Shuto Naruse
commit!
Kalman/Kalman.h@0:42026f893a2d, 2012-06-15 (annotated)
- Committer:
- narshu
- Date:
- Fri Jun 15 20:40:17 2012 +0000
- Revision:
- 0:42026f893a2d
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| narshu | 0:42026f893a2d | 1 | #ifndef KALMAN_H |
| narshu | 0:42026f893a2d | 2 | #define KALMAN_H |
| narshu | 0:42026f893a2d | 3 | |
| narshu | 0:42026f893a2d | 4 | #include "globals.h" |
| narshu | 0:42026f893a2d | 5 | |
| narshu | 0:42026f893a2d | 6 | |
| narshu | 0:42026f893a2d | 7 | #include "rtos.h" |
| narshu | 0:42026f893a2d | 8 | //#include "Matrix.h" |
| narshu | 0:42026f893a2d | 9 | #include "motors.h" |
| narshu | 0:42026f893a2d | 10 | #include "RFSRF05.h" |
| narshu | 0:42026f893a2d | 11 | #include "IR.h" |
| narshu | 0:42026f893a2d | 12 | #include "ui.h" |
| narshu | 0:42026f893a2d | 13 | |
| narshu | 0:42026f893a2d | 14 | #include <tvmet/Matrix.h> |
| narshu | 0:42026f893a2d | 15 | #include <tvmet/Vector.h> |
| narshu | 0:42026f893a2d | 16 | using namespace tvmet; |
| narshu | 0:42026f893a2d | 17 | |
| narshu | 0:42026f893a2d | 18 | |
| narshu | 0:42026f893a2d | 19 | class Kalman { |
| narshu | 0:42026f893a2d | 20 | public: |
| narshu | 0:42026f893a2d | 21 | enum measurement_t {SONAR1 = 0, SONAR2, SONAR3, IR1, IR2, IR3}; |
| narshu | 0:42026f893a2d | 22 | static const measurement_t maxmeasure = IR3; |
| narshu | 0:42026f893a2d | 23 | |
| narshu | 0:42026f893a2d | 24 | Kalman(Motors &motorsin, |
| narshu | 0:42026f893a2d | 25 | UI &uiin, |
| narshu | 0:42026f893a2d | 26 | PinName Sonar_Trig, |
| narshu | 0:42026f893a2d | 27 | PinName Sonar_Echo0, |
| narshu | 0:42026f893a2d | 28 | PinName Sonar_Echo1, |
| narshu | 0:42026f893a2d | 29 | PinName Sonar_Echo2, |
| narshu | 0:42026f893a2d | 30 | PinName Sonar_Echo3, |
| narshu | 0:42026f893a2d | 31 | PinName Sonar_Echo4, |
| narshu | 0:42026f893a2d | 32 | PinName Sonar_Echo5, |
| narshu | 0:42026f893a2d | 33 | PinName Sonar_SDI, |
| narshu | 0:42026f893a2d | 34 | PinName Sonar_SDO, |
| narshu | 0:42026f893a2d | 35 | PinName Sonar_SCK, |
| narshu | 0:42026f893a2d | 36 | PinName Sonar_NCS, |
| narshu | 0:42026f893a2d | 37 | PinName Sonar_NIRQ); |
| narshu | 0:42026f893a2d | 38 | |
| narshu | 0:42026f893a2d | 39 | void predict(); |
| narshu | 0:42026f893a2d | 40 | void runupdate(measurement_t type, float value, float variance); |
| narshu | 0:42026f893a2d | 41 | |
| narshu | 0:42026f893a2d | 42 | //State variables |
| narshu | 0:42026f893a2d | 43 | Vector<float, 3> X; |
| narshu | 0:42026f893a2d | 44 | Matrix<float, 3, 3> P; |
| narshu | 0:42026f893a2d | 45 | Mutex statelock; |
| narshu | 0:42026f893a2d | 46 | |
| narshu | 0:42026f893a2d | 47 | float SonarMeasures[3]; |
| narshu | 0:42026f893a2d | 48 | float IRMeasures[3]; |
| narshu | 0:42026f893a2d | 49 | float IR_Offset; |
| narshu | 0:42026f893a2d | 50 | float Sonar_Offset; |
| narshu | 0:42026f893a2d | 51 | Mutex InitLock; |
| narshu | 0:42026f893a2d | 52 | |
| narshu | 0:42026f893a2d | 53 | bool Kalman_init; |
| narshu | 0:42026f893a2d | 54 | |
| narshu | 0:42026f893a2d | 55 | //The IR is public so it's possible to print the offset in the print function |
| narshu | 0:42026f893a2d | 56 | IR ir; |
| narshu | 0:42026f893a2d | 57 | |
| narshu | 0:42026f893a2d | 58 | //Initialises the kalman filter |
| narshu | 0:42026f893a2d | 59 | void KalmanInit(); |
| narshu | 0:42026f893a2d | 60 | |
| narshu | 0:42026f893a2d | 61 | // reset kalman states |
| narshu | 0:42026f893a2d | 62 | void KalmanReset(); |
| narshu | 0:42026f893a2d | 63 | |
| narshu | 0:42026f893a2d | 64 | private: |
| narshu | 0:42026f893a2d | 65 | |
| narshu | 0:42026f893a2d | 66 | //Sensor interfaces |
| narshu | 0:42026f893a2d | 67 | RFSRF05 sonararray; |
| narshu | 0:42026f893a2d | 68 | Motors& motors; |
| narshu | 0:42026f893a2d | 69 | UI& ui; |
| narshu | 0:42026f893a2d | 70 | |
| narshu | 0:42026f893a2d | 71 | Thread predictthread; |
| narshu | 0:42026f893a2d | 72 | void predictloop(); |
| narshu | 0:42026f893a2d | 73 | static void predictloopwrapper(void const *argument) { |
| narshu | 0:42026f893a2d | 74 | ((Kalman*)argument)->predictloop(); |
| narshu | 0:42026f893a2d | 75 | } |
| narshu | 0:42026f893a2d | 76 | RtosTimer predictticker; |
| narshu | 0:42026f893a2d | 77 | |
| narshu | 0:42026f893a2d | 78 | // Thread sonarthread; |
| narshu | 0:42026f893a2d | 79 | // void sonarloop(); |
| narshu | 0:42026f893a2d | 80 | // static void sonarloopwrapper(void const *argument){ ((Kalman*)argument)->sonarloop(); } |
| narshu | 0:42026f893a2d | 81 | // RtosTimer sonarticker; |
| narshu | 0:42026f893a2d | 82 | |
| narshu | 0:42026f893a2d | 83 | struct measurmentdata { |
| narshu | 0:42026f893a2d | 84 | measurement_t mtype; |
| narshu | 0:42026f893a2d | 85 | float value; |
| narshu | 0:42026f893a2d | 86 | float variance; |
| narshu | 0:42026f893a2d | 87 | } ; |
| narshu | 0:42026f893a2d | 88 | |
| narshu | 0:42026f893a2d | 89 | Mail <measurmentdata, 16> measureMQ; |
| narshu | 0:42026f893a2d | 90 | |
| narshu | 0:42026f893a2d | 91 | Thread updatethread; |
| narshu | 0:42026f893a2d | 92 | void updateloop(); |
| narshu | 0:42026f893a2d | 93 | static void updateloopwrapper(void const *argument) { |
| narshu | 0:42026f893a2d | 94 | ((Kalman*)argument)->updateloop(); |
| narshu | 0:42026f893a2d | 95 | } |
| narshu | 0:42026f893a2d | 96 | |
| narshu | 0:42026f893a2d | 97 | |
| narshu | 0:42026f893a2d | 98 | }; |
| narshu | 0:42026f893a2d | 99 | |
| narshu | 0:42026f893a2d | 100 | #endif //KALMAN_H |