├── MAINTAINERS ├── images └── demo.png ├── src ├── Position.cpp ├── LoopClosing.cpp ├── Scan.cpp ├── Randomizer.cpp ├── State.cpp └── Map.cpp ├── include └── WestBot │ └── CoreSLAM │ ├── Position.hpp │ ├── Defines.hpp │ ├── Scan.hpp │ ├── LoopClosing.hpp │ ├── SensorData.hpp │ ├── Map.hpp │ ├── Randomizer.hpp │ ├── State.hpp │ └── Parameters.hpp ├── README.md ├── CMakeLists.txt ├── test └── TestLabReverse.cpp └── LICENSE /MAINTAINERS: -------------------------------------------------------------------------------- 1 | Jeremy Savonet 2 | -------------------------------------------------------------------------------- /images/demo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WestTeam/CoreSLAM/HEAD/images/demo.png -------------------------------------------------------------------------------- /src/Position.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2018 All Rights Reserved WestBot 2 | 3 | #include 4 | 5 | #include 6 | 7 | using namespace WestBot; 8 | using namespace WestBot::CoreSLAM; 9 | 10 | double Position::ts_distance( Position* pos1, Position* pos2 ) 11 | { 12 | return 13 | sqrt( ( pos1->x - pos2->x ) * 14 | ( pos1->x - pos2->x ) + 15 | ( pos1->y - pos2->y ) * 16 | ( pos1->y - pos2->y ) ); 17 | } 18 | -------------------------------------------------------------------------------- /include/WestBot/CoreSLAM/Position.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2018 All Rights Reserved WestBot 2 | 3 | #ifndef WESTBOT_CORESLAM_POSITION_HPP_ 4 | #define WESTBOT_CORESLAM_POSITION_HPP_ 5 | 6 | namespace WestBot { 7 | namespace CoreSLAM { 8 | 9 | class Position 10 | { 11 | public: 12 | Position() = default; 13 | 14 | static double ts_distance( Position* pos1, Position* pos2 ); 15 | 16 | double x; // in mm 17 | double y; // in mm 18 | double theta; // in degrees 19 | }; 20 | 21 | } 22 | } 23 | 24 | #endif // WESTBOT_CORESLAM_POSITION_HPP_ 25 | -------------------------------------------------------------------------------- /include/WestBot/CoreSLAM/Defines.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2018 All Rights Reserved WestBot 2 | 3 | #ifndef WESTBOT_CORESLAM_DEFINES_HPP_ 4 | #define WESTBOT_CORESLAM_DEFINES_HPP_ 5 | 6 | namespace WestBot { 7 | namespace CoreSLAM { 8 | 9 | #ifndef M_PI 10 | #define M_PI 3.14159265358979323846 11 | #endif 12 | 13 | #define TS_SCAN_SIZE 8192 14 | #define TS_MAP_SIZE 2048 15 | #define TS_MAP_SCALE 0.1 16 | #define TS_DISTANCE_NO_DETECTION 4000 17 | #define TS_NO_OBSTACLE 65500 18 | #define TS_OBSTACLE 0 19 | 20 | #define TS_DIRECTION_FORWARD 0 21 | #define TS_DIRECTION_BACKWARD 1 22 | #define TS_FINAL_MAP 2 23 | 24 | } 25 | } 26 | 27 | #endif // WESTBOT_CORESLAM_DEFINES_HPP_ 28 | -------------------------------------------------------------------------------- /include/WestBot/CoreSLAM/Scan.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2018 All Rights Reserved WestBot 2 | 3 | #ifndef WESTBOT_CORESLAM_SCAN_HPP_ 4 | #define WESTBOT_CORESLAM_SCAN_HPP_ 5 | 6 | #include "Defines.hpp" 7 | 8 | namespace WestBot { 9 | namespace CoreSLAM { 10 | 11 | class Map; 12 | class Position; 13 | 14 | class Scan 15 | { 16 | public: 17 | Scan() = default; 18 | 19 | void ts_draw_scan( Map* map, Position* pos ); 20 | 21 | void ts_draw_scan_RGB( 22 | Map* map, 23 | Position* pos, 24 | unsigned char* pixmap, 25 | int scale, 26 | int reversey ); 27 | 28 | double x[ TS_SCAN_SIZE ]; 29 | double y[ TS_SCAN_SIZE ]; 30 | int value[ TS_SCAN_SIZE ]; 31 | int nb_points; 32 | }; 33 | 34 | } 35 | } 36 | 37 | #endif // WESTBOT_CORESLAM_SCAN_HPP_ 38 | -------------------------------------------------------------------------------- /include/WestBot/CoreSLAM/LoopClosing.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2018 All Rights Reserved WestBot 2 | 3 | #ifndef WESTBOT_CORESLAM_LOOPCLOSING_HPP_ 4 | #define WESTBOT_CORESLAM_LOOPCLOSING_HPP_ 5 | 6 | namespace WestBot { 7 | namespace CoreSLAM { 8 | 9 | class LoopClosing 10 | { 11 | public: 12 | LoopClosing() = default; 13 | 14 | //Position ts_close_loop_position( 15 | // State* state, 16 | // SensorData* sensor_data, 17 | // Map* loop_close_map, 18 | // Position* start_position, 19 | // int* q ); 20 | // 21 | //void ts_close_loop_trajectory( 22 | // SensorData* sensor_data, 23 | // int maxscans, 24 | // Position* startpos, 25 | // Position* close_loop_position ); 26 | }; 27 | 28 | } 29 | } 30 | 31 | #endif // WESTBOT_CORESLAM_LOOPCLOSING_HPP_ 32 | -------------------------------------------------------------------------------- /include/WestBot/CoreSLAM/SensorData.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2018 All Rights Reserved WestBot 2 | 3 | #ifndef WESTBOT_CORESLAM_SENSORDATA_HPP_ 4 | #define WESTBOT_CORESLAM_SENSORDATA_HPP_ 5 | 6 | #include "Defines.hpp" 7 | #include "Position.hpp" 8 | 9 | namespace WestBot { 10 | namespace CoreSLAM { 11 | 12 | class SensorData 13 | { 14 | public: 15 | SensorData() = default; 16 | 17 | unsigned int timestamp; 18 | int q1; // Odometry information 19 | int q2; // Odometry information 20 | double v; // Used to correct the scans according to the speed of the robot 21 | double psidot; // Used to correct the scans according to the speed of the robot 22 | Position position[ 3 ]; // 0 : forward - 1 : backward - 2 : final / closed loop 23 | int d[ TS_SCAN_SIZE ]; 24 | }; 25 | 26 | } 27 | } 28 | 29 | #endif // WESTBOT_CORESLAM_SENSORDATA_HPP_ 30 | -------------------------------------------------------------------------------- /include/WestBot/CoreSLAM/Map.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2018 All Rights Reserved WestBot 2 | 3 | #ifndef WESTBOT_CORESLAM_MAP_HPP_ 4 | #define WESTBOT_CORESLAM_MAP_HPP_ 5 | 6 | #include "Defines.hpp" 7 | 8 | namespace WestBot { 9 | namespace CoreSLAM { 10 | 11 | class Scan; 12 | class Position; 13 | 14 | typedef unsigned short ts_map_pixel_t; 15 | 16 | class Map 17 | { 18 | public: 19 | Map(); 20 | 21 | void ts_map_init(); 22 | 23 | int ts_distance_scan_to_map( Scan* scan, Position* pos ); 24 | 25 | void ts_map_update( 26 | Scan* scan, 27 | Position* position, 28 | int quality, 29 | int hole_width ); 30 | 31 | ts_map_pixel_t map[ TS_MAP_SIZE * TS_MAP_SIZE ]; 32 | 33 | private: 34 | void ts_map_laser_ray( 35 | int x1, 36 | int y1, 37 | int x2, 38 | int y2, 39 | int xp, 40 | int yp, 41 | int value, 42 | int alpha ); 43 | }; 44 | 45 | } 46 | } 47 | 48 | #endif // WESTBOT_CORESLAM_MAP_HPP_ 49 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # coreSLAM 2 | 3 | A lightweight SLAM Algorithm in C++ based on Center of Robotics research. 4 | 5 | ## Reference: 6 | 7 | A SLAM Algorithm in less than 200 lines of C code by Bruno Steux, Oussama El Hamzaoui 8 | Mines ParisTech - Center of Robotics, Paris, FRANCE. 9 | 10 | http://www.researchgate.net/publication/228374722_CoreSLAM_a_SLAM_Algorithm_in_less_than_200_lines_of_C_code 11 | 12 | ![alt text](https://github.com/WestTeam/CoreSLAM/blob/master/images/demo.png) 13 | 14 | ## Build 15 | 16 | You need to install CMake with version higher than 2.8.1. 17 | 18 | ``` 19 | cd PATH-TO-CoreSLAM 20 | mkdir build 21 | cd build 22 | cmake ../ 23 | make 24 | ``` 25 | 26 | ### Note: 27 | The CMakeLists is written for macOS build. If you want to build it on Linux just change: 28 | 29 | ``` 30 | target_link_libraries( 31 | TestLabReverse 32 | ${OpenCV_LIBRARIES} 33 | ${PROJECT_SOURCE_DIR}/build/libCoreSLAM.dylib ) 34 | ``` 35 | To, 36 | ``` 37 | target_link_libraries( 38 | TestLabReverse 39 | ${OpenCV_LIBRARIES} 40 | ${PROJECT_SOURCE_DIR}/build/libCoreSLAM.so ) 41 | ``` 42 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2018 All Rights Reserved WestBot 2 | 3 | cmake_minimum_required( VERSION 2.8.1 ) 4 | 5 | find_package( OpenCV REQUIRED ) 6 | 7 | project( CoreSlam ) 8 | 9 | set( CMAKE_BUILD_TYPE "Release" ) 10 | set( CMAKE_CXX_FLAGS "-std=c++11" ) 11 | set( CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g" ) 12 | 13 | SET( CMAKE_C_COMPILER "/usr/bin/g++" ) 14 | 15 | include_directories( include ) 16 | 17 | # library 18 | add_library( 19 | CoreSLAM SHARED 20 | src/LoopClosing.cpp 21 | src/Map.cpp 22 | src/Position.cpp 23 | src/Randomizer.cpp 24 | src/State.cpp ) 25 | 26 | target_link_libraries( CoreSLAM ) 27 | 28 | # Binaries 29 | add_executable( TestLabReverse test/TestLabReverse.cpp ) 30 | 31 | target_link_libraries( 32 | TestLabReverse 33 | ${OpenCV_LIBRARIES} 34 | ${PROJECT_SOURCE_DIR}/build/libCoreSLAM.dylib ) 35 | 36 | add_custom_command( 37 | TARGET TestLabReverse POST_BUILD 38 | COMMAND ${CMAKE_COMMAND} -E copy 39 | ${CMAKE_SOURCE_DIR}/data/test_lab.dat 40 | ${PROJECT_SOURCE_DIR}/build/test_lab.dat ) 41 | 42 | add_dependencies( TestLabReverse CoreSLAM ) 43 | -------------------------------------------------------------------------------- /include/WestBot/CoreSLAM/Randomizer.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2018 All Rights Reserved WestBot 2 | 3 | #ifndef WESTBOT_CORESLAM_RANDOMIZER_HPP_ 4 | #define WESTBOT_CORESLAM_RANDOMIZER_HPP_ 5 | 6 | namespace WestBot { 7 | namespace CoreSLAM { 8 | 9 | class Map; 10 | class Position; 11 | class Scan; 12 | 13 | class Randomizer 14 | { 15 | public: 16 | Randomizer(); 17 | 18 | double ts_random_normal_fix(); 19 | 20 | double ts_random_normal(double m, double s ); 21 | 22 | void ts_random_init( unsigned long jsrseed ); 23 | 24 | double ts_random(); 25 | 26 | long ts_random_int( long min, long max ); 27 | 28 | Position ts_monte_carlo_search( 29 | Scan* scan, 30 | Map* map, 31 | Position* start_pos, 32 | double sigma_xy, 33 | double sigma_theta, 34 | int stop, 35 | int* bestdist ); 36 | 37 | unsigned long jz; 38 | unsigned long jsr; 39 | long hz; 40 | unsigned long iz; 41 | unsigned long kn[ 128 ]; 42 | double wnt[ 128 ]; 43 | double wn[ 128 ]; 44 | double fn[ 128 ]; 45 | }; 46 | 47 | } 48 | } 49 | 50 | #endif // WESTBOT_CORESLAM_RANDOMIZER_HPP_ 51 | -------------------------------------------------------------------------------- /include/WestBot/CoreSLAM/State.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2018 All Rights Reserved WestBot 2 | 3 | #ifndef WESTBOT_CORESLAM_STATE_HPP_ 4 | #define WESTBOT_CORESLAM_STATE_HPP_ 5 | 6 | #include "Map.hpp" 7 | #include "Parameters.hpp" 8 | #include "Position.hpp" 9 | #include "Randomizer.hpp" 10 | #include "Scan.hpp" 11 | 12 | namespace WestBot { 13 | namespace CoreSLAM { 14 | 15 | class SensorData; 16 | 17 | class State 18 | { 19 | public: 20 | State(); 21 | 22 | void ts_state_init( 23 | Map* map, 24 | RobotParameters* params, 25 | LaserParameters* laser_params, 26 | Position* position, 27 | double sigma_xy, 28 | double sigma_theta, 29 | int hole_width, 30 | int direction ); 31 | 32 | void ts_iterative_map_building( SensorData* sd ); 33 | 34 | void ts_build_scan( SensorData* sd, Scan* scan, int span ); 35 | 36 | Randomizer randomizer; 37 | Map* map; 38 | RobotParameters params; 39 | LaserParameters laser_params; 40 | Position position; 41 | int q1; 42 | int q2; 43 | unsigned int timestamp; 44 | double psidot; 45 | double v; 46 | double distance; 47 | int hole_width; 48 | int direction; 49 | int done; 50 | int draw_hole_map; 51 | Scan scan; 52 | double sigma_xy; 53 | double sigma_theta; 54 | }; 55 | 56 | } 57 | } 58 | 59 | #endif // WESTBOT_CORESLAM_STATE_HPP_ 60 | -------------------------------------------------------------------------------- /include/WestBot/CoreSLAM/Parameters.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2018 All Rights Reserved WestBot 2 | 3 | #ifndef WESTBOT_CORESLAM_PARAMETERS_HPP_ 4 | #define WESTBOT_CORESLAM_PARAMETERS_HPP_ 5 | 6 | namespace WestBot { 7 | namespace CoreSLAM { 8 | 9 | class RobotParameters 10 | { 11 | public: 12 | RobotParameters() = default; 13 | 14 | double wheelRadius() const 15 | { 16 | return _wheelRadius; 17 | } 18 | 19 | double halfWheelAxisLength() const 20 | { 21 | return _halfWheelAxixLength; 22 | } 23 | 24 | int inc() const 25 | { 26 | return _inc; 27 | } 28 | 29 | double ratio() const 30 | { 31 | return _ratio; 32 | } 33 | 34 | private: 35 | double _wheelRadius; // length wheels' radius 36 | double _halfWheelAxixLength; // half the wheels' axis length 37 | int _inc; // wheels' counters increments per turn 38 | double _ratio; // ratio between left and right wheel 39 | }; 40 | 41 | class LaserParameters 42 | { 43 | public: 44 | LaserParameters() = default; 45 | 46 | double offset() const 47 | { 48 | return _offset; 49 | } 50 | 51 | int scanSize() const 52 | { 53 | return _scanSize; 54 | } 55 | 56 | int angleMin() const 57 | { 58 | return _angleMin; 59 | } 60 | 61 | int angleMax() const 62 | { 63 | return _angleMax; 64 | } 65 | 66 | int detectionMargin() const 67 | { 68 | return _detectionMargin; 69 | } 70 | 71 | double distanceNoDetection() const 72 | { 73 | return _distanceNoDetection; 74 | } 75 | 76 | private: 77 | double _offset; // position of the laser wrt center of rotation 78 | int _scanSize; // number of points per scan 79 | int _angleMin; // start angle for scan 80 | int _angleMax; // end angle for scan 81 | int _detectionMargin; // first scan element to consider 82 | double _distanceNoDetection; // default value when the laser returns 0 83 | }; 84 | 85 | } 86 | } 87 | 88 | #endif // WESTBOT_CORESLAM_PARAMETERS_HPP_ 89 | -------------------------------------------------------------------------------- /src/LoopClosing.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2018 All Rights Reserved WestBot 2 | 3 | #include 4 | 5 | #include 6 | #include 7 | #include 8 | 9 | #include 10 | 11 | using namespace WestBot; 12 | using namespace WestBot::CoreSLAM; 13 | 14 | //Position WestBot::CoreSLAM::ts_close_loop_position( 15 | // State* state, 16 | // SensorData* sensor_data, 17 | // Map* loop_close_map, 18 | // Position* start_position, 19 | // int* q ) 20 | //{ 21 | // Scan scan; 22 | // int quality; 23 | // Position lc_position; 24 | // 25 | // state->ts_build_scan(sensor_data, &scan, 1); 26 | // lc_position = state->randomizer.ts_monte_carlo_search(&scan, loop_close_map, start_position, 600, 20, 100000, &quality); 27 | // if (q) *q = quality; 28 | // return lc_position; 29 | //} 30 | // 31 | //void WestBot::CoreSLAM::ts_close_loop_trajectory( 32 | // SensorData* sensor_data, 33 | // int maxscans, 34 | // Position* startpos, 35 | // Position* close_loop_position ) 36 | //{ 37 | // int i, j; 38 | // double weight, theta[2]; 39 | // Position* final_pos; 40 | // for (i = 0; i != maxscans; i++) { 41 | // weight = i / ((double)(maxscans - 1)); 42 | // final_pos = &sensor_data[i].position[TS_FINAL_MAP]; 43 | // final_pos->x = (1 - weight) * sensor_data[i].position[TS_DIRECTION_FORWARD].x + weight * sensor_data[i].position[TS_DIRECTION_BACKWARD].x; 44 | // final_pos->y = (1 - weight) * sensor_data[i].position[TS_DIRECTION_FORWARD].y + weight * sensor_data[i].position[TS_DIRECTION_BACKWARD].y; 45 | // // Make sure both angles are between 0 and 360 46 | // for (j = 0; j != 2; j++) { 47 | // theta[j] = sensor_data[i].position[j].theta; 48 | // while (theta[j] < 0) theta[j] += 360; 49 | // while (theta[j] >= 360) theta[j] -= 360; 50 | // } 51 | // if (fabs(theta[0] - theta[1]) >= 180) 52 | // if (theta[0] > theta[1]) 53 | // theta[0] -= 360; 54 | // else 55 | // theta[1] -= 360; 56 | // final_pos->theta = (1 - weight) * theta[0] + weight * theta[1]; 57 | // } 58 | //} 59 | -------------------------------------------------------------------------------- /src/Scan.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2018 All Rights Reserved WestBot 2 | 3 | #include 4 | #include 5 | #include 6 | #include // Use the C99 official header 7 | 8 | #include 9 | #include 10 | #include 11 | 12 | using namespace WestBot; 13 | using namespace WestBot::CoreSLAM; 14 | 15 | void Scan::ts_draw_scan( Map* map, Position* pos ) 16 | { 17 | double c, s; 18 | double x2p, y2p; 19 | int i, x1, y1, x2, y2; 20 | 21 | c = cos(pos->theta * M_PI / 180); 22 | s = sin(pos->theta * M_PI / 180); 23 | x1 = (int)floor(pos->x * TS_MAP_SCALE + 0.5); 24 | y1 = (int)floor(pos->y * TS_MAP_SCALE + 0.5); 25 | // Translate and rotate scan to robot position 26 | for (i = 0; i != nb_points; i++) { 27 | if (value[i] != TS_NO_OBSTACLE) { 28 | x2p = c * x[i] - s * y[i]; 29 | y2p = s * x[i] + c * y[i]; 30 | x2p *= TS_MAP_SCALE; 31 | y2p *= TS_MAP_SCALE; 32 | x2 = (int)floor(pos->x * TS_MAP_SCALE + x2p + 0.5); 33 | y2 = (int)floor(pos->y * TS_MAP_SCALE + y2p + 0.5); 34 | if (x2 >= 0 && y2 >= 0 && x2 < TS_MAP_SIZE && y2 < TS_MAP_SIZE) 35 | map->map[y2 * TS_MAP_SIZE + x2] = 0; 36 | } 37 | } 38 | } 39 | 40 | void Scan::ts_draw_scan_RGB( 41 | Map* map, 42 | Position* pos, 43 | unsigned char* pixmap, 44 | int scale, 45 | int reversey ) 46 | { 47 | double c, s; 48 | double x2p, y2p; 49 | int i, x1, y1, x2, y2; 50 | int color; 51 | unsigned char *ptr; 52 | 53 | c = cos(pos->theta * M_PI / 180); 54 | s = sin(pos->theta * M_PI / 180); 55 | x1 = (int)floor(pos->x * TS_MAP_SCALE + 0.5); 56 | y1 = (int)floor(pos->y * TS_MAP_SCALE + 0.5); 57 | // Translate and rotate scan to robot position 58 | for (i = 0; i < nb_points; i++) { 59 | if (value[i] != TS_NO_OBSTACLE) { 60 | x2p = c * x[i] - s * y[i]; 61 | y2p = s * x[i] + c * y[i]; 62 | x2p *= TS_MAP_SCALE; 63 | y2p *= TS_MAP_SCALE; 64 | x2 = (int)floor(pos->x * TS_MAP_SCALE + x2p + 0.5); 65 | y2 = (int)floor(pos->y * TS_MAP_SCALE + y2p + 0.5); 66 | if (x2 >= 0 && y2 >= 0 && x2 < TS_MAP_SIZE && y2 < TS_MAP_SIZE) { 67 | color = map->map[y2 * TS_MAP_SIZE + x2] >> 8; 68 | if (reversey) 69 | ptr = &pixmap[((TS_MAP_SIZE - 1 - y2) / scale * TS_MAP_SIZE / scale + x2 / scale) * 3]; 70 | else 71 | ptr = &pixmap[(y2 / scale * TS_MAP_SIZE / scale + x2 / scale) * 3]; 72 | ptr[0] = 255 - color; 73 | ptr[1] = 0; 74 | ptr[2] = color; 75 | } 76 | } 77 | } 78 | } 79 | -------------------------------------------------------------------------------- /src/Randomizer.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2018 All Rights Reserved WestBot 2 | 3 | #include 4 | #include 5 | #include 6 | 7 | #include 8 | #include 9 | #include 10 | #include 11 | 12 | using namespace WestBot; 13 | using namespace WestBot::CoreSLAM; 14 | 15 | namespace 16 | { 17 | unsigned long SHR3( WestBot::CoreSLAM::Randomizer* d ) 18 | { 19 | d->jz=d->jsr; 20 | d->jsr^=(d->jsr<<13); 21 | d->jsr^=(d->jsr>>17); 22 | d->jsr^=(d->jsr<<5); 23 | return d->jz+d->jsr; 24 | } 25 | 26 | double UNI( WestBot::CoreSLAM::Randomizer* d ) 27 | { 28 | return .5 + (signed)SHR3(d) * .2328306e-9; 29 | } 30 | } 31 | 32 | Randomizer::Randomizer() 33 | { 34 | } 35 | 36 | double Randomizer::ts_random_normal_fix() 37 | { 38 | const double r = 3.442620; // The starting of the right tail 39 | static double x, y; 40 | for(;;) 41 | { 42 | x=hz * wn[ iz ]; 43 | if( iz == 0 ) 44 | { // iz==0, handle the base strip 45 | do 46 | { 47 | x=-log( UNI( this ) ) * 0.2904764; 48 | // .2904764 is 1/r 49 | y=-log( UNI( this ) ); 50 | } while(y+y 0 ) ? r + x : -r - x; 52 | } 53 | 54 | // iz>0, handle the wedges of other strips 55 | if( fn[ iz ]+UNI( this )*( fn[iz-1]-fn[iz]) < exp(-.5*x*x) ) 56 | return x; 57 | // Start all over 58 | hz=::SHR3( this ); 59 | iz=hz&127; 60 | if((unsigned long)abs(hz)=1;i--) { 93 | dn=sqrt(-2.*log(vn/dn+exp(-.5*dn*dn))); 94 | kn[i+1]=(int)((dn/tn)*m1); tn=dn; 95 | fn[i]=exp(-.5*dn*dn); 96 | wn[i]=dn/m1; 97 | wnt[i]=dn; 98 | } 99 | } 100 | 101 | double Randomizer::ts_random() 102 | { 103 | return ::UNI( this ); 104 | } 105 | 106 | long Randomizer::ts_random_int( long min, long max ) 107 | { 108 | // Output random integer in the interval min <= x <= max 109 | long r; 110 | r = (long)((max - min + 1) * ts_random()) + min; // Multiply interval with random and truncate 111 | if (r > max) r = max; 112 | if (max < min) return 0x80000000; 113 | return r; 114 | } 115 | 116 | Position Randomizer::ts_monte_carlo_search( 117 | Scan* scan, 118 | Map* map, 119 | Position* start_pos, 120 | double sigma_xy, 121 | double sigma_theta, 122 | int stop, 123 | int* bd ) 124 | { 125 | Position currentpos, bestpos, lastbestpos; 126 | int currentdist; 127 | int bestdist, lastbestdist; 128 | int counter = 0, debug = 0; 129 | 130 | if (stop < 0) { 131 | debug = 1; 132 | stop = -stop; 133 | } 134 | currentpos = bestpos = lastbestpos = *start_pos; 135 | currentdist = map->ts_distance_scan_to_map(scan, ¤tpos); 136 | bestdist = lastbestdist = currentdist; 137 | 138 | do { 139 | currentpos = lastbestpos; 140 | currentpos.x = ts_random_normal(currentpos.x, sigma_xy); 141 | currentpos.y = ts_random_normal(currentpos.y, sigma_xy); 142 | currentpos.theta = ts_random_normal(currentpos.theta, sigma_theta); 143 | 144 | currentdist = map->ts_distance_scan_to_map(scan, ¤tpos); 145 | 146 | if (currentdist < bestdist) { 147 | bestdist = currentdist; 148 | bestpos = currentpos; 149 | if (debug) printf("Monte carlo ! %lg %lg %lg %d (count = %d)\n", bestpos.x, bestpos.y, bestpos.theta, bestdist, counter); 150 | } else { 151 | counter++; 152 | } 153 | if (counter > stop / 3) { 154 | if (bestdist < lastbestdist) { 155 | lastbestpos = bestpos; 156 | lastbestdist = bestdist; 157 | counter = 0; 158 | sigma_xy *= 0.5; 159 | sigma_theta *= 0.5; 160 | } 161 | } 162 | } while (counter < stop); 163 | if (bd) 164 | *bd = bestdist; 165 | return bestpos; 166 | } 167 | -------------------------------------------------------------------------------- /src/State.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2018 All Rights Reserved WestBot 2 | 3 | #include 4 | #include 5 | 6 | #include 7 | #include 8 | 9 | using namespace WestBot; 10 | using namespace WestBot::CoreSLAM; 11 | 12 | State::State() 13 | { 14 | } 15 | 16 | void State::ts_state_init( 17 | Map* map, 18 | RobotParameters* params, 19 | LaserParameters* laser_params, 20 | Position* position, 21 | double sigma_xy, 22 | double sigma_theta, 23 | int hole_width, 24 | int direction ) 25 | { 26 | this->randomizer.ts_random_init( 0xdead ); 27 | this->map = map; 28 | this->params = *params; 29 | this->laser_params = *laser_params; 30 | this->position = *position; 31 | this->timestamp = 0; // Indicating start 32 | this->distance = 0; 33 | this->q1 = q2 = 0; 34 | this->psidot = v = 0; 35 | this->direction = direction; 36 | this->done = 0; 37 | this->draw_hole_map = 0; 38 | this->sigma_xy = sigma_xy; 39 | this->sigma_theta = sigma_theta; 40 | this->hole_width = hole_width; 41 | } 42 | 43 | void State::ts_build_scan( 44 | SensorData* sd, 45 | Scan* scan, 46 | int span ) 47 | { 48 | int i, j; 49 | double angle_rad, angle_deg; 50 | 51 | scan->nb_points = 0; 52 | // Span the laser scans to better cosd->ver the space 53 | for (i = 0; i < laser_params.scanSize(); i++) { 54 | for (j = 0; j != span; j++) { 55 | angle_deg = laser_params.angleMin() + ((double)(i * span + j)) * (laser_params.angleMax() - laser_params.angleMin()) / (laser_params.scanSize() * span - 1); 56 | angle_deg += sd->psidot / 3600.0 * ((double)(i * span + j)) * (laser_params.angleMax() - laser_params.angleMin()) / (laser_params.scanSize() * span - 1); 57 | 58 | angle_rad = angle_deg * M_PI / 180; 59 | if (i > laser_params.detectionMargin() && i < laser_params.scanSize() - laser_params.detectionMargin()) { 60 | if (sd->d[i] == 0) { 61 | scan->x[scan->nb_points] = laser_params.distanceNoDetection() * cos(angle_rad); 62 | scan->x[scan->nb_points] -= sd->v * 1000 * ((double)(i * span + j)) * (laser_params.angleMax() - laser_params.angleMin()) / (laser_params.scanSize() * span - 1) / 3600.0; 63 | scan->y[scan->nb_points] = laser_params.distanceNoDetection() * sin(angle_rad); 64 | scan->value[scan->nb_points] = TS_NO_OBSTACLE; 65 | scan->nb_points++; 66 | } 67 | if (sd->d[i] > hole_width / 2) { 68 | scan->x[scan->nb_points] = sd->d[i] * cos(angle_rad); 69 | scan->x[scan->nb_points] -= sd->v * 1000 * ((double)(i * span + j)) * (laser_params.angleMax() - laser_params.angleMin()) / (laser_params.scanSize() * span - 1) / 3600.0; 70 | scan->y[scan->nb_points] = sd->d[i] * sin(angle_rad); 71 | scan->value[scan->nb_points] = TS_OBSTACLE; 72 | scan->nb_points++; 73 | } 74 | } 75 | } 76 | } 77 | } 78 | 79 | void State::ts_iterative_map_building( SensorData* sd ) 80 | { 81 | double psidot, v, d; 82 | Scan scan2map; 83 | double m, thetarad; 84 | Position position; 85 | 86 | // Manage robot position 87 | if (timestamp != 0) { 88 | m = params.wheelRadius() * M_PI / params.inc(); 89 | v = m * (sd->q1 - q1 + (sd->q2 - q2) * params.ratio()); 90 | thetarad = position.theta * M_PI / 180; 91 | position = this->position; 92 | position.x += v * 1000 * cos(thetarad); 93 | position.y += v * 1000 * sin(thetarad); 94 | psidot = (m * ((sd->q2 - q2) * params.ratio() - sd->q1 + q1) / params.halfWheelAxisLength()) * 180 / M_PI; 95 | position.theta += psidot; 96 | v *= 1000000.0 / (sd->timestamp - timestamp); 97 | psidot *= 1000000.0 / (sd->timestamp - timestamp); 98 | } else { 99 | psidot = psidot = 0; 100 | v = v = 0; 101 | position = this->position; 102 | thetarad = position.theta * M_PI / 180; 103 | } 104 | 105 | // Change to (x,y) scan 106 | if (direction == TS_DIRECTION_FORWARD) { 107 | // Prepare speed/yawrate correction of scans (with a delay of 1 clock) 108 | sd->psidot = psidot; 109 | sd->v = v; 110 | } 111 | ts_build_scan(sd, &scan2map, 3); 112 | ts_build_scan(sd, &scan, 1); 113 | 114 | // Monte Carlo search 115 | position.x += laser_params.offset() * cos(thetarad); 116 | position.y += laser_params.offset() * sin(thetarad); 117 | sd->position[direction] = position = 118 | randomizer.ts_monte_carlo_search(&scan, map, &position, sigma_xy, sigma_theta, 1000, NULL); 119 | sd->position[direction].x -= laser_params.offset() * cos(position.theta * M_PI / 180); 120 | sd->position[direction].y -= laser_params.offset() * sin(position.theta * M_PI / 180); 121 | d = sqrt((position.x - sd->position[direction].x) * (position.x - sd->position[direction].x) + 122 | (position.y - sd->position[direction].y) * (position.y - sd->position[direction].y)); 123 | distance += d; 124 | 125 | // Map update 126 | map->ts_map_update(&scan2map, &position, 50, hole_width); 127 | 128 | // Prepare next step 129 | position = sd->position[direction]; 130 | this->psidot = psidot; 131 | this->v = v; 132 | q1 = sd->q1; 133 | q2 = sd->q2; 134 | timestamp = sd->timestamp; 135 | } 136 | -------------------------------------------------------------------------------- /src/Map.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2018 All Rights Reserved WestBot 2 | 3 | #include 4 | #include 5 | #include 6 | #include // Use the C99 official header 7 | 8 | #include 9 | #include 10 | #include 11 | 12 | #define SWAP(x, y) (x ^= y ^= x ^= y) 13 | 14 | using namespace WestBot; 15 | using namespace WestBot::CoreSLAM; 16 | 17 | Map::Map() 18 | { 19 | ts_map_init(); 20 | } 21 | 22 | void Map::ts_map_init() 23 | { 24 | int x; 25 | int y; 26 | int initval; 27 | ts_map_pixel_t *ptr; 28 | initval = (TS_OBSTACLE + TS_NO_OBSTACLE) / 2; 29 | for( ptr = map, y = 0; y < TS_MAP_SIZE; y++ ) 30 | { 31 | for( x = 0; x < TS_MAP_SIZE; x++, ptr++) 32 | { 33 | *ptr = initval; 34 | } 35 | } 36 | } 37 | 38 | int Map::ts_distance_scan_to_map( 39 | Scan* scan, 40 | Position* pos ) 41 | { 42 | double c, s; 43 | int i, x, y, nb_points = 0; 44 | int64_t sum; 45 | 46 | c = cos(pos->theta * M_PI / 180); 47 | s = sin(pos->theta * M_PI / 180); 48 | // Translate and rotate scan to robot position 49 | // and compute the distance 50 | for (i = 0, sum = 0; i != scan->nb_points; i++) { 51 | if (scan->value[i] != TS_NO_OBSTACLE) { 52 | x = (int)floor((pos->x + c * scan->x[i] - s * scan->y[i]) * TS_MAP_SCALE + 0.5); 53 | y = (int)floor((pos->y + s * scan->x[i] + c * scan->y[i]) * TS_MAP_SCALE + 0.5); 54 | // Check boundaries 55 | if (x >= 0 && x < TS_MAP_SIZE && y >= 0 && y < TS_MAP_SIZE) { 56 | sum += map[y * TS_MAP_SIZE + x]; 57 | nb_points++; 58 | } 59 | } 60 | } 61 | if (nb_points) sum = sum * 1024 / nb_points; 62 | else sum = 2000000000; 63 | return (int)sum; 64 | } 65 | 66 | void Map::ts_map_laser_ray( 67 | int x1, 68 | int y1, 69 | int x2, 70 | int y2, 71 | int xp, 72 | int yp, 73 | int value, 74 | int alpha ) 75 | 76 | { 77 | int x2c, y2c, dx, dy, dxc, dyc, error, errorv, derrorv, x; 78 | int incv, sincv, incerrorv, incptrx, incptry, pixval, horiz, diago; 79 | ts_map_pixel_t *ptr; 80 | 81 | if (x1 < 0 || x1 >= TS_MAP_SIZE || y1 < 0 || y1 >= TS_MAP_SIZE) 82 | return; // Robot is out of map 83 | 84 | x2c = x2; y2c = y2; 85 | // Clipping 86 | if (x2c < 0) { 87 | if (x2c == x1) return; 88 | y2c += (y2c - y1) * (-x2c) / (x2c - x1); 89 | x2c = 0; 90 | } 91 | if (x2c >= TS_MAP_SIZE) { 92 | if (x1 == x2c) return; 93 | y2c += (y2c - y1) * (TS_MAP_SIZE - 1 - x2c) / (x2c - x1); 94 | x2c = TS_MAP_SIZE - 1; 95 | } 96 | if (y2c < 0) { 97 | if (y1 == y2c) return; 98 | x2c += (x1 - x2c) * (-y2c) / (y1 - y2c); 99 | y2c = 0; 100 | } 101 | if (y2c >= TS_MAP_SIZE) { 102 | if (y1 == y2c) return; 103 | x2c += (x1 - x2c) * (TS_MAP_SIZE - 1 - y2c) / (y1 - y2c); 104 | y2c = TS_MAP_SIZE - 1; 105 | } 106 | 107 | dx = abs(x2 - x1); dy = abs(y2 - y1); 108 | dxc = abs(x2c - x1); dyc = abs(y2c - y1); 109 | incptrx = (x2 > x1) ? 1 : -1; 110 | incptry = (y2 > y1) ? TS_MAP_SIZE : -TS_MAP_SIZE; 111 | sincv = (value > TS_NO_OBSTACLE) ? 1 : -1; 112 | if (dx > dy) { 113 | derrorv = abs(xp - x2); 114 | } else { 115 | SWAP(dx, dy); SWAP(dxc, dyc); SWAP(incptrx, incptry); 116 | derrorv = abs(yp - y2); 117 | } 118 | error = 2 * dyc - dxc; 119 | horiz = 2 * dyc; 120 | diago = 2 * (dyc - dxc); 121 | errorv = derrorv / 2; 122 | incv = (value - TS_NO_OBSTACLE) / derrorv; 123 | incerrorv = value - TS_NO_OBSTACLE - derrorv * incv; 124 | ptr = map + y1 * TS_MAP_SIZE + x1; 125 | pixval = TS_NO_OBSTACLE; 126 | for (x = 0; x <= dxc; x++, ptr += incptrx) { 127 | if (x > dx - 2 * derrorv) { 128 | if (x <= dx - derrorv) { 129 | pixval += incv; 130 | errorv += incerrorv; 131 | if (errorv > derrorv) { 132 | pixval += sincv; 133 | errorv -= derrorv; 134 | } 135 | } else { 136 | pixval -= incv; 137 | errorv -= incerrorv; 138 | if (errorv < 0) { 139 | pixval -= sincv; 140 | errorv += derrorv; 141 | } 142 | } 143 | } 144 | // Integration into the map 145 | *ptr = ((256 - alpha) * (*ptr) + alpha * pixval) >> 8; 146 | if (error > 0) { 147 | ptr += incptry; 148 | error += diago; 149 | } else error += horiz; 150 | } 151 | } 152 | 153 | void Map::ts_map_update( 154 | Scan* scan, 155 | Position* pos, 156 | int quality, 157 | int hole_width ) 158 | { 159 | double c, s; 160 | double x2p, y2p; 161 | int i, x1, y1, x2, y2, xp, yp, value, q; 162 | double add, dist; 163 | 164 | c = cos(pos->theta * M_PI / 180); 165 | s = sin(pos->theta * M_PI / 180); 166 | x1 = (int)floor(pos->x * TS_MAP_SCALE + 0.5); 167 | y1 = (int)floor(pos->y * TS_MAP_SCALE + 0.5); 168 | // Translate and rotate scan to robot position 169 | for (i = 0; i != scan->nb_points; i++) { 170 | x2p = c * scan->x[i] - s * scan->y[i]; 171 | y2p = s * scan->x[i] + c * scan->y[i]; 172 | xp = (int)floor((pos->x + x2p) * TS_MAP_SCALE + 0.5); 173 | yp = (int)floor((pos->y + y2p) * TS_MAP_SCALE + 0.5); 174 | dist = sqrt(x2p * x2p + y2p * y2p); 175 | add = hole_width / 2 / dist; 176 | x2p *= TS_MAP_SCALE * (1 + add); 177 | y2p *= TS_MAP_SCALE * (1 + add); 178 | x2 = (int)floor(pos->x * TS_MAP_SCALE + x2p + 0.5); 179 | y2 = (int)floor(pos->y * TS_MAP_SCALE + y2p + 0.5); 180 | if (scan->value[i] == TS_NO_OBSTACLE) { 181 | q = quality / 4; 182 | value = TS_NO_OBSTACLE; 183 | } else { 184 | q = quality; 185 | value = TS_OBSTACLE; 186 | } 187 | //printf("%d %d %d %d %d %d %d\n", i, x1, y1, x2, y2, xp, yp); 188 | ts_map_laser_ray(x1, y1, x2, y2, xp, yp, value, q); 189 | } 190 | } 191 | -------------------------------------------------------------------------------- /test/TestLabReverse.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2018 All Rights Reserved WestBot 2 | 3 | #include 4 | #include 5 | #include 6 | #include 7 | 8 | #include "opencv2/opencv.hpp" 9 | 10 | #include 11 | #include 12 | #include 13 | #include 14 | 15 | #define TEST_FILENAME "test_lab.dat" 16 | #define TEST_SCAN_SIZE 682 17 | #define TEST_MIN_DIST 20 18 | #define TEST_ANGLE_MIN -120 19 | #define TEST_ANGLE_MAX +120 20 | #define TEST_OFFSET_LASER 145 21 | #define TEST_HOLE_WIDTH 600 22 | 23 | using namespace WestBot; 24 | using namespace WestBot::CoreSLAM; 25 | 26 | Map trajectory; 27 | Map map; 28 | 29 | typedef struct { 30 | double r; // length wheels' radius 31 | double R; // half the wheels' axis length 32 | int inc; // wheels' counters increments per turn 33 | double ratio; // ratio between left and right wheel 34 | } cart_parameters_t; 35 | 36 | typedef struct { 37 | int timestamp; 38 | int q1, q2; 39 | Scan scan; 40 | } ts_sensor_data_t2; 41 | 42 | ts_sensor_data_t2 sensor_data[600]; 43 | 44 | void record_map( 45 | Map* map, 46 | Map* overlay, 47 | char* filename, 48 | int width, 49 | int height ) 50 | { 51 | int x, y, xp, yp; 52 | FILE *output; 53 | output = fopen(filename, "wt"); 54 | fprintf(output, "P2\n%d %d 255\n", width, height); 55 | y = (TS_MAP_SIZE - height) / 2; 56 | for (yp = 0; yp < height; y++, yp++) { 57 | x = (TS_MAP_SIZE - width) / 2; 58 | for (xp = 0; xp < width; x++, xp++) { 59 | if (overlay->map[ (TS_MAP_SIZE - 1 - y) * TS_MAP_SIZE + x] == 0) 60 | fprintf(output, "0 "); 61 | else 62 | fprintf(output, "%d ", (int)(map->map[ (TS_MAP_SIZE - 1 - y) * TS_MAP_SIZE + x]) >> 8); 63 | } 64 | fprintf(output, "\n"); 65 | } 66 | fclose(output); 67 | } 68 | 69 | void draw_map( 70 | Map* map, 71 | Map* overlay, 72 | int width, 73 | int height ) 74 | { 75 | int x, y, xp, yp; 76 | cv::Mat image(height,width,CV_8UC3); 77 | y = (TS_MAP_SIZE - height) / 2; 78 | for (yp = 0; yp < height; y++, yp++) { 79 | x = (TS_MAP_SIZE - width) / 2; 80 | for (xp = 0; xp < width; x++, xp++) { 81 | unsigned char *p = image.data+yp*width*3+xp*3; 82 | if (overlay->map[ (TS_MAP_SIZE - 1 - y) * TS_MAP_SIZE + x] == 0) { 83 | p[0] = 0; p[1] = 0; p[2] = 0; 84 | } 85 | else if(overlay->map[ (TS_MAP_SIZE - 1 - y) * TS_MAP_SIZE + x] == 254) { 86 | p[0] = 0; p[1] = 0; p[2] = 255; 87 | } 88 | else { 89 | //p[0] = 255; p[1] = 0; p[2] = ; 90 | p[0] = (map->map[ (TS_MAP_SIZE - 1 - y) * TS_MAP_SIZE + x]) >> 8; 91 | p[1] = (map->map[ (TS_MAP_SIZE - 1 - y) * TS_MAP_SIZE + x]) >> 8; 92 | p[2] = (map->map[ (TS_MAP_SIZE - 1 - y) * TS_MAP_SIZE + x]) >> 8; 93 | } 94 | } 95 | } 96 | cv::imshow("1",image); 97 | cv::waitKey(10); 98 | } 99 | 100 | void draw_map2( Map* map, Map* overlay, int width, int height ) 101 | { 102 | int x, y, xp, yp; 103 | cv::Mat image(height,width,CV_8UC3); 104 | for (yp = 0; yp < height; y++, yp++) { 105 | for (xp = 0; xp < width; x++, xp++) { 106 | unsigned char *p = image.data+yp*width*3+xp*3; 107 | if (overlay->map[ yp * TS_MAP_SIZE + xp] == 0) { 108 | p[0] = 0; p[1] = 0; p[2] = 0; 109 | } 110 | else if(overlay->map[yp * TS_MAP_SIZE + xp] == 254) { 111 | p[0] = 0; p[1] = 0; p[2] = 255; 112 | } 113 | else { 114 | //p[0] = 255; p[1] = 0; p[2] = ; 115 | p[0] = (map->map[yp * TS_MAP_SIZE + xp]) >> 8; 116 | p[1] = (map->map[yp * TS_MAP_SIZE + xp]) >> 8; 117 | p[2] = (map->map[yp * TS_MAP_SIZE + xp]) >> 8; 118 | } 119 | } 120 | } 121 | cv::imshow("1",image); 122 | cv::waitKey(10); 123 | } 124 | 125 | void draw_scan( Scan* scan, Map* map, Position* pos ) 126 | { 127 | double c, s; 128 | double x2p, y2p; 129 | int i, x1, y1, x2, y2; 130 | 131 | c = cos(pos->theta * M_PI / 180); 132 | s = sin(pos->theta * M_PI / 180); 133 | x1 = (int)floor(pos->x * TS_MAP_SCALE + 0.5); 134 | y1 = (int)floor(pos->y * TS_MAP_SCALE + 0.5); 135 | // Translate and rotate scan to robot position 136 | for (i = 0; i != scan->nb_points; i++) { 137 | if (scan->value[i] != TS_NO_OBSTACLE) { 138 | x2p = c * scan->x[i] - s * scan->y[i]; 139 | y2p = s * scan->x[i] + c * scan->y[i]; 140 | x2p *= TS_MAP_SCALE; 141 | y2p *= TS_MAP_SCALE; 142 | x2 = (int)floor(pos->x * TS_MAP_SCALE + x2p + 0.5); 143 | y2 = (int)floor(pos->y * TS_MAP_SCALE + y2p + 0.5); 144 | if (x2 >= 0 && y2 >= 0 && x2 < TS_MAP_SIZE && y2 < TS_MAP_SIZE) 145 | map->map[y2 * TS_MAP_SIZE + x2] = 0; 146 | } 147 | } 148 | } 149 | 150 | Position monte_carlo_move( 151 | Scan* scan, 152 | Map* map, 153 | Position* start_pos, 154 | int debug ) 155 | { 156 | Position cpp, currentpos, bestpos, lastbestpos; 157 | int currentdist; 158 | int bestdist, lastbestdist; 159 | int counter = 0; 160 | 161 | currentpos = bestpos = lastbestpos = *start_pos; 162 | currentdist = map->ts_distance_scan_to_map(scan, ¤tpos); 163 | bestdist = lastbestdist = currentdist; 164 | 165 | do { 166 | currentpos = lastbestpos; 167 | currentpos.x += 50 * (((double)rand()) / RAND_MAX - 0.5); 168 | currentpos.y += 50 * (((double)rand()) / RAND_MAX - 0.5); 169 | currentpos.theta += 50 * (((double)rand()) / RAND_MAX - 0.5); 170 | 171 | currentdist = map->ts_distance_scan_to_map(scan, ¤tpos); 172 | 173 | if (currentdist < bestdist) { 174 | bestdist = currentdist; 175 | bestpos = currentpos; 176 | if (debug) printf("Monte carlo ! %lg %lg %lg %d (count = %d)\n", bestpos.x, bestpos.y, bestpos.theta, bestdist, counter); 177 | } else { 178 | counter++; 179 | } 180 | if (counter > 100) { 181 | if (bestdist < lastbestdist) { 182 | lastbestpos = bestpos; 183 | lastbestdist = bestdist; 184 | counter = 0; 185 | } 186 | } 187 | } while (counter < 1000); 188 | return bestpos; 189 | } 190 | 191 | int read_sensor_data( char* inputfile, ts_sensor_data_t2* data ) 192 | { 193 | FILE *input; 194 | int i, j, nb_sensor_data = 0; 195 | int d[TS_SCAN_SIZE]; 196 | Scan *scan; 197 | char *str, line[4000]; 198 | double angle_deg, angle_rad; 199 | 200 | input = fopen(inputfile, "rt"); 201 | do { 202 | // Read the scan 203 | str = fgets(line, 4000, input); 204 | if (str == NULL) break; 205 | str = strtok(str, " "); 206 | sscanf(str, "%d", &data[nb_sensor_data].timestamp); 207 | str = strtok(NULL, " "); 208 | sscanf(str, "%d", &data[nb_sensor_data].q1); 209 | str = strtok(NULL, " "); 210 | sscanf(str, "%d", &data[nb_sensor_data].q2); 211 | data[nb_sensor_data].q2 = -data[nb_sensor_data].q2; 212 | for (i = 0; i < 10; i++) 213 | str = strtok(NULL, " "); 214 | for (i = 0; i < TEST_SCAN_SIZE; i++) { 215 | if (str) { 216 | sscanf(str, "%d", &d[i]); 217 | str = strtok(NULL, " "); 218 | } else d[i] = 0; 219 | } 220 | 221 | // Change to (x,y) scan 222 | scan = &data[nb_sensor_data].scan; 223 | scan->nb_points = 0; 224 | #define SPAN 3 225 | // Span the laser scans to better cover the space 226 | for (i = 0; i < TEST_SCAN_SIZE; i++) { 227 | for (j = 0; j != SPAN; j++) { 228 | angle_deg = TEST_ANGLE_MIN + ((double)(i * SPAN + j)) * (TEST_ANGLE_MAX - TEST_ANGLE_MIN) / (TEST_SCAN_SIZE * SPAN - 1); 229 | 230 | // Correction of angle according to odometry 231 | //angle_deg += psidotodo_old / 3600.0 * ((double)(i * SPAN + j)) * (TEST_ANGLE_MAX - TEST_ANGLE_MIN) / (TEST_SCAN_SIZE * SPAN - 1); 232 | 233 | angle_rad = angle_deg * M_PI / 180; 234 | if (i > 45 && i < TEST_SCAN_SIZE - 45) { 235 | if (d[i] == 0) { 236 | scan->x[scan->nb_points] = TS_DISTANCE_NO_DETECTION * cos(angle_rad); 237 | scan->y[scan->nb_points] = TS_DISTANCE_NO_DETECTION * sin(angle_rad); 238 | scan->value[scan->nb_points] = TS_NO_OBSTACLE; 239 | scan->x[scan->nb_points] += TEST_OFFSET_LASER; 240 | scan->nb_points++; 241 | } 242 | if (d[i] > TEST_HOLE_WIDTH / 2) { 243 | scan->x[scan->nb_points] = d[i] * cos(angle_rad); 244 | scan->y[scan->nb_points] = d[i] * sin(angle_rad); 245 | scan->value[scan->nb_points] = TS_OBSTACLE; 246 | scan->x[scan->nb_points] += TEST_OFFSET_LASER; 247 | scan->nb_points++; 248 | } 249 | } 250 | } 251 | } 252 | nb_sensor_data++; 253 | } while (1); 254 | 255 | fclose(input); 256 | return nb_sensor_data; 257 | } 258 | 259 | // ========================================================================== // 260 | int main( int argc,char** argv ) 261 | { 262 | FILE *output, *output2; 263 | double angle_rad, angle_deg; 264 | Position startpos, position, position2; 265 | char filename[256]; 266 | int i, x, y, test; 267 | int nb_sensor_data, cnt_scans; 268 | int timestamp, told, q1, q2, nq1, nq2; 269 | double m, v, vodo, thetarad, psidot, thetaradodo, psidotodo, psidotodo_old, vodo_old; 270 | cart_parameters_t params; 271 | 272 | params.r = 0.077; 273 | params.R = 0.165; 274 | params.inc = 2000; 275 | params.ratio = 1.0; 276 | 277 | cv::namedWindow("1",cv::WINDOW_NORMAL); 278 | 279 | // Read all the scans 280 | if(1 == argc) 281 | nb_sensor_data = read_sensor_data(TEST_FILENAME,sensor_data); 282 | else 283 | nb_sensor_data = read_sensor_data(argv[1],sensor_data); 284 | printf("sensor data = %d\n", nb_sensor_data); 285 | 286 | for (test = 0; test != 1; test++) { 287 | 288 | map.ts_map_init(); 289 | trajectory.ts_map_init(); 290 | output = fopen("test_trajectory.dat", "wt"); 291 | position.x = 0.5 * TS_MAP_SIZE / TS_MAP_SCALE; 292 | position.y = 0.5 * TS_MAP_SIZE / TS_MAP_SCALE; 293 | position.theta = 0; 294 | startpos = position2 = position; 295 | //for (cnt_scans = 0; cnt_scans != nb_sensor_data; cnt_scans++) { 296 | for (cnt_scans = nb_sensor_data - 1; cnt_scans >= 0; cnt_scans--) { 297 | 298 | timestamp = sensor_data[cnt_scans].timestamp; 299 | nq1 = sensor_data[cnt_scans].q1; 300 | nq2 = sensor_data[cnt_scans].q2; 301 | 302 | // Manage robot position 303 | if (cnt_scans != 0) { 304 | psidotodo_old = psidotodo; 305 | vodo_old = vodo; 306 | m = params.r * M_PI / params.inc; 307 | vodo = m * (nq1 - q1 + (nq2 - q2) * params.ratio); 308 | thetarad = position.theta * M_PI / 180; 309 | position2 = position; 310 | position2.x += vodo * 1000 * cos(thetarad); 311 | position2.y += vodo * 1000 * sin(thetarad); 312 | psidotodo = (m * ((nq2 - q2) * params.ratio - nq1 + q1) / params.R) * 180 / M_PI; 313 | position2.theta += psidotodo; 314 | vodo *= 1000000.0 / (timestamp - told); 315 | psidotodo *= 1000000.0 / (timestamp - told); 316 | fprintf(output, "%d %d %lg %lg %lg %lg %lg", cnt_scans, timestamp - told, position2.x, position2.y, position2.theta, fabs(vodo), psidotodo); 317 | } else { 318 | psidotodo_old = psidotodo = 0; 319 | vodo_old = vodo = 0; 320 | } 321 | 322 | position2 = monte_carlo_move(&sensor_data[cnt_scans].scan, &map, &position, 0); 323 | v = sqrt((position2.x - position.x) * (position2.x - position.x) + 324 | (position2.y - position.y) * (position2.y - position.y)); 325 | psidot = position2.theta - position.theta; 326 | if (cnt_scans != 0) { 327 | v *= 1000.0 / (timestamp - told); 328 | psidot *= 1000000.0 / (timestamp - told); 329 | } else { 330 | v = 0; 331 | psidot = 0; 332 | } 333 | if (cnt_scans) { 334 | fprintf(output, " %lg %lg", v, psidot); 335 | } 336 | 337 | position = position2; 338 | printf("#%d : %lg %lg %lg\n", cnt_scans, position.x, position.y, position.theta); 339 | map.ts_map_update(&sensor_data[cnt_scans].scan, &position, 50, TEST_HOLE_WIDTH); 340 | 341 | x = (int)floor(position.x * TS_MAP_SCALE + 0.5); 342 | y = ((int)floor(position.y * TS_MAP_SCALE + 0.5)); 343 | if (x >= 0 && y >= 0 && x < TS_MAP_SIZE && y < TS_MAP_SIZE) 344 | trajectory.map[y * TS_MAP_SIZE + x] = 254; 345 | 346 | if (0) { 347 | sprintf(filename, "test_lab_dist%04d.txt", cnt_scans); 348 | output2 = fopen(filename, "wt"); 349 | position2 = position; 350 | for (i = 0; i < 500; i++) { 351 | position2.x++; 352 | fprintf(output2, "%d\n", map.ts_distance_scan_to_map(&sensor_data[cnt_scans].scan, &position2)); 353 | } 354 | fclose(output2); 355 | } 356 | { 357 | draw_scan(&sensor_data[cnt_scans].scan, &trajectory, &position); 358 | sprintf(filename, "test_lab%04d.pgm", cnt_scans); 359 | draw_map2(&map, &trajectory, 3500, 1600); 360 | } 361 | fprintf(output, "\n"); 362 | q1 = nq1; 363 | q2 = nq2; 364 | told = timestamp; 365 | } 366 | fclose(output); 367 | 368 | // Record the map 369 | sprintf(filename, "test_lab_reverse%04d.pgm", test); 370 | record_map(&map, &trajectory, filename, TS_MAP_SIZE, TS_MAP_SIZE); 371 | } 372 | 373 | return 1; 374 | } 375 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Such new versions will 567 | be similar in spirit to the present version, but may differ in detail to 568 | address new problems or concerns. 569 | 570 | Each version is given a distinguishing version number. If the 571 | Program specifies that a certain numbered version of the GNU General 572 | Public License "or any later version" applies to it, you have the 573 | option of following the terms and conditions either of that numbered 574 | version or of any later version published by the Free Software 575 | Foundation. If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 599 | 600 | 16. Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | --------------------------------------------------------------------------------