Commit 4b2a268a authored by Svetlana's avatar Svetlana

Draft

parent 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
<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
...@@ -16,8 +16,8 @@ component Mastercomponent { ...@@ -16,8 +16,8 @@ component Mastercomponent {
connect imageIn -> ip.imageIn; connect imageIn -> ip.imageIn;
connect ip.imageOut -> dpnet.image; connect ip.imageOut -> dpnet.image;
connect dpnet.predictions -> un.normalizedPredictions; connect dpnet.predictions -> un.normalizedPredictions;
connect un.affordance -> kfm.predictions; //connect un.affordance -> kfm.predictions;
connect kfm.predictionsSmoothed -> dc.affordanceIn; //connect kfm.predictionsSmoothed -> dc.affordanceIn;
connect speedIn -> dc.speedIn; connect speedIn -> dc.speedIn;
connect dc.commandsOut -> commandsOut; connect dc.commandsOut -> commandsOut;
} }
\ No newline at end of file
...@@ -4,30 +4,31 @@ component KFMastercomponent { ...@@ -4,30 +4,31 @@ component KFMastercomponent {
ports in Affordance predictions, ports in Affordance predictions,
out Affordance predictionsSmoothed; out Affordance predictionsSmoothed;
instance Kalmanfilter([predictions.distLL, 0]) kfLL; instance Kalmanfilter kfLL;
instance Kalmanfilter([predictions.distMM, 0]) kfMM; //instance Kalmanfilter([predictions.distLL, 0]) kfLL;
instance Kalmanfilter([predictions.distRR, 0]) kfRR; //instance Kalmanfilter([predictions.distMM, 0]) kfMM;
instance Kalmanfilter([predictions.distL, 0]) kfL; //instance Kalmanfilter([predictions.distRR, 0]) kfRR;
instance Kalmanfilter([predictions.distR, 0]) kfR; //instance Kalmanfilter([predictions.distL, 0]) kfL;
//instance Kalmanfilter([predictions.distR, 0]) kfR;
connect predictions.angle -> predictionsSmoothed.angle; //connect predictions.angle -> predictionsSmoothed.angle;
connect predictions.toMarkingLL -> predictionsSmoothed.toMarkingLL; //connect predictions.toMarkingLL -> predictionsSmoothed.toMarkingLL;
connect predictions.toMarkingML -> predictionsSmoothed.toMarkingML; //connect predictions.toMarkingML -> predictionsSmoothed.toMarkingML;
connect predictions.toMarkingMR -> predictionsSmoothed.toMarkingMR; //connect predictions.toMarkingMR -> predictionsSmoothed.toMarkingMR;
connect predictions.toMarkingRR -> predictionsSmoothed.toMarkingRR; //connect predictions.toMarkingRR -> predictionsSmoothed.toMarkingRR;
connect predictions.toMarkingL -> predictionsSmoothed.toMarkingL; //connect predictions.toMarkingL -> predictionsSmoothed.toMarkingL;
connect predictions.toMarkingM -> predictionsSmoothed.toMarkingM; //connect predictions.toMarkingM -> predictionsSmoothed.toMarkingM;
connect predictions.toMarkingR -> predictionsSmoothed.toMarkingR; //connect predictions.toMarkingR -> predictionsSmoothed.toMarkingR;
connect predictions.distLL -> kfLL.measurement; //connect predictions.distLL -> kfLL.measurement;
connect predictions.distMM -> kfMM.measurement; //connect predictions.distMM -> kfMM.measurement;
connect predictions.distRR -> kfRR.measurement; //connect predictions.distRR -> kfRR.measurement;
connect predictions.distL -> kfL.measurement; //connect predictions.distL -> kfL.measurement;
connect predictions.distR -> kfR.measurement; //connect predictions.distR -> kfR.measurement;
connect kfLL.state-> predictionsSmoothed.distLL; //connect kfLL.state-> predictionsSmoothed.distLL;
connect kfMM.state-> predictionsSmoothed.distMM; //connect kfMM.state-> predictionsSmoothed.distMM;
connect kfRR.state-> predictionsSmoothed.distRR; //connect kfRR.state-> predictionsSmoothed.distRR;
connect kfL.state-> predictionsSmoothed.distL; //connect kfL.state-> predictionsSmoothed.distL;
connect kfR.state-> predictionsSmoothed.distR; //connect kfR.state-> predictionsSmoothed.distR;
} }
\ No newline at end of file
package dp.subcomponents; package dp.subcomponents;
component Kalmanfilter(Q^{1, 2} X) { component Kalmanfilter {
ports in Q^{1,1} measurement, ports in Q^{1,1} measurement,
out Q^{1,2} state; out Q^{1,2} state;
...@@ -9,7 +8,7 @@ component Kalmanfilter(Q^{1, 2} X) { ...@@ -9,7 +8,7 @@ component Kalmanfilter(Q^{1, 2} X) {
Q^{1, 1} dt = 0; Q^{1, 1} dt = 0;
Q^{2, 2} A = [1, dt; 0, 1]; // state transition matrix Q^{2, 2} A = [1, dt; 0, 1]; // state transition matrix
Q^{1, 2} measM = [1, 0] ; // C: measurement 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^{1, 1} measNoiseCov = 5; // R: covariance of measurement noise
Q^{2, 2} errCov = [1000, 0; 0, 1000]; // P: estimate error covariance Q^{2, 2} errCov = [1000, 0; 0, 1000]; // P: estimate error covariance
Q^{2, 2} I = [1, 0; 0, 1]; Q^{2, 2} I = [1, 0; 0, 1];
......
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