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#ifndef _NONHOLONOMICKALMANFILTER_H_
#define _NONHOLONOMICKALMANFILTER_H_

#include <algorithm>
#include <vector>
#include <iostream>

#include <ros/ros.h>

#include <boost/shared_ptr.hpp>
#include <boost/format.hpp>

#include <Eigen/Dense>
#include <Eigen/Cholesky>

#include <kfilter/ekfilter.hpp>

using Eigen::Matrix4d;
using Eigen::Matrix2d;
using Eigen::Vector2d;
using Eigen::Vector4d;
using Eigen::MatrixXd;
using Eigen::VectorXd;

using namespace Kalman;
using namespace ros;
using namespace std;

typedef Eigen::Matrix<double, 5, 1> Vector5d;
typedef Eigen::Matrix<double, 3, 1> Vector3d;
typedef Eigen::Matrix<double, 5, 5> Matrix5d;


typedef EKFilter<double,0,false,false,false>::Vector kVector;
typedef EKFilter<double,0,false,false,false>::Matrix kMatrix;

class nonholonomicEKFilter;
typedef boost::shared_ptr<nonholonomicEKFilter> nonholonomicEKFilterPtr;

class nonholonomicEKFilter:public EKFilter<double,0,false,false,false>
{
        public:
                
                void SetIdentity(kMatrix& M,int size,double value=1)
                {
                        for(int l=0;l<size;l++)
                                for(int c=0;c<size;c++)
                                        if(c==l)
                                                M(l,c)=value;
                                        else
                                                M(l,c)=0;
                }

                
                void SetZero(kMatrix& M,int size)
                {
                        for(int l=0;l<size;l++)
                                for(int c=0;c<size;c++)
                                        M(l,c)=0;
                }
                
                void InitFilter(Vector5d& x_init)
                {
                        setDim(5,0,5,3,3);
                        dt=1./50.;
                        lt=Time::now();
                        
                        Vector x_0(5);

                        x_0(0)=x_init(0);//x
                        x_0(1)=x_init(1);//y
                        x_0(2)=x_init(2);//v
                        x_0(3)=x_init(3);//t
                        x_0(4)=x_init(4);//f
                        
                        Matrix P_0(5,5);
                        
                        miss_associations=0;
                        
                        //Large initial uncertainty
                        SetIdentity(P_0,5,4.0);
                        
                        init(x_0,P_0);
                }
                
                void InitFilter(Vector5d& x_init,Matrix5d& P_init)
                {
                        setDim(5,0,5,3,3);
                        dt=1./50.;
                        lt=Time::now();
                        
                        Vector x_0(5);

                        x_0(0)=x_init(0);//x
                        x_0(1)=x_init(1);//y
                        x_0(2)=x_init(2);//v
                        x_0(3)=x_init(3);//t
                        x_0(4)=x_init(4);//f
                        
                        Matrix P_0(5,5);
                        
                        P_0(0,0)=P_init(0,0);
                        P_0(0,1)=P_init(0,1);
                        P_0(0,2)=P_init(0,2);
                        P_0(0,3)=P_init(0,3);
                        P_0(0,4)=P_init(0,4);
                        
                        P_0(1,0)=P_init(1,0);
                        P_0(1,1)=P_init(1,1);
                        P_0(1,2)=P_init(1,2);
                        P_0(1,3)=P_init(1,3);
                        P_0(1,4)=P_init(1,4);
                        
                        P_0(2,0)=P_init(2,0);
                        P_0(2,1)=P_init(2,1);
                        P_0(2,2)=P_init(2,2);
                        P_0(2,3)=P_init(2,3);
                        P_0(2,4)=P_init(2,4);
                        
                        P_0(3,0)=P_init(3,0);
                        P_0(3,1)=P_init(3,1);
                        P_0(3,2)=P_init(3,2);
                        P_0(3,3)=P_init(3,3);
                        P_0(3,4)=P_init(3,4);
                        
                        P_0(4,0)=P_init(4,0);
                        P_0(4,1)=P_init(4,1);
                        P_0(4,2)=P_init(4,2);
                        P_0(4,3)=P_init(4,3);
                        P_0(4,4)=P_init(4,4);
                        
                        init(x_0,P_0);
                        
                }
                
                int miss_associations;
                int life_time;
                
                Vector5d x_predicted;
                Vector3d z_measured;
                Vector3d inovation_error;
                
        protected:
                
                double dt;
                Time lt;
                
                double l;
                
                void makeCommonProcess()
                {
                        dt=1./50.;              
                        l=2.5;
                }
                
                void makeA()
                {
                        double v=x(2);
                        double t=x(3);
                        double f=x(4);
                        
                        A(0,0)=1.0;
                        A(0,1)=0.0;
                        A(0,2)=cos(t)*cos(f)*dt;
                        A(0,3)=-sin(t)*cos(f)*v*dt;
                        A(0,4)=cos(t)*(-sin(f))*v*dt;
                        
                        A(1,0)=0.0;
                        A(1,1)=1.0;
                        A(1,2)=sin(t)*cos(f)*dt;
                        A(1,3)=cos(t)*cos(f)*v*dt;
                        A(1,4)=sin(t)*(-sin(f))*v*dt;
                        
                        A(2,0)=0.0;
                        A(2,1)=0.0;
                        A(2,2)=1.0;
                        A(2,3)=0.0;
                        A(2,4)=0.0;
                        
                        A(3,0)=0.0;
                        A(3,1)=0.0;
                        A(3,2)=sin(f)*dt/l;
                        A(3,3)=1.0;
                        A(3,4)=cos(f)/l*v*dt;
                        
                        A(4,0)=0.0;
                        A(4,1)=0.0;
                        A(4,2)=0.0;
                        A(4,3)=0.0;
                        A(4,4)=1.0;
                }
                
                void makeH()
                {
//                      if(miss_associations==0)
//                      {
                                H(0,0) = 1;
                                H(0,1) = 0;
                                H(0,2) = 0;
                                H(0,3) = 0;
                                H(0,4) = 0;

                                H(1,0) = 0;
                                H(1,1) = 1;
                                H(1,2) = 0;
                                H(1,3) = 0;
                                H(1,4) = 0;
                                
                                H(2,0) = 0;
                                H(2,1) = 0;
                                H(2,2) = 0;
                                H(2,3) = 1;
                                H(2,4) = 0;
//                      }else
//                      {
//                              H(0,0) = 0;
//                              H(0,1) = 0;
//                              H(0,2) = 0;
//                              H(0,3) = 0;
//                              H(0,4) = 0;
// 
//                              H(1,0) = 0;
//                              H(1,1) = 0;
//                              H(1,2) = 0;
//                              H(1,3) = 0;
//                              H(1,4) = 0;
//                              
//                              H(2,0) = 0;
//                              H(2,1) = 0;
//                              H(2,2) = 0;
//                              H(2,3) = 0;
//                              H(2,4) = 0;
//                      }
//                              
                        
                }
                
                void makeBaseW()
                {
                        SetIdentity(W,5,1.0);
                }
        
                void makeBaseV()
                {
                        SetIdentity(V,3,1.0);
                }

                void makeR()
                {
                        Matrix2d eigval;
        
                        double inovation_factor = 5.0;
                        double distortion_y = 0.1;
        
                        double x_min = 0.2;
                        double y_min = 0.2;
        
                        double x_max = 6.0;
                        double y_max = 6.0;
                        
                        double x_size = inovation_error.norm()*inovation_factor;
                        double y_size = inovation_error.norm()*inovation_factor*distortion_y;
        
                        double dir = atan2(inovation_error(1),inovation_error(0));

                        cout<<"miss_associations: "<<miss_associations<<endl;
        
                        if(miss_associations>0)
                        {
                                x_size+=20;
                                y_size+=20;
                        }

                        if(y_size<y_min)
                                y_size = y_min;
                        
                        if(x_size<x_min)
                                x_size = x_min;
                        
                        if(y_size>y_max)
                                y_size = y_max;
                        
                        if(x_size>x_max)
                                x_size = x_max;
                        
                        eigval << x_size,               0,
                                                0,  y_size;
                                        
                        Matrix2d rot; 
                        rot << cos(dir), -sin(dir),
                                sin(dir), cos(dir);

                        Matrix2d cov = rot*eigval*rot.inverse();
                        
                        R(0,0) = cov(0,0);
                        R(0,1) = cov(0,1);
                // 
                        R(1,0) = cov(1,0);
                        R(1,1) = cov(1,1);
                        
//                      R(0,0) = 0.200;//x
//                      R(0,1) = 0.000;
                        R(0,2) = 0.000;
                        
//                      R(1,0) = 0.000;//y
//                      R(1,1) = 0.200;
                        R(1,2) = 0.000;
                        
                        R(2,0) = 0.000;//t
                        R(2,1) = 0.000;
                        R(2,2) = 0.010;
                }

                void makeQ()
                {
                        double q=2.0;
                
                        //X
                        Q(0,0) = q*0.1;
                        Q(0,1) = 0.0;
                        Q(0,2) = 0.0;
                        Q(0,3) = 0.0;
                        Q(0,4) = 0.0;
                        
                        //Y
                        Q(1,0) = 0.0;
                        Q(1,1) = q*0.1;
                        Q(1,2) = 0.0;
                        Q(1,3) = 0.0;
                        Q(1,4) = 0.0;
                        
                        //Vl
                        Q(2,0) = 0.0;
                        Q(2,1) = 0.0;
                        Q(2,2) = q*20.;
                        Q(2,3) = 0.0;
                        Q(2,4) = 0.0;
                        
                        //Theta
                        Q(3,0) = 0.0;
                        Q(3,1) = 0.0;
                        Q(3,2) = 0.0;
                        Q(3,3) = q*0.01;
                        Q(3,4) = 0.0;
                        
                        //Fi
                        Q(4,0) = 0.0;
                        Q(4,1) = 0.0;
                        Q(4,2) = 0.0;
                        Q(4,3) = 0.0;
                        Q(4,4) = q*0.01;
                        
                }

                void makeProcess()
                {
                        
                //      x(0) -> x
                //      x(1) -> y
                //      x(2) -> v
                //      x(3) -> t
                //      x(4) -> f
                        
                        Vector x_(x.size());
                        
                        x_(0) = x(0) + cos(x(3))*cos(x(4))*x(2)*dt;
                        x_(1) = x(1) + sin(x(3))*cos(x(4))*x(2)*dt;
                        x_(2) = x(2);
                        x_(3) = x(3) + sin(x(4))*x(2)*dt/l;
                        x_(4) = x(4);
                        
                        
                        x.swap(x_);
                }
                
                void makeMeasure()
                {
                        z(0)=x(0);//x
                        z(1)=x(1);//y
                        z(2)=x(3);//t
                }
};

#endif

---

mtt
Author(s): Jorge Almeida
autogenerated on Wed Jul 23 04:34:56 2014