testKalmanAcceleration.cpp

Test some vpLinearKalmanFilterInstantiation functionalities with constant acceleration state model.

/****************************************************************************
 *
 * 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());

    vpLinearKalmanFilterInstantiation kalman;

    vpLinearKalmanFilterInstantiation::vpStateModel model;
    model = vpLinearKalmanFilterInstantiation::stateConstAccWithColoredNoise_MeasureVel;
    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;
  }
}