KFMastercomponent.emadl 1.47 KB
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package dp.subcomponents;

component KFMastercomponent {
    ports in Affordance predictions,
          out Affordance predictionsSmoothed;

    instance Kalmanfilter([predictions.distLL, 0]) kfLL;
    instance Kalmanfilter([predictions.distMM, 0]) kfMM;
    instance Kalmanfilter([predictions.distRR, 0]) kfRR;
    instance Kalmanfilter([predictions.distL, 0]) kfL;
    instance Kalmanfilter([predictions.distR, 0]) kfR;

    connect predictions.angle -> predictionsSmoothed.angle;
    connect predictions.toMarkingLL -> predictionsSmoothed.toMarkingLL;
    connect predictions.toMarkingML -> predictionsSmoothed.toMarkingML;
    connect predictions.toMarkingMR -> predictionsSmoothed.toMarkingMR;
    connect predictions.toMarkingRR -> predictionsSmoothed.toMarkingRR;
    connect predictions.toMarkingL -> predictionsSmoothed.toMarkingL;
    connect predictions.toMarkingM -> predictionsSmoothed.toMarkingM;
    connect predictions.toMarkingR -> predictionsSmoothed.toMarkingR;

    connect predictions.distLL -> kfLL.measurement;
    connect predictions.distMM -> kfMM.measurement;
    connect predictions.distRR -> kfRR.measurement;
    connect predictions.distL -> kfL.measurement;
    connect predictions.distR -> kfR.measurement;

    connect kfLL.state-> predictionsSmoothed.distLL;
    connect kfMM.state-> predictionsSmoothed.distMM;
    connect kfRR.state-> predictionsSmoothed.distRR;
    connect kfL.state-> predictionsSmoothed.distL;
    connect kfR.state-> predictionsSmoothed.distR;
}