Visual Servoing Platform  version 3.3.0 under development (2020-02-17)
testKalmanAcceleration.cpp

Test some vpLinearKalmanFilterInstantiation functionalities with constant acceleration state model.

/****************************************************************************
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* ViSP, open source Visual Servoing Platform software.
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* Description:
* Tests some vpLinearKalmanFilterInstantiation functionalities.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <fstream>
#include <iostream>
#include <visp3/core/vpLinearKalmanFilterInstantiation.h>
int main()
{
try {
unsigned int nsignal = 1; // Number of signal to filter
unsigned int niter = 100;
std::string filename = "/tmp/log.dat";
std::ofstream flog(filename.c_str());
kalman.setStateModel(model);
unsigned int size_state_vector = kalman.getStateSize() * nsignal;
unsigned int size_measure_vector = kalman.getMeasureSize() * nsignal;
vpColVector sigma_measure(size_measure_vector);
for (unsigned int signal = 0; signal < nsignal; signal++)
sigma_measure = 0.0001;
vpColVector sigma_state(size_state_vector);
for (unsigned int signal = 0; signal < nsignal; signal++) {
sigma_state[3 * signal] = 0.; // not used
sigma_state[3 * signal + 1] = 0.000001;
sigma_state[3 * signal + 2] = 0.000001;
}
vpColVector velocity_measure(size_measure_vector);
double rho = 0.9; // correlation
double dt = 0.2; // sampling period
for (unsigned int signal = 0; signal < nsignal; signal++)
velocity_measure[signal] = 3 + 2 * signal;
kalman.verbose(false);
kalman.initFilter(nsignal, sigma_state, sigma_measure, rho, dt);
for (unsigned int iter = 0; iter <= niter; iter++) {
std::cout << "-------- iter " << iter << " ------------" << std::endl;
for (unsigned int signal = 0; signal < nsignal; signal++) {
velocity_measure[signal] = 3 + 2 * signal + 0.3 * sin(vpMath::rad(360. / niter * iter));
}
std::cout << "measure : " << velocity_measure.t() << std::endl;
flog << velocity_measure.t();
// kalman.prediction();
kalman.filter(velocity_measure);
flog << kalman.Xest.t();
flog << kalman.Xpre.t();
std::cout << "Xest: " << kalman.Xest.t() << std::endl;
std::cout << "Xpre: " << kalman.Xpre.t() << std::endl;
flog << std::endl;
}
flog.close();
return 0;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return 0;
}
}