kazu
8930be1e2c
fixed issue with angles [bad interface] - adjusted other parts accordingly - added corresponding test-cases started working on absolute heading
125 lines
4.4 KiB
C++
125 lines
4.4 KiB
C++
#ifndef WALKMODULEHEADINGVONMISES_H
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#define WALKMODULEHEADINGVONMISES_H
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#include "WalkModule.h"
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#include "WalkStateHeading.h"
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#include "../../../../geo/Heading.h"
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#include "../../../../math/Distributions.h"
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/** keep the state's heading */
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template <typename Node, typename WalkState, typename Control> class WalkModuleHeadingVonMises : public WalkModule<Node, WalkState> {
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private:
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/** van-Mises distribution */
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Distribution::VonMises<float> dist;
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/** random noise */
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Distribution::Normal<float> distNoise;
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const Control* ctrl;
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public:
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/** ctor 3.0 should be OK! */
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WalkModuleHeadingVonMises(const Control* ctrl, const float sensorNoiseDegreesSigma) :
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dist(Distribution::VonMises<float>(0.0f, 2.0f)),
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distNoise(0, Angle::degToRad(sensorNoiseDegreesSigma)),
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ctrl(ctrl) {
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// ensure the template WalkState inherits from 'WalkStateHeading'!
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StaticAssert::AinheritsB<WalkState, WalkStateHeading>();
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}
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virtual void updateBefore(WalkState& state, const Node& startNode) override {
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// NOTE: ctrl->turnAngle is cumulative SINCE the last transition!
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// reset this one after every transition!
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Assert::isBetween(ctrl->turnSinceLastTransition_rad, -3.0f, +3.0f, "the given turn angle is too high to make sense.. did you forget to set ctrl->turnAngle = 0 after each transition?");
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// sensor noise
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float var = distNoise.draw();
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// stair? -> increase variance
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if (startNode.getType() == GridNode::TYPE_STAIR) {var *= 3;}
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// adjust the state's heading using the control-data
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state.heading.direction += ctrl->turnSinceLastTransition_rad + var;
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//set kappa of mises
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float kappa = 5 / std::exp(2 * std::abs(ctrl->motionDeltaAngle_rad));
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dist.setKappa(kappa);
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}
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virtual void updateAfter(WalkState& state, const Node& startNode, const Node& endNode) override {
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(void) state;
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(void) startNode;
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(void) endNode;
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}
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virtual void step(WalkState& state, const Node& curNode, const Node& nextNode) override {
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(void) state;
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// ignore for stairs?
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//if (nextNode.getType() == GridNode::TYPE_STAIR) {return;}
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// for elevator edges [same (x,y) but different z] do not adjust anything
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if (nextNode.getType() == GridNode::TYPE_ELEVATOR) {return;}
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if (curNode.getType() == GridNode::TYPE_ELEVATOR) {return;}
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//if (curNode.x_cm == nextNode.x_cm && curNode.y_cm == nextNode.y_cm && curNode.z_cm != nextNode.z_cm) {return;}
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// get the heading denoted by the way from curNode to nextNode
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const Heading head(curNode.x_cm, curNode.y_cm, nextNode.x_cm, nextNode.y_cm);
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// get the heading requested by the state
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const Heading stateHead = state.heading.direction;
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// get the error (signed difference) between both
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//const float angularDiff = stateHead.getSignedDiff(head);
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const float angularDiff = Heading::getSignedDiff(head, stateHead);
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// adjust the error.
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// note: the error may get > +/- 2PI but this is not an issue!
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// when the error is added to the current heading within getProbability(),
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// it is ensured their sum is within [0:2pi]
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state.heading.error += angularDiff;
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}
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double getProbability(const WalkState& state, const Node& startNode, const Node& curNode, const Node& potentialNode) const override {
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(void) startNode;
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// ignore for stairs?
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//if (potentialNode.getType() == GridNode::TYPE_STAIR) {return 1.0;}
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// for elevator edges [same (x,y) but different z] just return 1
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if (potentialNode.getType() == GridNode::TYPE_ELEVATOR) {return 1.0;}
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if (curNode.getType() == GridNode::TYPE_ELEVATOR) {return 1.0;}
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//if (curNode.x_cm == potentialNode.x_cm && curNode.y_cm == potentialNode.y_cm && curNode.z_cm != potentialNode.z_cm) {return 1.0;}
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// get the heading between curNode and potentialNode
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const Heading head(curNode.x_cm, curNode.y_cm, potentialNode.x_cm, potentialNode.y_cm);
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// compare the heading against the state's heading - the last error
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const Heading stateHead = state.heading.direction + state.heading.error;
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// get the difference
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const float angularDiff = head.getDiffHalfRAD(stateHead);
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// determine probability
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return dist.getProbability(angularDiff);
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}
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};
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#endif // WALKMODULEHEADING_H
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