Shuto Naruse
Kalman.h@2:8aa491f77a0b, 2012-04-26 (annotated)
- Committer:
- narshu
- Date:
- Thu Apr 26 20:11:48 2012 +0000
- Revision:
- 2:8aa491f77a0b
- Parent:
- 1:4964fa534202
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| narshu | 0:e238496b8073 | 1 | #ifndef KALMAN_H |
| narshu | 0:e238496b8073 | 2 | #define KALMAN_H |
| narshu | 0:e238496b8073 | 3 | |
| narshu | 0:e238496b8073 | 4 | #include "globals.h" |
| narshu | 0:e238496b8073 | 5 | |
| narshu | 0:e238496b8073 | 6 | |
| narshu | 0:e238496b8073 | 7 | #include "rtos.h" |
| narshu | 0:e238496b8073 | 8 | //#include "Matrix.h" |
| narshu | 0:e238496b8073 | 9 | #include "motors.h" |
| narshu | 0:e238496b8073 | 10 | #include "RFSRF05.h" |
| narshu | 0:e238496b8073 | 11 | #include "IR.h" |
| narshu | 2:8aa491f77a0b | 12 | #include "ui.h" |
| narshu | 0:e238496b8073 | 13 | |
| narshu | 0:e238496b8073 | 14 | #include <tvmet/Matrix.h> |
| narshu | 0:e238496b8073 | 15 | #include <tvmet/Vector.h> |
| narshu | 0:e238496b8073 | 16 | using namespace tvmet; |
| narshu | 0:e238496b8073 | 17 | |
| narshu | 0:e238496b8073 | 18 | |
| narshu | 0:e238496b8073 | 19 | class Kalman { |
| narshu | 0:e238496b8073 | 20 | public: |
| narshu | 0:e238496b8073 | 21 | enum measurement_t {SONAR1 = 0, SONAR2, SONAR3, IR1, IR2, IR3}; |
| narshu | 0:e238496b8073 | 22 | static const measurement_t maxmeasure = IR3; |
| narshu | 1:4964fa534202 | 23 | |
| narshu | 1:4964fa534202 | 24 | Kalman(Motors &motorsin, |
| narshu | 2:8aa491f77a0b | 25 | UI &uiin, |
| narshu | 1:4964fa534202 | 26 | PinName Sonar_Trig, |
| narshu | 1:4964fa534202 | 27 | PinName Sonar_Echo0, |
| narshu | 1:4964fa534202 | 28 | PinName Sonar_Echo1, |
| narshu | 1:4964fa534202 | 29 | PinName Sonar_Echo2, |
| narshu | 1:4964fa534202 | 30 | PinName Sonar_Echo3, |
| narshu | 1:4964fa534202 | 31 | PinName Sonar_Echo4, |
| narshu | 1:4964fa534202 | 32 | PinName Sonar_Echo5, |
| narshu | 1:4964fa534202 | 33 | PinName Sonar_SDI, |
| narshu | 1:4964fa534202 | 34 | PinName Sonar_SDO, |
| narshu | 1:4964fa534202 | 35 | PinName Sonar_SCK, |
| narshu | 1:4964fa534202 | 36 | PinName Sonar_NCS, |
| narshu | 2:8aa491f77a0b | 37 | PinName Sonar_NIRQ, |
| narshu | 2:8aa491f77a0b | 38 | PinName IR_Tx, |
| narshu | 2:8aa491f77a0b | 39 | PinName IR_Rx); |
| narshu | 1:4964fa534202 | 40 | |
| narshu | 0:e238496b8073 | 41 | void predict(); |
| narshu | 0:e238496b8073 | 42 | void runupdate(measurement_t type, float value, float variance); |
| narshu | 1:4964fa534202 | 43 | |
| narshu | 0:e238496b8073 | 44 | //State variables |
| narshu | 0:e238496b8073 | 45 | Vector<float, 3> X; |
| narshu | 0:e238496b8073 | 46 | Matrix<float, 3, 3> P; |
| narshu | 0:e238496b8073 | 47 | Mutex statelock; |
| narshu | 1:4964fa534202 | 48 | |
| narshu | 0:e238496b8073 | 49 | float SonarMeasures[3]; |
| narshu | 0:e238496b8073 | 50 | float IRMeasures[3]; |
| narshu | 0:e238496b8073 | 51 | float SonarMeasure_Offset[3]; |
| narshu | 1:4964fa534202 | 52 | |
| narshu | 0:e238496b8073 | 53 | bool Kalman_init; |
| narshu | 1:4964fa534202 | 54 | |
| narshu | 0:e238496b8073 | 55 | //The IR is public so it's possible to print the offset in the print function |
| narshu | 0:e238496b8073 | 56 | IR ir; |
| narshu | 1:4964fa534202 | 57 | |
| narshu | 0:e238496b8073 | 58 | //Initialises the kalman filter |
| narshu | 0:e238496b8073 | 59 | void KalmanInit(); |
| narshu | 1:4964fa534202 | 60 | |
| narshu | 0:e238496b8073 | 61 | private: |
| narshu | 1:4964fa534202 | 62 | |
| narshu | 0:e238496b8073 | 63 | //Sensor interfaces |
| narshu | 0:e238496b8073 | 64 | RFSRF05 sonararray; |
| narshu | 0:e238496b8073 | 65 | Motors& motors; |
| narshu | 2:8aa491f77a0b | 66 | UI& ui; |
| narshu | 1:4964fa534202 | 67 | |
| narshu | 0:e238496b8073 | 68 | Thread predictthread; |
| narshu | 0:e238496b8073 | 69 | void predictloop(); |
| narshu | 1:4964fa534202 | 70 | static void predictloopwrapper(void const *argument) { |
| narshu | 1:4964fa534202 | 71 | ((Kalman*)argument)->predictloop(); |
| narshu | 1:4964fa534202 | 72 | } |
| narshu | 0:e238496b8073 | 73 | RtosTimer predictticker; |
| narshu | 1:4964fa534202 | 74 | |
| narshu | 0:e238496b8073 | 75 | // Thread sonarthread; |
| narshu | 0:e238496b8073 | 76 | // void sonarloop(); |
| narshu | 0:e238496b8073 | 77 | // static void sonarloopwrapper(void const *argument){ ((Kalman*)argument)->sonarloop(); } |
| narshu | 0:e238496b8073 | 78 | // RtosTimer sonarticker; |
| narshu | 1:4964fa534202 | 79 | |
| narshu | 1:4964fa534202 | 80 | struct measurmentdata { |
| narshu | 0:e238496b8073 | 81 | measurement_t mtype; |
| narshu | 0:e238496b8073 | 82 | float value; |
| narshu | 0:e238496b8073 | 83 | float variance; |
| narshu | 0:e238496b8073 | 84 | } ; |
| narshu | 1:4964fa534202 | 85 | |
| narshu | 0:e238496b8073 | 86 | Mail <measurmentdata, 16> measureMQ; |
| narshu | 1:4964fa534202 | 87 | |
| narshu | 0:e238496b8073 | 88 | Thread updatethread; |
| narshu | 0:e238496b8073 | 89 | void updateloop(); |
| narshu | 1:4964fa534202 | 90 | static void updateloopwrapper(void const *argument) { |
| narshu | 1:4964fa534202 | 91 | ((Kalman*)argument)->updateloop(); |
| narshu | 1:4964fa534202 | 92 | } |
| narshu | 1:4964fa534202 | 93 | |
| narshu | 1:4964fa534202 | 94 | |
| narshu | 0:e238496b8073 | 95 | }; |
| narshu | 0:e238496b8073 | 96 | |
| narshu | 0:e238496b8073 | 97 | #endif //KALMAN_H |