mobile_robot_wall_cts.h

一个很全的matlab工具包

// Copyright (C) 2003 Klaas Gadeyne <klaas dot gadeyne at mech dot kuleuven dot ac dot be>
//  
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//  
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//  
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//  

#ifndef __MOBILE_ROBOT_CTS_
#define __MOBILE_ROBOT_CTS_

#include <cmath> // M_PI

#define DELTA_T 1 // Delta t (for discretisation)
#define DEFAULT_NUM_TIME_STEPS 20 // Default Number of steps that
				 // simulation is running 

// System Noise
#define SIGMA_SYSTEM_NOISE 1.5 // Noise variance for system model (constant for every input here)
#define COR_SYSTEM_NOISE 0.0 // Correlation between different noise (idem)

// Coordinates of wall
#define DEFAULT_RICO_WALL 0.0
#define DEFAULT_OFFSET_WALL 100

// Measurement noise
//#define WALL_CT 1/(sqrt(pow(RICO_WALL,2) + 1))
//#define MU_MEAS_NOISE OFFSET_WALL*WALL_CT
#define SIGMA_MEAS_NOISE 0.2
#define COR_MEAS_NOISE 0.0

// Sizes
#define STATE_SIZE 3
#define INPUT_SIZE 2
#define MEAS_SIZE 1

// Inputs
#define DEFAULT_LINEAR_SPEED 10.0
#define DEFAULT_ROT_SPEED 0.2

#define DEFAULT_NUM_SAMPLES 200 // Default Number of Samples
#define DEFAULT_RESAMPLE_PERIOD 1 // Default Resample Period
#define DEFAULT_RESAMPLE_THRESHOLD (DEFAULT_NUM_SAMPLES/4) // Threshold for Dynamic Resampling

// Prior
#define PRIOR_MU_X 0
#define PRIOR_MU_Y 0
#define PRIOR_MU_THETA M_PI/4
#define PRIOR_COV 0.01
#define PRIOR_COR 0

// Positions
#define X 0
#define Y 1
#define THETA 2

#endif // __MOBILE_ROBOT_CTS_