Visual Servoing Platform version 3.5.0
testKalmanAcceleration.cpp
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30 *
31 * Description:
32 * Tests some vpLinearKalmanFilterInstantiation functionalities.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
46#include <fstream>
47#include <iostream>
48#include <visp3/core/vpLinearKalmanFilterInstantiation.h>
49
50int main()
51{
52 try {
53 unsigned int nsignal = 1; // Number of signal to filter
54 unsigned int niter = 100;
55
56 std::string filename = "/tmp/log.dat";
57 std::ofstream flog(filename.c_str());
58
60
63 kalman.setStateModel(model);
64
65 unsigned int size_state_vector = kalman.getStateSize() * nsignal;
66 unsigned int size_measure_vector = kalman.getMeasureSize() * nsignal;
67
68 vpColVector sigma_measure(size_measure_vector);
69 for (unsigned int signal = 0; signal < nsignal; signal++)
70 sigma_measure = 0.0001;
71 vpColVector sigma_state(size_state_vector);
72 for (unsigned int signal = 0; signal < nsignal; signal++) {
73 sigma_state[3 * signal] = 0.; // not used
74 sigma_state[3 * signal + 1] = 0.000001;
75 sigma_state[3 * signal + 2] = 0.000001;
76 }
77
78 vpColVector velocity_measure(size_measure_vector);
79
80 double rho = 0.9; // correlation
81 double dt = 0.2; // sampling period
82
83 for (unsigned int signal = 0; signal < nsignal; signal++)
84 velocity_measure[signal] = 3 + 2 * signal;
85
86 kalman.verbose(false);
87 kalman.initFilter(nsignal, sigma_state, sigma_measure, rho, dt);
88
89 for (unsigned int iter = 0; iter <= niter; iter++) {
90 std::cout << "-------- iter " << iter << " ------------" << std::endl;
91 for (unsigned int signal = 0; signal < nsignal; signal++) {
92 velocity_measure[signal] = 3 + 2 * signal + 0.3 * sin(vpMath::rad(360. / niter * iter));
93 }
94 std::cout << "measure : " << velocity_measure.t() << std::endl;
95
96 flog << velocity_measure.t();
97
98 // kalman.prediction();
99 kalman.filter(velocity_measure);
100 flog << kalman.Xest.t();
101 flog << kalman.Xpre.t();
102
103 std::cout << "Xest: " << kalman.Xest.t() << std::endl;
104 std::cout << "Xpre: " << kalman.Xpre.t() << std::endl;
105
106 flog << std::endl;
107 }
108
109 flog.close();
110 return 0;
111 } catch (const vpException &e) {
112 std::cout << "Catch an exception: " << e << std::endl;
113 return 0;
114 }
115}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
vpRowVector t() const
error that can be emited by ViSP classes.
Definition: vpException.h:72
vpColVector Xpre
unsigned int getMeasureSize()
void verbose(bool on)
vpColVector Xest
unsigned int getStateSize()
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:110