Draft

TorcsEMAMGenerator/.idea/libraries/Maven__de_monticore_lang_math_0_0_10_SNAPSHOT.xml

-<component name="libraryTable">
-  <library name="Maven: de.monticore.lang:math:0.0.10-SNAPSHOT">
-    <CLASSES>
-      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/math/0.0.10-SNAPSHOT/math-0.0.10-20180122.005909-1.jar!/" />
-    </CLASSES>
-    <JAVADOC>
-      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/math/0.0.10-SNAPSHOT/math-0.0.10-20180122.005909-1-javadoc.jar!/" />
-    </JAVADOC>
-    <SOURCES>
-      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/math/0.0.10-SNAPSHOT/math-0.0.10-20180122.005909-1-sources.jar!/" />
-    </SOURCES>
-  </library>
-</component>
\ No newline at end of file

TorcsEMAMGenerator/.idea/libraries/Maven__de_monticore_lang_monticar_embedded_montiarc_math_generator_0_0_6_SNAPSHOT.xml

-<component name="libraryTable">
-  <library name="Maven: de.monticore.lang.monticar:embedded-montiarc-math-generator:0.0.6-SNAPSHOT">
-    <CLASSES>
-      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/embedded-montiarc-math-generator/0.0.6-SNAPSHOT/embedded-montiarc-math-generator-0.0.6-20180122.005408-1.jar!/" />
-    </CLASSES>
-    <JAVADOC>
-      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/embedded-montiarc-math-generator/0.0.6-SNAPSHOT/embedded-montiarc-math-generator-0.0.6-20180122.005408-1-javadoc.jar!/" />
-    </JAVADOC>
-    <SOURCES>
-      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/embedded-montiarc-math-generator/0.0.6-SNAPSHOT/embedded-montiarc-math-generator-0.0.6-20180122.005408-1-sources.jar!/" />
-    </SOURCES>
-  </library>
-</component>
\ No newline at end of file

TorcsEMAMGenerator/src/main/models/dp/Mastercomponent.emadl

@@ -16,8 +16,8 @@ component Mastercomponent {
    connect imageIn -> ip.imageIn;
    connect ip.imageOut -> dpnet.image;
    connect dpnet.predictions -> un.normalizedPredictions;
-   connect un.affordance -> kfm.predictions;
-   connect kfm.predictionsSmoothed -> dc.affordanceIn;
+   //connect un.affordance -> kfm.predictions;
+   //connect kfm.predictionsSmoothed -> dc.affordanceIn;
    connect speedIn -> dc.speedIn;
    connect dc.commandsOut -> commandsOut;
 }
\ No newline at end of file

TorcsEMAMGenerator/src/main/models/dp/subcomponents/KFMastercomponent.emadl

@@ -4,30 +4,31 @@ 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;
+    instance Kalmanfilter kfLL;
+    //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.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 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;
+    //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;
 }
\ No newline at end of file

TorcsEMAMGenerator/src/main/models/dp/subcomponents/Kalmanfilter.emadl

 package dp.subcomponents;
 
-component Kalmanfilter(Q^{1, 2} X) {
-
+component Kalmanfilter {
     ports in Q^{1,1} measurement,
           out Q^{1,2} state;
 
@@ -9,7 +8,7 @@ component Kalmanfilter(Q^{1, 2} X) {
         Q^{1, 1} dt = 0;
         Q^{2, 2} A = [1, dt; 0, 1]; // state transition matrix
         Q^{1, 2} measM = [1, 0] ; // C: measurement matrix
-        Q^{2, 2} procNoiseCov = [dt*dt*dt/3, dt*dt/2; dt*dt2/2, dt]; // Q: covariance of process noise
+        Q^{2, 2} procNoiseCov = [dt*dt*dt/3, dt*dt/2; dt*dt/2, dt]; // Q: covariance of process noise
         Q^{1, 1} measNoiseCov = 5; // R: covariance of measurement noise
         Q^{2, 2} errCov = [1000, 0; 0, 1000]; // P: estimate error covariance
         Q^{2, 2} I = [1, 0; 0, 1];