mht_types.cpp

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#include <mtt/mht_types.h>
#error This file should not be used, DEPRECATED

long association_errors = 0;

void constantVelocityEKFilter::SetIdentity(Matrix& M,int size,double value)
{
        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 constantVelocityEKFilter::SetZero(Matrix& M,int size)
{
        for(int l=0;l<size;l++)
                for(int c=0;c<size;c++)
                        M(l,c)=0;
}

void constantVelocityEKFilter::InitFilter(Vector4d& x_init)
{
        setDim(4,0,4,2,2);
        dt=1./50.;
        lt=Time::now();
        
        Vector x_0(4);

        x_0(0)=x_init(0);//x
        x_0(1)=x_init(1);//y
        x_0(2)=x_init(2);//vx
        x_0(3)=x_init(3);//vy
        
        Matrix P_0(4,4);
        
        miss_associations=0;
        
        //Large initial uncertainty
        SetIdentity(P_0,4,2.0);
        
        init(x_0,P_0);
        
//      cout<<"Real init"<<endl;
//      cout<<"P_0: "<<P_0<<endl;
//      cout<<"x_0: "<<x_0<<endl;
        
//      cout<<"P: "<<calculateP() <<endl;
//      cout<<"x: "<<x<<endl;
}

void constantVelocityEKFilter::InitFilter(Vector4d& x_init,Matrix4d& P_init)
{
        setDim(4,0,4,2,2);
        dt=1./50.;
        lt=Time::now();
        
        Vector x_0(4);

        x_0(0)=x_init(0);//x
        x_0(1)=x_init(1);//y
        x_0(2)=x_init(2);//vx
        x_0(3)=x_init(3);//vy
        
        Matrix P_0(4,4);
        
        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(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(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(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);
        
//      cout<<"initing stuff"<<endl;
//      cout<<"xinit: "<<x_init<<endl;
//      cout<<"pinit: "<<P_init<<endl;
        
        init(x_0,P_0);
        
//      cout<<"check if init is ok"<<endl;
//      cout<<"x: "<<x<<endl;
//      cout<<"P: "<<calculateP()<<endl;
        
}

void constantVelocityEKFilter::makeCommonProcess()
{
        dt=1./50.;              
}

void constantVelocityEKFilter::makeBaseA()
{
        A(0,0)=1.0;
        A(0,1)=0.0;
//      A(0,2)=dt;
        A(0,3)=0.0;

        A(1,0)=0.0;
        A(1,1)=1.0;
        A(1,2)=0.0;
//      A(1,3)=dt;
        
        A(2,0)=0.0;
        A(2,1)=0.0;
        A(2,2)=1.0;
        A(2,3)=0.0;
        
        A(3,0)=0.0;
        A(3,1)=0.0;
        A(3,2)=0.0;
        A(3,3)=1.0;
}

void constantVelocityEKFilter::makeA()
{
        A(0,2)=dt;
        A(1,3)=dt;
}

void constantVelocityEKFilter::makeBaseH()
{
        H(0,0) = 1.0;
        H(0,1) = 0.0;
        H(1,1) = 1.0;
        H(1,0) = 0.0;
}

void constantVelocityEKFilter::makeBaseW()
{
        SetIdentity(W,4,1.0);
}

void constantVelocityEKFilter::makeBaseV()
{
        SetIdentity(V,2,1.0);
}

void constantVelocityEKFilter::makeR()
{
        //Innovation dependent error
//      inovation_error //type Vetor2d
        
        Matrix2d eigval;
        
        double inovation_factor = 3.0;
        double distortion_y = 0.1;
        
        double x_min = 0.2;
        double y_min = 0.2;
        
        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));

        
        if(miss_associations>0)
        {
                x_size+=5;
                y_size+=5;
        }

        //Velocity dependent error
//      Vector2d vel;
//      
//      vel(0)=x(2);//x
//      vel(1)=x(3);//y
// 
//      
//      Matrix2d eigval;
// 
//      double velocity_factor = 1.0;
//      double distortion_y = 0.1;
//      
//      double x_min = 0.2;
//      double y_min = 0.2;
//      
//      double x_size = vel.norm()*velocity_factor;
//      double y_size = vel.norm()*velocity_factor*distortion_y;
        
//      double dir = atan2(vel(1),vel(0));
        
        if(y_size<y_min)
                y_size = y_min;
        
        if(x_size<x_min)
                x_size = x_min;
        
                                
        eigval << x_size,               0,
                                   0,  y_size;
                        
        Matrix2d rot; 
        rot << cos(dir), -sin(dir),
                   sin(dir), cos(dir);

        Matrix2d cov = rot*eigval*rot.inverse();
        
//      cout<<"making R"<<endl;
//      R(0,0) = 0.1;
//      R(0,1) = 0.0;

//      R(1,0) = 0.0;
//      R(1,1) = 0.1;
//      
//      if(miss_association)
//      {
//              R(0,0) = cov(0,0)*100;
//              R(0,1) = cov(0,1)*100;

//              R(1,0) = cov(1,0)*100;
//              R(1,1) = cov(1,1)*100;
//              cout<<"coaissa"<<endl;
//      }else
//      {

//      cout<<"vel: "<<vel.norm()<<endl;

//      if(magnitude>0.1)
//      {
//              R(0,0) = 10;
//              R(0,1) = 0;
// 
//              R(1,0) = 0;
//              R(1,1) = 0.1;
//      }
//      else
//      {
//              R(0,0) = 1;
//              R(0,1) = 0;
// 
//              R(1,0) = 0;
//              R(1,1) = 1;
//      }
        R(0,0) = cov(0,0);
        R(0,1) = cov(0,1);
// 
        R(1,0) = cov(1,0);
        R(1,1) = cov(1,1);
//      }
        
//      cout<<"R:"<<R<<endl;
}

void constantVelocityEKFilter::makeQ()
{
        SetZero(Q,4);
//      double sigma=10.0;
//      double sigma=5.0;
//      double sigma=2.0;
//      double sigma=1.0;
//      double sigma=0.5;
        
        double sigma;
        
        if(life_time<10)
                sigma=150;
        else if(life_time>12)
                sigma=100;
        else if(life_time<15)
                sigma=50;
        else
                sigma=10;
                
        
        double factor=pow(sigma,2)*dt/6.;

        Q(0,0)=factor*2*pow(dt,2);//x x
        Q(1,1)=factor*2*pow(dt,2);//y y
        
        Q(0,2)=factor*3*pow(dt,1);//x vx
        Q(2,1)=factor*3*pow(dt,1);//vx v
        
        Q(1,3)=factor*3*pow(dt,1);//y vy
        Q(3,1)=factor*3*pow(dt,1);//vy y
        
        Q(2,2)=factor*6;//vx vx
        Q(3,3)=factor*6;//vy vy
}

void constantVelocityEKFilter::makeProcess()
{
        Vector x_(x.size());
        
        x_(0) = x(0) + x(2)*dt;//X
        x_(1) = x(1) + x(3)*dt;//Y
        x_(2) = x(2);//Vx
        x_(3) = x(3);//Vy

        x.swap(x_);
}

void constantVelocityEKFilter::makeMeasure()
{
        z(0)=x(0); //X
        z(1)=x(1); //Y
}