Visual Servoing Platform version 3.6.0
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testKalmanVelocity.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
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6 * This software is free software; you can redistribute it and/or modify
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10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
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28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Tests some vpLinearKalmanFilterInstantiation functionalities.
33 *
34*****************************************************************************/
35
43#include <fstream>
44#include <iostream>
45#include <visp3/core/vpLinearKalmanFilterInstantiation.h>
46
47typedef enum {
48 Position, // Considered measures are the successive positions of the target
49 Velocity // Considered measures are the successive velocities of the target
50} vpMeasureType;
51
52int main()
53{
54 try {
55 unsigned int nsignal = 2; // Number of signal to filter
56 unsigned int niter = 200;
57 unsigned int size_state_vector = 2 * nsignal;
58 unsigned int size_measure_vector = 1 * nsignal;
59 // vpMeasureType measure_t = Velocity;
60 vpMeasureType measure_t = Position;
61
62 std::string filename = "/tmp/log.dat";
63 std::ofstream flog(filename.c_str());
64
66
67 vpColVector sigma_measure(size_measure_vector);
68 for (unsigned int signal = 0; signal < nsignal; signal++)
69 sigma_measure = 0.000001;
70 vpColVector sigma_state(size_state_vector);
71
72 switch (measure_t) {
73 case Velocity:
74 for (unsigned int signal = 0; signal < nsignal; signal++) {
75 sigma_state[2 * signal] = 0.; // not used
76 sigma_state[2 * signal + 1] = 0.000001;
77 }
78 break;
79 case Position:
80 for (unsigned int signal = 0; signal < nsignal; signal++) {
81 sigma_state[2 * signal] = 0.000001;
82 sigma_state[2 * signal + 1] = 0; // not used
83 }
84 break;
85 }
86
87 vpColVector measure(size_measure_vector);
88
89 for (unsigned int signal = 0; signal < nsignal; signal++) {
90 measure[signal] = 3 + 2 * signal;
91 }
92
93 kalman.verbose(true);
94
96 double dt = 0.04; // Sampling period
97 double rho = 0.5;
98 double dummy = 0; // non used parameter
99 switch (measure_t) {
100 case Velocity:
102 kalman.setStateModel(model);
103 kalman.initFilter(nsignal, sigma_state, sigma_measure, rho, dummy);
104 break;
105 case Position:
107 kalman.setStateModel(model);
108 kalman.initFilter(nsignal, sigma_state, sigma_measure, dummy, dt);
109 break;
110 }
111
112 for (unsigned int iter = 0; iter <= niter; iter++) {
113 std::cout << "-------- iter " << iter << " ------------" << std::endl;
114 for (unsigned int signal = 0; signal < nsignal; signal++) {
115 measure[signal] = 3 + 2 * signal + 0.3 * sin(vpMath::rad(360. / niter * iter));
116 }
117 std::cout << "measure : " << measure.t() << std::endl;
118
119 flog << measure.t();
120
121 // kalman.prediction();
122 kalman.filter(measure);
123 flog << kalman.Xest.t() << std::endl;
124
125 std::cout << "Xest: " << kalman.Xest.t() << std::endl;
126 }
127
128 flog.close();
129 return EXIT_SUCCESS;
130 } catch (const vpException &e) {
131 std::cout << "Catch an exception: " << e << std::endl;
132 return EXIT_FAILURE;
133 }
134}
Implementation of column vector and the associated operations.
vpRowVector t() const
error that can be emitted by ViSP classes.
Definition vpException.h:59
void verbose(bool on)
vpColVector Xest
This class provides an implementation of some specific linear Kalman filters.
void initFilter(unsigned int nsignal, vpColVector &sigma_state, vpColVector &sigma_measure, double rho, double dt)
static double rad(double deg)
Definition vpMath.h:116