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autonomousdriving
torcs_dl
Commits
4b2a268a
Commit
4b2a268a
authored
Jul 10, 2018
by
Svetlana
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parent
07d1ed69
Changes
5
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5 changed files
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28 additions
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54 deletions
+28
-54
TorcsEMAMGenerator/.idea/libraries/Maven__de_monticore_lang_math_0_0_10_SNAPSHOT.xml
...braries/Maven__de_monticore_lang_math_0_0_10_SNAPSHOT.xml
+0
-13
TorcsEMAMGenerator/.idea/libraries/Maven__de_monticore_lang_monticar_embedded_montiarc_math_generator_0_0_6_SNAPSHOT.xml
...ticar_embedded_montiarc_math_generator_0_0_6_SNAPSHOT.xml
+0
-13
TorcsEMAMGenerator/src/main/models/dp/Mastercomponent.emadl
TorcsEMAMGenerator/src/main/models/dp/Mastercomponent.emadl
+2
-2
TorcsEMAMGenerator/src/main/models/dp/subcomponents/KFMastercomponent.emadl
.../src/main/models/dp/subcomponents/KFMastercomponent.emadl
+24
-23
TorcsEMAMGenerator/src/main/models/dp/subcomponents/Kalmanfilter.emadl
...rator/src/main/models/dp/subcomponents/Kalmanfilter.emadl
+2
-3
No files found.
TorcsEMAMGenerator/.idea/libraries/Maven__de_monticore_lang_math_0_0_10_SNAPSHOT.xml
deleted
100644 → 0
View file @
07d1ed69
<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
deleted
100644 → 0
View file @
07d1ed69
<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
View file @
4b2a268a
...
...
@@ -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
View file @
4b2a268a
...
...
@@ -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
View file @
4b2a268a
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
*
dt
2
/
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
];
...
...
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