motion_model.cpp

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#include "motion_model.h"

constant_velocity_nh::constant_velocity_nh(double _l,double _dt,scan_matching_method _method) 
{
        setDim(6, 0, 6, 2, 2);

        l=_l;
        dt=_dt;
        method=_method;
        
        static Vector x(6);
        double _P0[36];
        
        memset(_P0,0,sizeof(_P0));
        
        _P0[0]=100*100;
        _P0[7]=100*100;
        _P0[14]=100*100;
        _P0[21]=100*100;
        _P0[28]=100*100;
        _P0[35]=100*100;
        
        static Matrix P0(6,6,_P0);
        
        x(1)=0.;
        x(2)=0;
        x(3)=0;
        x(4)=0;
        x(5)=0;
        x(6)=0;
        
        init(x,P0);
}

void constant_velocity_nh::updateDt(double _dt)
{
        dt=_dt;
}

void constant_velocity_nh::makeA()
{
        double v1=x(3);
        double t=x(4);
        double f=x(5);
        
//      printf("Make A dt %f\n",dt);
        
        //dF1
        A(1,1)=1.0;
        A(1,2)=0.0;
        A(1,3)=cos(t)*cos(f)*dt;
        A(1,4)=-sin(t)*cos(f)*v1*dt;
        A(1,5)=cos(t)*(-sin(f))*v1*dt;
        A(1,6)=0.0;
        
        A(2,1)=0.0;
        A(2,2)=1.0;
        A(2,3)=sin(t)*cos(f)*dt;
        A(2,4)=cos(t)*cos(f)*v1*dt;
        A(2,5)=sin(t)*(-sin(f))*v1*dt;
        A(2,6)=0.0;
        
        A(3,1)=0.0;
        A(3,2)=0.0;
        A(3,3)=1.0;
        A(3,4)=0.0;
        A(3,5)=0.0;
        A(3,6)=0.0;
        
        A(4,1)=0.0;
        A(4,2)=0.0;
        A(4,3)=sin(f/l)*dt;
        A(4,4)=1.0;
        A(4,5)=cos(f/l)/l*v1*dt;
        A(4,6)=0.0;
        
        A(5,1)=0.0;
        A(5,2)=0.0;
        A(5,3)=0.0;
        A(5,4)=0.0;
        A(5,5)=1.0;
        A(5,6)=dt;
        
        A(6,1)=0.0;
        A(6,2)=0.0;
        A(6,3)=0.0;
        A(6,4)=0.0;
        A(6,5)=0.0;
        A(6,6)=1.0;
}

void constant_velocity_nh::makeH()
{
        H(1,1) = 0.0;
        H(1,2) = 0.0;
        H(1,3) = 1.0;
        H(1,4) = 0.0;
        H(1,5) = 0.0;
        H(1,6) = 0.0;

        H(2,1) = 0.0;
        H(2,2) = 0.0;
        H(2,3) = 0.0;
        H(2,4) = 0.0;
        H(2,5) = 1.0;
        H(2,6) = 0.0;
}

void constant_velocity_nh::makeW()
{
        W(1,1) = 1.0;
        W(1,2) = 0.0;
        W(1,3) = 0.0;
        W(1,4) = 0.0;
        W(1,5) = 0.0;
        W(1,6) = 0.0;
        
        W(2,1) = 0.0;
        W(2,2) = 1.0;
        W(2,3) = 0.0;
        W(2,4) = 0.0;
        W(2,5) = 0.0;
        W(2,6) = 0.0;
        
        W(3,1) = 0.0;
        W(3,2) = 0.0;
        W(3,3) = 1.0;
        W(3,4) = 0.0;
        W(3,5) = 0.0;
        W(3,6) = 0.0;
        
        W(4,1) = 0.0;
        W(4,2) = 0.0;
        W(4,3) = 0.0;
        W(4,4) = 1.0;
        W(4,5) = 0.0;
        W(4,6) = 0.0;
        
        W(5,1) = 0.0;
        W(5,2) = 0.0;
        W(5,3) = 0.0;
        W(5,4) = 0.0;
        W(5,5) = 1.0;
        W(5,6) = 0.0;
        
        W(6,1) = 0.0;
        W(6,2) = 0.0;
        W(6,3) = 0.0;
        W(6,4) = 0.0;
        W(6,5) = 0.0;
        W(6,6) = 1.0;
}

void constant_velocity_nh::makeProcess()
{
//      x(1) -> x
//      x(2) -> y
//      x(3) -> v1
//      x(4) -> t
//      x(5) -> f
//      x(6) -> v2
        
        Vector x_(x.size());
        
        x_(1) = x(1) + cos(x(4))*cos(x(5))*x(3)*dt;
        x_(2) = x(2) + sin(x(4))*cos(x(5))*x(3)*dt;
        x_(3) = x(3);
        x_(4) = x(4) + sin(x(5)/l)*x(3)*dt;
//      printf("L %f Dt %f V1 %f\n",l,dt,x(3));
//      printf("X(4) %f\n",x_(4));
        
        x_(5) = x(5) + x(6)*dt*0.1;
        x_(6) = x(6);
        
        x.swap(x_);
}

void constant_velocity_nh::makeMeasure()
{
        z(1)=x(3);
        z(2)=x(5);
}

void constant_velocity_nh::makeV()
{
        V(1,1) = 1.0;
        V(1,2) = 0.0;
        V(2,1) = 0.0;
        V(2,2) = 1.0;
}

void constant_velocity_nh::makeR()
{
//      double r=100*100;
//      double r=10*10;
        
//      double vmin=0.1;
//      double vmax=5.;
//      
//      double f=(-1/vmax)*x(3)+1;
//      f=f>0?f:0;
//      
//      printf(">>F %f\n",f);
//      double f;
//      
//      f=10./grxy;
//      
//      if(isnan(f))
//              f=100;
// 
//      if(f>100)
//              f=100;
//      
//      if(f<1)
//              f=1;
        
//      printf("F %f\n",f);
        /*
        if(grxy<4)
        {
                f=100;
        }else if(grxy<10)
        {
                f=1;
        }else
                f=1;*/
        
//      0.0013
//      0.0680
        
        
//      R(1,1) = 0.0680;//vel
//      R(1,2) = 0;
        
//      R(2,1) = 0;//dir
//      R(2,2) = 0.0013;
        
        switch(method)
        {
                case MBICP:
//                      R(1,1) = 0.2221;//vel
//                      R(1,2) = -0.0056;
                        
//                      R(2,1) = -0.0056;//dir
//                      R(2,2) = 0.0036;
                        
                        R(1,1) = 0.0600;//vel
                        R(1,2) = 0.0010;
                        
                        R(2,1) = 0.0010;//dir
                        R(2,2) = 0.0400;
                         
                        break;
                        
                case PSM:
                        
                        R(1,1) = 0.0600;//vel
                        R(1,2) = 0.0010;
                        
                        R(2,1) = 0.0010;//dir
                        R(2,2) = 0.0400;
                        
                        break;
                        
                case PLICP:
                        R(1,1) = 0.0662;//vel
                        R(1,2) = 0.0010;
                        
                        R(2,1) = 0.0010;//dir
                        R(2,2) = 0.0217;
                        break;
        }


//      R(1,1) = r*5.;//vel
//      R(1,2) = 0;
        
//      R(2,1) = 0;//dir
//      R(2,2) = r;
}

void constant_velocity_nh::makeQ()
{
        double q=0;
//      double q=2*2;
        switch(method)
        {
                case MBICP:
//                      q=0.015;
                        q=0.0015;
                        break;
                        
                case PSM:
                        q=0.0015;
                        break;
                        
                case PLICP:
                        q=0.0005;
                        break;
        }
        
        
        
        //X
        Q(1,1) = q;
        Q(1,2) = 0.0;
        Q(1,3) = 0.0;
        Q(1,4) = 0.0;
        Q(1,5) = 0.0;
        Q(1,6) = 0.0;
        
        //Y
        Q(2,1) = 0.0;
        Q(2,2) = q;
        Q(2,3) = 0.0;
        Q(2,4) = 0.0;
        Q(2,5) = 0.0;
        Q(2,6) = 0.0;
        
        //Vl
        Q(3,1) = 0.0;
        Q(3,2) = 0.0;
        Q(3,3) = q*1.;
        Q(3,4) = 0.0;
        Q(3,5) = 0.0;
        Q(3,6) = 0.0;
        
        //Theta
        Q(4,1) = 0.0;
        Q(4,2) = 0.0;
        Q(4,3) = 0.0;
        Q(4,4) = q;
        Q(4,5) = 0.0;
        Q(4,6) = 0.0;
        
        //Fi
        Q(5,1) = 0.0;
        Q(5,2) = 0.0;
        Q(5,3) = 0.0;
        Q(5,4) = 0.0;
        Q(5,5) = q*1.;
        Q(5,6) = 0.0;
        
        //Df
        Q(6,1) = 0.0;
        Q(6,2) = 0.0;
        Q(6,3) = 0.0;
        Q(6,4) = 0.0;
        Q(6,5) = 0.0;
        Q(6,6) = q*1.;
        
}