7ed13e4 21 //check if the distance between the cell and the robot is within the circle of range RADIUS_WHEELS
Ludwigfr 0:9f7ee7ed13e4 22 if( distanceCellToSonar < this->maxRange){
Ludwigfr 0:9f7ee7ed13e4 23 //float anglePointToSonar=this->compute_angle_between_vectors(xCell,yCell,xSonar,ySonar);//angle beetween the point and the sonar beam
Ludwigfr 0:9f7ee7ed13e4 24 float angleCellToSonar=atan2(yCell-yRobotWorld,xCell-xRobotWorld);//like world system
Ludwigfr 0:9f7ee7ed13e4 25
Ludwigfr 0:9f7ee7ed13e4 26 float angleOriginToMidleOfBeam=thetaWorld+this->angleFromCenter;//
Ludwigfr 0:9f7ee7ed13e4 27
Ludwigfr 0:9f7ee7ed13e4 28 float angleDifference=angleCellToSonar-angleOriginToMidleOfBeam;
Ludwigfr 0:9f7ee7ed13e4 29 if(angleDifference > PI)
Ludwigfr 0:9f7ee7ed13e4 30 angleDifference=angleDifference-2*PI;
Ludwigfr 0:9f7ee7ed13e4 31 if(angleDifference < -PI)
Ludwigfr 0:9f7ee7ed13e4 32 angleDifference=angleDifference+2*PI;
Ludwigfr 0:9f7ee7ed13e4 33 //check if absolute difference between the angles is no more than Omega/2
Ludwigfr 0:9f7ee7ed13e4 34 if(angleDifference > 0 && angleDifference <= this->angleRange/2 ||angleDifference < 0 && angleDifference >= -this->angleRange/2 ){
Ludwigfr 0:9f7ee7ed13e4 35 return distanceCellToSonar;
Ludwigfr 0:9f7ee7ed13e4 36 }
Ludwigfr 0:9f7ee7ed13e4 37 }
Ludwigfr 0:9f7ee7ed13e4 38 return -1;
Ludwigfr 0:9f7ee7ed13e4 39 }
Ludwigfr 0:9f7ee7ed13e4 40
Ludwigfr 0:9f7ee7ed13e4 41 //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]
Ludwigfr 0:9f7ee7ed13e4 42 float Sonar::compute_probability_t(float distanceObstacleDetected, float xCell, float yCell, float xRobotWorld, float yRobotWorld, float thetaWorld){
Ludwigfr 0:9f7ee7ed13e4 43 float xSonar=xRobotWorld+this->distanceX;
Ludwigfr 0:9f7ee7ed13e4 44 float ySonar=yRobotWorld+this->distanceY;
Ludwigfr 0:9f7ee7ed13e4 45 float distancePointToSonar=sqrt(pow(xCell-xSonar,2)+pow(yCell-ySonar,2));
Ludwigfr 0:9f7ee7ed13e4 46 //check if the distance between the cell and the robot is within the circle of range RADIUS_WHEELS
Ludwigfr 0:9f7ee7ed13e4 47 if( distancePointToSonar < this->maxRange){
Ludwigfr 0:9f7ee7ed13e4 48 //float anglePointToSonar=this->compute_angle_between_vectors(xCell,yCell,xSonar,ySonar);//angle beetween the point and the sonar beam
Ludwigfr 0:9f7ee7ed13e4 49 float anglePointToSonar=atan2(yCell-yRobotWorld,xCell-xRobotWorld);//like world system
Ludwigfr 0:9f7ee7ed13e4 50
Ludwigfr 0:9f7ee7ed13e4 51 float angleOriginToMidleOfBeam=thetaWorld+this->angleFromCenter;//
Ludwigfr 0:9f7ee7ed13e4 52
Ludwigfr 0:9f7ee7ed13e4 53 float angleDifference=anglePointToSonar-angleOriginToMidleOfBeam;
Ludwigfr 0:9f7ee7ed13e4 54 if(angleDifference > PI)
Ludwigfr 0:9f7ee7ed13e4 55 angleDifference=angleDifference-2*PI;
Ludwigfr 0:9f7ee7ed13e4 56 if(angleDifference < -PI)
Ludwigfr 0:9f7ee7ed13e4 57 angleDifference=angleDifference+2*PI;
Ludwigfr 0:9f7ee7ed13e4 58 //check if absolute difference between the angles is no more than Omega/2
Ludwigfr 0:9f7ee7ed13e4 59 if(angleDifference > 0 && angleDifference <= this->angleRange/2 ||angleDifference < 0 && angleDifference >= -this->angleRange/2 ){
Ludwigfr 0:9f7ee7ed13e4 60
Ludwigfr 0:9f7ee7ed13e4 61 if( distancePointToSonar < (distanceObstacleDetected - this->incertitudeRange)){
Ludwigfr 0:9f7ee7ed13e4 62 //point before obstacle, probably empty
Ludwigfr 0:9f7ee7ed13e4 63 /*****************************************************************************/
Ludwigfr 0:9f7ee7ed13e4 64 float Ea=1.f-pow((2*angleDifference)/this->angleRange,2);
Ludwigfr 0:9f7ee7ed13e4 65 float Er;
Ludwigfr 0:9f7ee7ed13e4 66 if(distancePointToSonar < this->minRange){
Ludwigfr 0:9f7ee7ed13e4 67 //point before minimum sonar range
Ludwigfr 0:9f7ee7ed13e4 68 Er=0.f;
Ludwigfr 0:9f7ee7ed13e4 69 }else{
Ludwigfr 0:9f7ee7ed13e4 70 //point after minimum sonar range
Ludwigfr 0:9f7ee7ed13e4 71 Er=1.f-pow((distancePointToSonar-this->minRange)/(distanceObstacleDetected-this->incertitudeRange-this->minRange),2);
Ludwigfr 0:9f7ee7ed13e4 72 }
Ludwigfr 0:9f7ee7ed13e4 73 /*****************************************************************************/
Ludwigfr 0:9f7ee7ed13e4 74 //if((1.f-Er*Ea)/2.f >1 || (1.f-Er*Ea)/2.f < 0)
Ludwigfr 0:9f7ee7ed13e4 75 // pc.printf("\n\r return value=%f,Er=%f,Ea=%f,angleDifference=%f",(1.f-Er*Ea)/2.f,Er,Ea,angleDifference);
Ludwigfr 0:9f7ee7ed13e4 76 return (1.f-Er*Ea)/2.f;
Ludwigfr 0:9f7ee7ed13e4 77 }else{
Ludwigfr 0:9f7ee7ed13e4 78 //probably occuPIed
Ludwigfr 0:9f7ee7ed13e4 79 /*****************************************************************************/
Ludwigfr 0:9f7ee7ed13e4 80 float Oa=1.f-pow((2*angleDifference)/this->angleRange,2);
Ludwigfr 0:9f7ee7ed13e4 81 float Or;
Ludwigfr 0:9f7ee7ed13e4 82 if( distancePointToSonar <= (distanceObstacleDetected + this->incertitudeRange)){
Ludwigfr 0:9f7ee7ed13e4 83 //point between distanceObstacleDetected +- INCERTITUDE_SONAR
Ludwigfr 0:9f7ee7ed13e4 84 Or=1-pow((distancePointToSonar-distanceObstacleDetected)/(this->incertitudeRange),2);
Ludwigfr 0:9f7ee7ed13e4 85 }else{
Ludwigfr 0:9f7ee7ed13e4 86 //point after in range of the sonar but after the zone detected
Ludwigfr 0:9f7ee7ed13e4 87 Or=0;
Ludwigfr 0:9f7ee7ed13e4 88 }
Ludwigfr 0:9f7ee7ed13e4 89 /*****************************************************************************/
Ludwigfr 0:9f7ee7ed13e4 90 //if((1+Or*Oa)/2 >1 || (1+Or*Oa)/2 < 0)
Ludwigfr 0:9f7ee7ed13e4 91 // pc.printf("\n\r return value=%f,Er=%f,Ea=%f,angleDifference=%f",(1+Or*Oa)/2,Or,Oa,angleDifference);
Ludwigfr 0:9f7ee7ed13e4 92 return (1+Or*Oa)/2;
Ludwigfr 0:9f7ee7ed13e4 93 }
Ludwigfr 0:9f7ee7ed13e4 94 }
Ludwigfr 0:9f7ee7ed13e4 95 }
Ludwigfr 0:9f7ee7ed13e4 96 //not checked by the sonar
Ludwigfr 0:9f7ee7ed13e4 97 return 0.5;
Ludwigfr 0:9f7ee7ed13e4 98 }
Ludwigfr 0:9f7ee7ed13e4 99
Ludwigfr 0:9f7ee7ed13e4 100 //returns the angle between the vectors (x,y) and (xs,ys)
Ludwigfr 0:9f7ee7ed13e4 101 float Sonar::compute_angle_between_vectors(float x, float y,float xs,float ys){
Ludwigfr 0:9f7ee7ed13e4 102 //alpha angle between ->x and ->SA
Ludwigfr 0:9f7ee7ed13e4 103 //vector S to A ->SA
Ludwigfr 0:9f7ee7ed13e4 104 float vSAx=x-xs;
Ludwigfr 0:9f7ee7ed13e4 105 float vSAy=y-ys;
Ludwigfr 0:9f7ee7ed13e4 106 //norme SA
Ludwigfr 0:9f7ee7ed13e4 107 float normeSA=sqrt(pow(vSAx,2)+pow(vSAy,2));
Ludwigfr 0:9f7ee7ed13e4 108 //vector ->x (1,0)
Ludwigfr 0:9f7ee7ed13e4 109 float cosAlpha=1*vSAy/*+0*vSAx*//normeSA;;
Ludwigfr 0:9f7ee7ed13e4 110 //vector ->y (0,1)
Ludwigfr 0:9f7ee7ed13e4 111 float sinAlpha=/*0*vSAy+*/1*vSAx/normeSA;//+0*vSAx;
Ludwigfr 0:9f7ee7ed13e4 112 if (sinAlpha < 0)
Ludwigfr 0:9f7ee7ed13e4 113 return -acos(cosAlpha);
Ludwigfr 0:9f7ee7ed13e4 114 else
Ludwigfr 0:9f7ee7ed13e4 115 return acos(cosAlpha);
Ludwigfr 0:9f7ee7ed13e4 116 }
Ludwigfr 0:9f7ee7ed13e4 117
Ludwigfr 0:9f7ee7ed13e4 118 //makes the angle inAngle between 0 and 2PI
Ludwigfr 0:9f7ee7ed13e4 119 float Sonar::rad_angle_check(float inAngle){
Ludwigfr 0:9f7ee7ed13e4 120 if(inAngle > 0){
Ludwigfr 0:9f7ee7ed13e4 121 while(inAngle > (2*PI))
Ludwigfr 0:9f7ee7ed13e4 122 inAngle-=2*PI;
Ludwigfr 0:9f7ee7ed13e4 123 }else{
Ludwigfr 0:9f7ee7ed13e4 124 while(inAngle < 0)
Ludwigfr 0:9f7ee7ed13e4 125 inAngle+=2*PI;
Ludwigfr 0:9f7ee7ed13e4 126 }
Ludwigfr 0:9f7ee7ed13e4 127 return inAngle;
Ludwigfr 0:9f7ee7ed13e4 128 }
Ludwigfr 0:9f7ee7ed13e4 129