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ParticleFilter.cpp
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ParticleFilter.cpp
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#include "ParticleFilter.h"
ParticleFilter::ParticleFilter(int width, int height, double Fnoise, double Tnoise, double Snoise) {
this->width = width;
this->height = height;
this->Fnoise = Fnoise;
this->Tnoise = Tnoise;
this->Snoise = Snoise;
for(int i=0; i<PART_COUNT; i++) {
particles[i].x = nextDouble() * width;
particles[i].y = nextDouble() * height;
particles[i].theta = nextDouble() * 2.0 * PI;
Serial.println(i + 1);
}
}
void ParticleFilter::move(double turn, double forward) {
for(int i=0; i<PART_COUNT; i++) {
//Serial.println(particles[i].theta);
particles[i].theta += turn + randn_trig(0, Tnoise);
particles[i].theta = circle(particles[i].theta, 2.0 * PI);
//Serial.println(particles[i].theta);
double dist = forward + randn_trig(0, Fnoise);
particles[i].x += cos(particles[i].theta) * dist;
particles[i].y += sin(particles[i].theta) * dist;
}
}
Particle ParticleFilter::getLocation() {
Particle part;
part.x = 0;
part.y = 0;
part.theta = 0;
for(int i=0; i<PART_COUNT; i++) {
part.x += particles[i].x;
part.y += particles[i].y;
part.theta += circle(particles[i].theta - particles[0].theta + PI,
2.0 * PI)
+ particles[0].theta - PI;
}
part.x /= PART_COUNT;
part.y /= PART_COUNT;
part.theta /= PART_COUNT;
return part;
}
void ParticleFilter::measureProbability(double* probs, double measurement) {
double len = width * height;
//double dists[PART_COUNT];
//Serial.print("Sensing ");
//Serial.print(measurement);
//Serial.println(":");
for(int i = 0; i<PART_COUNT; i++) {
Point p;
p.x = particles[i].x + cos(particles[i].theta) * len;
p.y = particles[i].y + sin(particles[i].theta) * len;
//Serial.println(p.x);
//Serial.println(p.y);
Point intersect;
double best = len + 1;
for(int a=0; a<BAR_COUNT; a++) {
double x, y;
bool hit = MAP.barriers[a].collides(particles[i].x, particles[i].y,
p.x, p.y,
&x, &y);
if(hit) {
//Serial.println("HIT!!!");
double dist = distance(particles[i].x, particles[i].y, x, y);
//Serial.println(a);
//Serial.println(x);
//Serial.println(y);
if(dist < best) {
intersect.x = x;
intersect.y = y;
best = dist;
}
}
}
probs[i] = Gaussian(best, Snoise, measurement);
//dists[i] = bes;
}
/*
for(int i=0; i<PART_COUNT; i++) {
//cout<<i<<"|"<<probs[i]<<endl;
Serial.print(i);
Serial.print("|");
Serial.print(probs[i], DEC);
Serial.println(", Dist:");
//Serial.println(dists[i]);
}
*/
}
void ParticleFilter::resample(double measurement) {
double probs[PART_COUNT];
measureProbability(probs, measurement);
int best = 0;
for(int i=0; i<PART_COUNT; i++) {
if(probs[i] > probs[best]) {
best = i;
}
}
//cout << "Best:" << best<<endl;
//Serial.print("Best:");
//Serial.println
double B = 0.0;
int index = (int) nextDouble() * PART_COUNT;
Particle new_parts[PART_COUNT];
for(int i=0; i<PART_COUNT; i++) {
B += nextDouble() * 2.0 * probs[best];
while(B > probs[index]) {
B -= probs[index];
index = circle(index+1, PART_COUNT);
}
new_parts[i].x = particles[index].x;
new_parts[i].y = particles[index].y;
new_parts[i].theta = particles[index].theta;
}
for(int i=0; i<PART_COUNT; i++) {
particles[i].x = new_parts[i].x;
particles[i].y = new_parts[i].y;
particles[i].theta = new_parts[i].theta;
}
}
void ParticleFilter::print() {
//cout << "Particles("<<PART_COUNT<<"):"<<endl;
for(int i=0; i<PART_COUNT; i++) {
//cout << i << "|";
Serial.print(i);
Serial.print("|");
//cout << "X:" << particles[i].x << ", Y:" << particles[i].y;
Serial.print("X:");
Serial.print(particles[i].x);
Serial.print(", Y:");
Serial.print(particles[i].y);
//cout << ", Theta:" << particles[i].theta * 180 / PI<<endl;
Serial.print(", Theta:");
Serial.println(particles[i].theta * 180 / PI);
}
}