TARGET = geometry
# List C source files here. (C dependencies are automatically generated.)
-SRC = vect_base.c lines.c polygon.c
+SRC = vect_base.c lines.c polygon.c circles.c
###########################################
--- /dev/null
+/*
+ * Copyright Droids Corporation (2009)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
+#include <math.h>
+
+#include <aversive.h>
+
+#include <vect_base.h>
+#include <circles.h>
+
+static inline float sq(float x)
+{
+ return x*x;
+}
+
+uint8_t pt_is_inside_circle(const point_t *p, circle_t *c)
+{
+ vect_t v;
+ v.x = p->x - c->x;
+ v.y = p->y - c->y;
+ if ((v.x * v.x + v.y * v.y) < (c->r * c->r))
+ return 1;
+ return 0;
+}
+
+/*
+ * return values:
+ * 0 dont cross
+ * 1 one intersection point
+ * 2 two intersection points
+ *
+ * p1, p2 arguments are the crossing points coordinates. Both p1 and
+ * p2 are dummy for 0 result. When result is 1, p1 and p2 are set to
+ * the same value.
+ */
+uint8_t circle_intersect(const circle_t *c1, const circle_t *c2,
+ point_t *p1, point_t *p2)
+{
+ circle_t ca, cb;
+ float a, b, c, d, e;
+ uint8_t ret = 0;
+
+ /* create circles with same radius, but centered on 0,0 : it
+ * will make process easier */
+ ca.x = 0;
+ ca.y = 0;
+ ca.r = c1->r;
+ cb.x = c2->x - c1->x;
+ cb.y = c2->y - c1->y;
+ cb.r = c2->r;
+
+ /* inspired from
+ http://www.loria.fr/~roegel/notes/note0001.pdf */
+ a = 2. * cb.x;
+ b = 2. * cb.y;
+ c = sq(cb.x) + sq(cb.y) - sq(cb.r) + sq(ca.r);
+ d = sq(2. * a * c) -
+ (4. * (sq(a) + sq(b)) * (sq(c) - sq(b) * sq(ca.r)) );
+
+ /* no intersection */
+ if (d < 0)
+ return 0;
+
+ if (b == 0) {
+ /* special case */
+ e = sq(cb.r) - sq((2. * c - sq(a)) / (2. * a));
+
+ /* no intersection */
+ if (e < 0)
+ return 0;
+
+ p1->x = (2. * a * c - sqrt(d)) / (2. * (sq(a) + sq(b)));
+ p1->y = sqrt(e);
+ p2->x = p1->x;
+ p2->y = p1->y;
+ ret = 1;
+ }
+ else {
+ /* usual case */
+ p1->x = (2. * a * c - sqrt(d)) / (2. * (sq(a) + sq(b)));
+ p1->y = (c - a * p1->x) / b;
+ p2->x = (2. * a * c + sqrt(d)) / (2. * (sq(a) + sq(b)));
+ p2->y = (c - a * p2->x) / b;
+ ret = 2;
+ }
+
+ /* retranslate */
+ p1->x += c1->x;
+ p1->y += c1->y;
+ p2->x += c1->x;
+ p2->y += c1->y;
+
+ return ret;
+}
--- /dev/null
+/*
+ * Copyright Droids Corporation (2009)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
+#ifndef _CIRCLES_H_
+#define _CIRCLES_H_
+
+typedef struct _circle {
+ double x;
+ double y;
+ double r;
+} circle_t;
+
+/* return true if a point is in the disc */
+uint8_t pt_is_inside_circle(const point_t *p, circle_t *c);
+
+/*
+ * return values:
+ * 0 dont cross
+ * 1 one intersection point
+ * 2 two intersection points
+ *
+ * p1, p2 arguments are the crossing points coordinates. Both p1 and
+ * p2 are dummy for 0 result. When result is 1, p1 and p2 are set to
+ * the same value.
+ */
+uint8_t circle_intersect(const circle_t *c1, const circle_t *c2,
+ point_t *p1, point_t *p2);
+
+#endif /* _CIRCLES_H_ */
+/*
+ * Copyright Droids Corporation (2009)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
#include <aversive.h>
#include <stdint.h>
+/*
+ * Copyright Droids Corporation (2009)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
+#ifndef _LINES_H_
+#define _LINES_H_
+
typedef struct _line {
double a;
double b;
void
proj_pt_line(const point_t * p, const line_t * l, point_t * p_out);
-uint8_t
+/*
+ * return values:
+ * 0 dont cross
+ * 1 cross
+ * 2 "parallel crossing"
+ *
+ * p argument is the crossing point coordinates (dummy for 0 or 2
+ * result)
+ */
+uint8_t
intersect_line(const line_t *l1, const line_t *l2, point_t *p);
uint8_t
intersect_segment(const point_t *s1, const point_t *s2,
const point_t *t1, const point_t *t2,
point_t *p);
+
+#endif /* _LINES_H_ */
+/*
+ * Copyright Droids Corporation (2009)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
#include <stdint.h>
#include <inttypes.h>
#include <stdlib.h>
+/*
+ * Copyright Droids Corporation (2009)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
#ifndef _POLYGON_H_
#define _POLYGON_H_
+/*
+ * Copyright Droids Corporation (2009)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
#include <stdint.h>
#include <math.h>
#include <vect_base.h>
/* Return scalar product */
-int32_t
+float
vect_pscal(vect_t *v, vect_t *w)
{
return v->x * w->x + v->y * w->y;
}
/* Return Z of vectorial product */
-int32_t
+float
vect_pvect(vect_t *v, vect_t *w)
{
return v->x*w->y - v->y*w->x;
int8_t
vect_pscal_sign(vect_t *v, vect_t *w)
{
- int32_t z;
+ float z;
z = vect_pscal(v, w);
if (z==0)
return 0;
int8_t
vect_pvect_sign(vect_t *v, vect_t *w)
{
- int32_t z;
+ float z;
z = vect_pvect(v, w);
if (z==0)
return 0;
return z>0?1:-1;
}
+float norm(float x1, float y1, float x2, float y2)
+{
+ float x = x2 - x1;
+ float y = y2 - y1;
+ return sqrt(x*x + y*y);
+}
+
+float pt_norm(point_t *p1, point_t *p2)
+{
+ float x = p2->x - p1->x;
+ float y = p2->y - p1->y;
+ return sqrt(x*x + y*y);
+}
+
/* norm of a vector */
float
vect_norm(vect_t *v)
return sqrt(v->x*v->x+v->y*v->y);
}
-
-
void vect_rot_trigo(vect_t *v)
{
- int32_t s;
+ float s;
s = v->x;
v->x= -v->y;
void vect_rot_retro(vect_t *v)
{
- int32_t s;
+ float s;
s = v->x;
v->x= v->y;
float vect_get_angle(vect_t *v, vect_t *w)
{
- int32_t ps;
+ float ps;
float n;
ps = vect_pscal(v, w);
return acos((float)ps/n);
}
+
+void vect_resize(vect_t *v, float l)
+{
+ float old_l = vect_norm(v);
+ float x = v->x, y = v->y;
+ v->x = x * l / old_l;
+ v->y = y * l / old_l;
+}
+/*
+ * Copyright Droids Corporation (2009)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
+#ifndef _VECT_BASE_H_
+#define _VECT_BASE_H_
+
typedef struct _vect_t {
- int32_t x;
- int32_t y;
-}vect_t;
+ float x;
+ float y;
+} vect_t;
typedef struct _point_t {
- int32_t x;
- int32_t y;
-}point_t;
-
+ float x;
+ float y;
+} point_t;
-
/* Return scalar product */
-int32_t
+float
vect_pscal(vect_t *v, vect_t *w);
/* Return Z of vectorial product */
-int32_t
+float
vect_pvect(vect_t *v, vect_t *w);
/* Return scalar product */
vect_pvect_sign(vect_t *v, vect_t *w);
/* norm of a vector */
+float norm(float x1, float y1, float x2, float y2);
+float pt_norm(point_t *p1, point_t *p2);
float vect_norm(vect_t *v);
void vect_rot_trigo(vect_t *v);
void vect_rot_retro(vect_t *v);
float vect_get_angle(vect_t *v, vect_t *w);
-
+
+void vect_resize(vect_t *v, float l);
+
+#endif /* _VECT_BASE_H_ */
--- /dev/null
+#
+# Automatically generated by make menuconfig: don't edit
+#
+
+#
+# Hardware
+#
+# CONFIG_MCU_AT90S2313 is not set
+# CONFIG_MCU_AT90S2323 is not set
+# CONFIG_MCU_AT90S3333 is not set
+# CONFIG_MCU_AT90S2343 is not set
+# CONFIG_MCU_ATTINY22 is not set
+# CONFIG_MCU_ATTINY26 is not set
+# CONFIG_MCU_AT90S4414 is not set
+# CONFIG_MCU_AT90S4433 is not set
+# CONFIG_MCU_AT90S4434 is not set
+# CONFIG_MCU_AT90S8515 is not set
+# CONFIG_MCU_AT90S8534 is not set
+# CONFIG_MCU_AT90S8535 is not set
+# CONFIG_MCU_AT86RF401 is not set
+# CONFIG_MCU_ATMEGA103 is not set
+# CONFIG_MCU_ATMEGA603 is not set
+# CONFIG_MCU_AT43USB320 is not set
+# CONFIG_MCU_AT43USB355 is not set
+# CONFIG_MCU_AT76C711 is not set
+# CONFIG_MCU_ATMEGA8 is not set
+# CONFIG_MCU_ATMEGA48 is not set
+# CONFIG_MCU_ATMEGA88 is not set
+# CONFIG_MCU_ATMEGA8515 is not set
+# CONFIG_MCU_ATMEGA8535 is not set
+# CONFIG_MCU_ATTINY13 is not set
+# CONFIG_MCU_ATTINY2313 is not set
+# CONFIG_MCU_ATMEGA16 is not set
+# CONFIG_MCU_ATMEGA161 is not set
+# CONFIG_MCU_ATMEGA162 is not set
+# CONFIG_MCU_ATMEGA163 is not set
+# CONFIG_MCU_ATMEGA165 is not set
+# CONFIG_MCU_ATMEGA168 is not set
+# CONFIG_MCU_ATMEGA169 is not set
+# CONFIG_MCU_ATMEGA32 is not set
+# CONFIG_MCU_ATMEGA323 is not set
+# CONFIG_MCU_ATMEGA325 is not set
+# CONFIG_MCU_ATMEGA3250 is not set
+# CONFIG_MCU_ATMEGA64 is not set
+# CONFIG_MCU_ATMEGA645 is not set
+# CONFIG_MCU_ATMEGA6450 is not set
+CONFIG_MCU_ATMEGA128=y
+# CONFIG_MCU_ATMEGA1281 is not set
+# CONFIG_MCU_AT90CAN128 is not set
+# CONFIG_MCU_AT94K is not set
+# CONFIG_MCU_AT90S1200 is not set
+# CONFIG_MCU_ATMEGA2560 is not set
+# CONFIG_MCU_ATMEGA256 is not set
+CONFIG_QUARTZ=16000000
+
+#
+# Generation options
+#
+# CONFIG_OPTM_0 is not set
+# CONFIG_OPTM_1 is not set
+# CONFIG_OPTM_2 is not set
+# CONFIG_OPTM_3 is not set
+CONFIG_OPTM_S=y
+CONFIG_MATH_LIB=y
+# CONFIG_FDEVOPEN_COMPAT is not set
+# CONFIG_NO_PRINTF is not set
+# CONFIG_MINIMAL_PRINTF is not set
+CONFIG_STANDARD_PRINTF=y
+# CONFIG_ADVANCED_PRINTF is not set
+# CONFIG_FORMAT_IHEX is not set
+# CONFIG_FORMAT_SREC is not set
+CONFIG_FORMAT_BINARY=y
+
+#
+# Base modules
+#
+# CONFIG_MODULE_CIRBUF is not set
+# CONFIG_MODULE_CIRBUF_LARGE is not set
+# CONFIG_MODULE_FIXED_POINT is not set
+# CONFIG_MODULE_VECT2 is not set
+CONFIG_MODULE_GEOMETRY=y
+# CONFIG_MODULE_SCHEDULER is not set
+# CONFIG_MODULE_SCHEDULER_STATS is not set
+# CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set
+# CONFIG_MODULE_SCHEDULER_USE_TIMERS is not set
+CONFIG_MODULE_SCHEDULER_TIMER0=y
+# CONFIG_MODULE_SCHEDULER_MANUAL is not set
+# CONFIG_MODULE_TIME is not set
+# CONFIG_MODULE_TIME_CREATE_CONFIG is not set
+# CONFIG_MODULE_TIME_EXT is not set
+# CONFIG_MODULE_TIME_EXT_CREATE_CONFIG is not set
+
+#
+# Communication modules
+#
+# CONFIG_MODULE_UART is not set
+# CONFIG_MODULE_UART_9BITS is not set
+# CONFIG_MODULE_UART_CREATE_CONFIG is not set
+# CONFIG_MODULE_SPI is not set
+# CONFIG_MODULE_SPI_CREATE_CONFIG is not set
+# CONFIG_MODULE_I2C is not set
+# CONFIG_MODULE_I2C_MASTER is not set
+# CONFIG_MODULE_I2C_MULTIMASTER is not set
+# CONFIG_MODULE_I2C_CREATE_CONFIG is not set
+# CONFIG_MODULE_MF2_CLIENT is not set
+# CONFIG_MODULE_MF2_CLIENT_USE_SCHEDULER is not set
+# CONFIG_MODULE_MF2_CLIENT_CREATE_CONFIG is not set
+# CONFIG_MODULE_MF2_SERVER is not set
+# CONFIG_MODULE_MF2_SERVER_CREATE_CONFIG is not set
+
+#
+# Hardware modules
+#
+# CONFIG_MODULE_TIMER is not set
+# CONFIG_MODULE_TIMER_CREATE_CONFIG is not set
+# CONFIG_MODULE_TIMER_DYNAMIC is not set
+# CONFIG_MODULE_PWM is not set
+# CONFIG_MODULE_PWM_CREATE_CONFIG is not set
+# CONFIG_MODULE_PWM_NG is not set
+# CONFIG_MODULE_ADC is not set
+# CONFIG_MODULE_ADC_CREATE_CONFIG is not set
+
+#
+# IHM modules
+#
+# CONFIG_MODULE_MENU is not set
+# CONFIG_MODULE_VT100 is not set
+# CONFIG_MODULE_RDLINE is not set
+# CONFIG_MODULE_RDLINE_CREATE_CONFIG is not set
+# CONFIG_MODULE_RDLINE_KILL_BUF is not set
+# CONFIG_MODULE_RDLINE_HISTORY is not set
+# CONFIG_MODULE_PARSE is not set
+# CONFIG_MODULE_PARSE_NO_FLOAT is not set
+
+#
+# External devices modules
+#
+# CONFIG_MODULE_LCD is not set
+# CONFIG_MODULE_LCD_CREATE_CONFIG is not set
+# CONFIG_MODULE_MULTISERVO is not set
+# CONFIG_MODULE_MULTISERVO_CREATE_CONFIG is not set
+# CONFIG_MODULE_AX12 is not set
+# CONFIG_MODULE_AX12_CREATE_CONFIG is not set
+
+#
+# Brushless motor drivers (you should enable pwm modules to see all)
+#
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_CREATE_CONFIG is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE_CREATE_CONFIG is not set
+
+#
+# Encoders (you need comm/spi for encoders_spi)
+#
+# CONFIG_MODULE_ENCODERS_MICROB is not set
+# CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG is not set
+# CONFIG_MODULE_ENCODERS_EIRBOT is not set
+# CONFIG_MODULE_ENCODERS_EIRBOT_CREATE_CONFIG is not set
+# CONFIG_MODULE_ENCODERS_SPI is not set
+# CONFIG_MODULE_ENCODERS_SPI_CREATE_CONFIG is not set
+
+#
+# Robot specific modules
+#
+# CONFIG_MODULE_ROBOT_SYSTEM is not set
+# CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT is not set
+# CONFIG_MODULE_POSITION_MANAGER is not set
+# CONFIG_MODULE_COMPENSATE_CENTRIFUGAL_FORCE is not set
+# CONFIG_MODULE_TRAJECTORY_MANAGER is not set
+# CONFIG_MODULE_BLOCKING_DETECTION_MANAGER is not set
+# CONFIG_MODULE_OBSTACLE_AVOIDANCE is not set
+# CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG is not set
+
+#
+# Control system modules
+#
+# CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set
+# CONFIG_MODULE_PID is not set
+# CONFIG_MODULE_PID_CREATE_CONFIG is not set
+# CONFIG_MODULE_RAMP is not set
+# CONFIG_MODULE_QUADRAMP is not set
+# CONFIG_MODULE_QUADRAMP_DERIVATE is not set
+# CONFIG_MODULE_BIQUAD is not set
+
+#
+# Radio devices
+#
+# CONFIG_MODULE_CC2420 is not set
+# CONFIG_MODULE_CC2420_CREATE_CONFIG is not set
+
+#
+# Crypto modules
+#
+# CONFIG_MODULE_AES is not set
+# CONFIG_MODULE_AES_CTR is not set
+# CONFIG_MODULE_MD5 is not set
+# CONFIG_MODULE_MD5_HMAC is not set
+# CONFIG_MODULE_RC4 is not set
+
+#
+# Encodings modules
+#
+# CONFIG_MODULE_BASE64 is not set
+# CONFIG_MODULE_HAMMING is not set
+
+#
+# Debug modules
+#
+# CONFIG_MODULE_DIAGNOSTIC is not set
+# CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
+CONFIG_MODULE_ERROR=y
+CONFIG_MODULE_ERROR_CREATE_CONFIG=y
+
+#
+# Programmer options
+#
+CONFIG_AVRDUDE=y
+# CONFIG_AVARICE is not set
+
+#
+# Avrdude
+#
+# CONFIG_AVRDUDE_PROG_FUTURELEC is not set
+# CONFIG_AVRDUDE_PROG_ABCMINI is not set
+# CONFIG_AVRDUDE_PROG_PICOWEB is not set
+# CONFIG_AVRDUDE_PROG_SP12 is not set
+# CONFIG_AVRDUDE_PROG_ALF is not set
+# CONFIG_AVRDUDE_PROG_BASCOM is not set
+# CONFIG_AVRDUDE_PROG_DT006 is not set
+# CONFIG_AVRDUDE_PROG_PONY_STK200 is not set
+CONFIG_AVRDUDE_PROG_STK200=y
+# CONFIG_AVRDUDE_PROG_PAVR is not set
+# CONFIG_AVRDUDE_PROG_BUTTERFLY is not set
+# CONFIG_AVRDUDE_PROG_AVR910 is not set
+# CONFIG_AVRDUDE_PROG_STK500 is not set
+# CONFIG_AVRDUDE_PROG_AVRISP is not set
+# CONFIG_AVRDUDE_PROG_BSD is not set
+# CONFIG_AVRDUDE_PROG_DAPA is not set
+# CONFIG_AVRDUDE_PROG_JTAG1 is not set
+# CONFIG_AVRDUDE_PROG_AVR109 is not set
+CONFIG_AVRDUDE_PORT="/dev/parport0"
+CONFIG_AVRDUDE_BAUDRATE=19200
+
+#
+# Avarice
+#
+CONFIG_AVARICE_PORT="/dev/ttyS0"
+CONFIG_AVARICE_DEBUG_PORT=1234
+CONFIG_AVARICE_PROG_MKI=y
+# CONFIG_AVARICE_PROG_MKII is not set
+# CONFIG_AVRDUDE_CHECK_SIGNATURE is not set
--- /dev/null
+#
+# Automatically generated by make menuconfig: don't edit
+#
+
+#
+# Hardware
+#
+# CONFIG_MCU_AT90S2313 is not set
+# CONFIG_MCU_AT90S2323 is not set
+# CONFIG_MCU_AT90S3333 is not set
+# CONFIG_MCU_AT90S2343 is not set
+# CONFIG_MCU_ATTINY22 is not set
+# CONFIG_MCU_ATTINY26 is not set
+# CONFIG_MCU_AT90S4414 is not set
+# CONFIG_MCU_AT90S4433 is not set
+# CONFIG_MCU_AT90S4434 is not set
+# CONFIG_MCU_AT90S8515 is not set
+# CONFIG_MCU_AT90S8534 is not set
+# CONFIG_MCU_AT90S8535 is not set
+# CONFIG_MCU_AT86RF401 is not set
+# CONFIG_MCU_ATMEGA103 is not set
+# CONFIG_MCU_ATMEGA603 is not set
+# CONFIG_MCU_AT43USB320 is not set
+# CONFIG_MCU_AT43USB355 is not set
+# CONFIG_MCU_AT76C711 is not set
+# CONFIG_MCU_ATMEGA8 is not set
+# CONFIG_MCU_ATMEGA48 is not set
+# CONFIG_MCU_ATMEGA88 is not set
+# CONFIG_MCU_ATMEGA8515 is not set
+# CONFIG_MCU_ATMEGA8535 is not set
+# CONFIG_MCU_ATTINY13 is not set
+# CONFIG_MCU_ATTINY2313 is not set
+# CONFIG_MCU_ATMEGA16 is not set
+# CONFIG_MCU_ATMEGA161 is not set
+# CONFIG_MCU_ATMEGA162 is not set
+# CONFIG_MCU_ATMEGA163 is not set
+# CONFIG_MCU_ATMEGA165 is not set
+# CONFIG_MCU_ATMEGA168 is not set
+# CONFIG_MCU_ATMEGA169 is not set
+# CONFIG_MCU_ATMEGA32 is not set
+# CONFIG_MCU_ATMEGA323 is not set
+# CONFIG_MCU_ATMEGA325 is not set
+# CONFIG_MCU_ATMEGA3250 is not set
+# CONFIG_MCU_ATMEGA64 is not set
+# CONFIG_MCU_ATMEGA645 is not set
+# CONFIG_MCU_ATMEGA6450 is not set
+CONFIG_MCU_ATMEGA128=y
+# CONFIG_MCU_ATMEGA1281 is not set
+# CONFIG_MCU_AT90CAN128 is not set
+# CONFIG_MCU_AT94K is not set
+# CONFIG_MCU_AT90S1200 is not set
+# CONFIG_MCU_ATMEGA2560 is not set
+# CONFIG_MCU_ATMEGA256 is not set
+CONFIG_QUARTZ=16000000
+
+#
+# Generation options
+#
+# CONFIG_OPTM_0 is not set
+# CONFIG_OPTM_1 is not set
+# CONFIG_OPTM_2 is not set
+# CONFIG_OPTM_3 is not set
+CONFIG_OPTM_S=y
+CONFIG_MATH_LIB=y
+# CONFIG_FDEVOPEN_COMPAT is not set
+# CONFIG_NO_PRINTF is not set
+# CONFIG_MINIMAL_PRINTF is not set
+CONFIG_STANDARD_PRINTF=y
+# CONFIG_ADVANCED_PRINTF is not set
+CONFIG_FORMAT_IHEX=y
+# CONFIG_FORMAT_SREC is not set
+# CONFIG_FORMAT_BINARY is not set
+
+#
+# Base modules
+#
+# CONFIG_MODULE_CIRBUF is not set
+# CONFIG_MODULE_CIRBUF_LARGE is not set
+# CONFIG_MODULE_FIXED_POINT is not set
+# CONFIG_MODULE_VECT2 is not set
+CONFIG_MODULE_GEOMETRY=y
+# CONFIG_MODULE_SCHEDULER is not set
+# CONFIG_MODULE_SCHEDULER_STATS is not set
+# CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set
+# CONFIG_MODULE_SCHEDULER_USE_TIMERS is not set
+CONFIG_MODULE_SCHEDULER_TIMER0=y
+# CONFIG_MODULE_SCHEDULER_MANUAL is not set
+# CONFIG_MODULE_TIME is not set
+# CONFIG_MODULE_TIME_CREATE_CONFIG is not set
+# CONFIG_MODULE_TIME_EXT is not set
+# CONFIG_MODULE_TIME_EXT_CREATE_CONFIG is not set
+
+#
+# Communication modules
+#
+# CONFIG_MODULE_UART is not set
+# CONFIG_MODULE_UART_9BITS is not set
+# CONFIG_MODULE_UART_CREATE_CONFIG is not set
+# CONFIG_MODULE_SPI is not set
+# CONFIG_MODULE_SPI_CREATE_CONFIG is not set
+# CONFIG_MODULE_I2C is not set
+# CONFIG_MODULE_I2C_MASTER is not set
+# CONFIG_MODULE_I2C_MULTIMASTER is not set
+# CONFIG_MODULE_I2C_CREATE_CONFIG is not set
+# CONFIG_MODULE_MF2_CLIENT is not set
+# CONFIG_MODULE_MF2_CLIENT_USE_SCHEDULER is not set
+# CONFIG_MODULE_MF2_CLIENT_CREATE_CONFIG is not set
+# CONFIG_MODULE_MF2_SERVER is not set
+# CONFIG_MODULE_MF2_SERVER_CREATE_CONFIG is not set
+
+#
+# Hardware modules
+#
+# CONFIG_MODULE_TIMER is not set
+# CONFIG_MODULE_TIMER_CREATE_CONFIG is not set
+# CONFIG_MODULE_TIMER_DYNAMIC is not set
+# CONFIG_MODULE_PWM is not set
+# CONFIG_MODULE_PWM_CREATE_CONFIG is not set
+# CONFIG_MODULE_PWM_NG is not set
+# CONFIG_MODULE_ADC is not set
+# CONFIG_MODULE_ADC_CREATE_CONFIG is not set
+
+#
+# IHM modules
+#
+# CONFIG_MODULE_MENU is not set
+# CONFIG_MODULE_VT100 is not set
+# CONFIG_MODULE_RDLINE is not set
+# CONFIG_MODULE_RDLINE_CREATE_CONFIG is not set
+# CONFIG_MODULE_RDLINE_KILL_BUF is not set
+# CONFIG_MODULE_RDLINE_HISTORY is not set
+# CONFIG_MODULE_PARSE is not set
+# CONFIG_MODULE_PARSE_NO_FLOAT is not set
+
+#
+# External devices modules
+#
+# CONFIG_MODULE_LCD is not set
+# CONFIG_MODULE_LCD_CREATE_CONFIG is not set
+# CONFIG_MODULE_MULTISERVO is not set
+# CONFIG_MODULE_MULTISERVO_CREATE_CONFIG is not set
+# CONFIG_MODULE_AX12 is not set
+# CONFIG_MODULE_AX12_CREATE_CONFIG is not set
+
+#
+# Brushless motor drivers (you should enable pwm modules to see all)
+#
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_CREATE_CONFIG is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE_CREATE_CONFIG is not set
+
+#
+# Encoders (you need comm/spi for encoders_spi)
+#
+# CONFIG_MODULE_ENCODERS_MICROB is not set
+# CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG is not set
+# CONFIG_MODULE_ENCODERS_EIRBOT is not set
+# CONFIG_MODULE_ENCODERS_EIRBOT_CREATE_CONFIG is not set
+# CONFIG_MODULE_ENCODERS_SPI is not set
+# CONFIG_MODULE_ENCODERS_SPI_CREATE_CONFIG is not set
+
+#
+# Robot specific modules
+#
+# CONFIG_MODULE_ROBOT_SYSTEM is not set
+# CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT is not set
+# CONFIG_MODULE_POSITION_MANAGER is not set
+# CONFIG_MODULE_COMPENSATE_CENTRIFUGAL_FORCE is not set
+# CONFIG_MODULE_TRAJECTORY_MANAGER is not set
+# CONFIG_MODULE_BLOCKING_DETECTION_MANAGER is not set
+# CONFIG_MODULE_OBSTACLE_AVOIDANCE is not set
+# CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG is not set
+
+#
+# Control system modules
+#
+# CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set
+# CONFIG_MODULE_PID is not set
+# CONFIG_MODULE_PID_CREATE_CONFIG is not set
+# CONFIG_MODULE_RAMP is not set
+# CONFIG_MODULE_QUADRAMP is not set
+# CONFIG_MODULE_QUADRAMP_DERIVATE is not set
+# CONFIG_MODULE_BIQUAD is not set
+
+#
+# Radio devices
+#
+# CONFIG_MODULE_CC2420 is not set
+# CONFIG_MODULE_CC2420_CREATE_CONFIG is not set
+
+#
+# Crypto modules
+#
+# CONFIG_MODULE_AES is not set
+# CONFIG_MODULE_AES_CTR is not set
+# CONFIG_MODULE_MD5 is not set
+# CONFIG_MODULE_MD5_HMAC is not set
+# CONFIG_MODULE_RC4 is not set
+
+#
+# Encodings modules
+#
+# CONFIG_MODULE_BASE64 is not set
+# CONFIG_MODULE_HAMMING is not set
+
+#
+# Debug modules
+#
+# CONFIG_MODULE_DIAGNOSTIC is not set
+# CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
+CONFIG_MODULE_ERROR=y
+CONFIG_MODULE_ERROR_CREATE_CONFIG=y
+
+#
+# Programmer options
+#
+CONFIG_AVRDUDE=y
+# CONFIG_AVARICE is not set
+
+#
+# Avrdude
+#
+# CONFIG_AVRDUDE_PROG_FUTURELEC is not set
+# CONFIG_AVRDUDE_PROG_ABCMINI is not set
+# CONFIG_AVRDUDE_PROG_PICOWEB is not set
+# CONFIG_AVRDUDE_PROG_SP12 is not set
+# CONFIG_AVRDUDE_PROG_ALF is not set
+# CONFIG_AVRDUDE_PROG_BASCOM is not set
+# CONFIG_AVRDUDE_PROG_DT006 is not set
+# CONFIG_AVRDUDE_PROG_PONY_STK200 is not set
+CONFIG_AVRDUDE_PROG_STK200=y
+# CONFIG_AVRDUDE_PROG_PAVR is not set
+# CONFIG_AVRDUDE_PROG_BUTTERFLY is not set
+# CONFIG_AVRDUDE_PROG_AVR910 is not set
+# CONFIG_AVRDUDE_PROG_STK500 is not set
+# CONFIG_AVRDUDE_PROG_AVRISP is not set
+# CONFIG_AVRDUDE_PROG_BSD is not set
+# CONFIG_AVRDUDE_PROG_DAPA is not set
+# CONFIG_AVRDUDE_PROG_JTAG1 is not set
+# CONFIG_AVRDUDE_PROG_AVR109 is not set
+CONFIG_AVRDUDE_PORT="/dev/parport0"
+CONFIG_AVRDUDE_BAUDRATE=19200
+
+#
+# Avarice
+#
+CONFIG_AVARICE_PORT="/dev/ttyS0"
+CONFIG_AVARICE_DEBUG_PORT=1234
+CONFIG_AVARICE_PROG_MKI=y
+# CONFIG_AVARICE_PROG_MKII is not set
+# CONFIG_AVRDUDE_CHECK_SIGNATURE is not set
--- /dev/null
+TARGET = main
+
+# repertoire des modules
+AVERSIVE_DIR =../..# VALUE, absolute or relative path : example ../.. #
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = $(TARGET).c
+
+# List Assembler source files here.
+# Make them always end in a capital .S. Files ending in a lowercase .s
+# will not be considered source files but generated files (assembler
+# output from the compiler), and will be deleted upon "make clean"!
+# Even though the DOS/Win* filesystem matches both .s and .S the same,
+# it will preserve the spelling of the filenames, and gcc itself does
+# care about how the name is spelled on its command-line.
+ASRC =
+
+########################################
+
+-include .aversive_conf
+include $(AVERSIVE_DIR)/mk/aversive_project.mk
--- /dev/null
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: error_config.h,v 1.4.6.1 2006-11-26 21:06:03 zer0 Exp $
+ *
+ */
+
+#ifndef _ERROR_CONFIG_
+#define _ERROR_CONFIG_
+
+/** enable the dump of the comment */
+#define ERROR_DUMP_TEXTLOG
+
+/** enable the dump of filename and line number */
+#define ERROR_DUMP_FILE_LINE
+
+#endif
--- /dev/null
+import sys, re, math
+import numpy as np
+import matplotlib
+import matplotlib.path as mpath
+import matplotlib.patches as mpatches
+import matplotlib.pyplot as plt
+from matplotlib.patches import Arrow, Circle, Wedge, Polygon
+from matplotlib.collections import PatchCollection
+from numpy.random import randn
+import pylab
+import popen2, random
+
+Path = mpath.Path
+FLOAT = "([-+]?[0-9]*\.?[0-9]+)"
+INT = "([-+]?[0-9][0-9]*)"
+RANDOM_ERROR = 0.3 # deg
+beacons = [ (0.0, 1050.0), (3000.0, 0.0), (3000.0, 2100.0) ]
+
+def build_poly(ptlist):
+ polydata = []
+ polydata.append((Path.MOVETO, (ptlist[0])))
+ for pt in ptlist[1:]:
+ polydata.append((Path.LINETO, (pt)))
+ polydata.append((Path.CLOSEPOLY, (ptlist[0])))
+ codes, verts = zip(*polydata)
+ poly = mpath.Path(verts, codes)
+ x, y = zip(*poly.vertices)
+ return x,y
+
+def build_path(ptlist):
+ polydata = []
+ polydata.append((Path.MOVETO, (ptlist[0])))
+ for pt in ptlist[1:]:
+ polydata.append((Path.LINETO, (pt)))
+ codes, verts = zip(*polydata)
+ poly = mpath.Path(verts, codes)
+ x, y = zip(*poly.vertices)
+ return x,y
+
+def get_angle(ref, b):
+ """get angle from robot point of view (ref) of beacon 'b'"""
+ a = math.atan2(b[1]-ref[1], b[0]-ref[0])
+ ea = (math.pi/180.) * RANDOM_ERROR * random.random()
+ ea = random.choice([ea, -ea])
+ return a + ea, ea
+
+ alpha = math.atan2(a[1]-ref[1], a[0]-ref[0])
+ beta = math.atan2(b[1]-ref[1], b[0]-ref[0])
+ gamma = beta-alpha
+ if gamma < 0:
+ gamma = gamma + 2*math.pi
+ return gamma + error, error
+
+def dist(p1, p2):
+ return math.sqrt((p1[0]-p2[0])**2+(p1[1]-p2[1])**2)
+
+def graph(filename, real_x, real_y):
+
+ real_pt = (real_x, real_y)
+
+ # display beacons
+ patches = []
+ for b in beacons:
+ patches += [ Circle((b[0], b[1]), 40, alpha=0.4) ]
+
+ patches += [ Circle((real_x, real_y), 20, alpha=0.4, facecolor="red") ]
+
+ # process angles from robot position
+ a0,ea0 = get_angle((real_x, real_y), beacons[0])
+ a1,ea1 = get_angle((real_x, real_y), beacons[1])
+ a2,ea2 = get_angle((real_x, real_y), beacons[2])
+ text = "a0 = %2.2f (%+2.2f deg)\n"%(a0, ea0*(180./math.pi))
+ text += "a1 = %2.2f (%+2.2f deg)\n"%(a1, ea1*(180./math.pi))
+ text += "a2 = %2.2f (%+2.2f deg)\n"%(a2, ea2*(180./math.pi))
+
+ a01 = a1-a0
+ if a01 < 0:
+ a01 += 2*math.pi
+ a12 = a2-a1
+ if a12 < 0:
+ a12 += 2*math.pi
+ a20 = a0-a2
+ if a20 < 0:
+ a20 += 2*math.pi
+
+ cmd = "./main angle2pos %f %f %f"%(a01, a12, a20)
+ o,i = popen2.popen2(cmd)
+ i.close()
+ s = o.read(1000000)
+ o.close()
+
+ open(filename + ".txt", "w").write(s)
+
+ if len(s) == 1000000:
+ gloupix()
+
+ fig = plt.figure()
+ ax = fig.add_subplot(111)
+ ax.set_title("Erreur de position en mm lorsqu'on ajoute une erreur de mesure\n"
+ "d'angle aleatoire comprise entre - %1.1f et %1.1f deg"%(RANDOM_ERROR,
+ RANDOM_ERROR))
+
+ # area
+ x,y = build_poly([(0,0), (3000,0), (3000,2100), (0,2100)])
+ ax.plot(x, y, 'g-')
+
+ for l in s.split("\n"):
+ m = re.match("circle: x=%s y=%s r=%s"%(FLOAT, FLOAT, FLOAT), l)
+ if m:
+ x,y,r = (float(m.groups()[0]), float(m.groups()[1]), float(m.groups()[2]))
+ print x,y,r
+ patches += [ Circle((x, y), r, facecolor="none") ]
+ m = re.match("p%s: x=%s y=%s"%(INT, FLOAT, FLOAT), l)
+ if m:
+ n,x,y = (float(m.groups()[0]), float(m.groups()[1]), float(m.groups()[2]))
+ if (n == 0):
+ patches += [ Circle((x, y), 20, alpha=0.4, facecolor="yellow") ]
+ result_pt = (x, y)
+ text += l + "\n"
+
+ p = PatchCollection(patches, cmap=matplotlib.cm.jet, match_original=True)
+
+ # text area, far from the point
+ l = [(800., 1800.), (800., 500.), (1500., 1800.), (1500., 500.),
+ (2200., 1800.), (2200., 500.)]
+ l.sort(cmp=lambda p1,p2: (dist(p1,real_pt)<dist(p2,real_pt)) and 1 or -1)
+ x,y = l[0]
+ text += "real_pt: x=%2.2f, y=%2.2f\n"%(real_x, real_y)
+ text += "error = %2.2f mm"%(dist(real_pt, result_pt))
+ matplotlib.pyplot.text(x, y, text, size=8,
+ ha="center", va="center",
+ bbox = dict(boxstyle="round",
+ ec=(1., 0.5, 0.5),
+ fc=(1., 0.8, 0.8),
+ alpha=0.6,
+ ),
+ alpha=0.8
+ )
+ ax.add_collection(p)
+
+ ax.grid()
+ ax.set_xlim(-100, 3100)
+ ax.set_ylim(-100, 2200)
+ #ax.set_title('spline paths')
+ #plt.show()
+ fig.savefig(filename)
+
+def do_random_test():
+ random.seed(0)
+ for i in range(100):
+ x = random.randint(0, 3000)
+ y = random.randint(0, 2100)
+ graph("test%d.png"%i, x, y)
+
+def do_graph_2d(data, filename, title):
+ # Make plot with vertical (default) colorbar
+ fig = plt.figure()
+ ax = fig.add_subplot(111)
+
+ cax = ax.imshow(data)
+ ax.set_title(title)
+
+ # Add colorbar, make sure to specify tick locations to match desired ticklabels
+ cbar = fig.colorbar(cax, ticks=[0, 50])
+ cbar.ax.set_yticklabels(['0', '50 et plus'])# vertically oriented colorbar
+ fig.savefig(filename)
+
+def get_data(cmd, sat=0):
+ data = np.array([[0.]*210]*300)
+ oo,ii = popen2.popen2(cmd)
+ ii.close()
+ while True:
+ l = oo.readline()
+ if l == "":
+ break
+ try:
+ x,y,e = l[:-1].split(" ")
+ except:
+ print "Fail: %s"%(l)
+ continue
+ x = int(x)
+ y = int(y)
+ e = float(e)
+ if sat:
+ if e < sat:
+ e = 0
+ else:
+ e = sat
+ data[x,y] = e
+ oo.close()
+ return data
+
+def do_graph_2d_simple_error():
+ for i in range(4):
+ for j in ["0.1", "0.5", "1.0"]:
+ data = get_data("./main simple_error %d %s"%(i,j))
+ if i != 3:
+ title = 'Erreur de position en mm, pour une erreur\n'
+ title += 'de mesure de %s deg sur la balise %d'%(j,i)
+ else:
+ title = 'Erreur de position en mm, pour une erreur\n'
+ title += 'de mesure de %s deg sur les 3 balises'%(j)
+ do_graph_2d(data, "error_a%d_%s.png"%(i,j), title)
+
+def do_graph_2d_move_error():
+ i = 0
+ for period in [ 20, 40 ]:
+ for speed in [ 0.3, 0.7, 1. ]:
+ angle_deg = 0
+ while angle_deg < 360:
+ angle_rad = angle_deg * (math.pi/180.)
+ data = get_data("./main move_error %f %f %f"%(speed, period, angle_rad))
+ do_graph_2d(data, "error_move_error_%d.png"%(i),
+ 'Erreur de mesure si le robot se deplace a %2.2f m/s\n'
+ 'vers %d deg (periode tourelle = %d ms)'%(speed, angle_deg, period))
+ angle_deg += 45
+ i += 1
+ period = 20
+ speed = 1.
+ angle_deg = 45
+ angle_rad = angle_deg * (math.pi/180.)
+ data = get_data("./main move_error %f %f %f"%(speed, period, angle_rad), sat=20)
+ do_graph_2d(data, "error_move_error_%d.png"%(i),
+ "En rouge, l'erreur de mesure est > 2cm (pour un deplacement\n"
+ 'a %2.2f m/s vers %d deg et une periode tourelle = %d ms)'%(speed, angle_deg, period))
+
+#do_random_test()
+#do_graph_2d_simple_error()
+do_graph_2d_move_error()
--- /dev/null
+/*
+ * Copyright Droids Corporation (2009)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <aversive.h>
+
+#include <vect_base.h>
+#include <lines.h>
+#include <circles.h>
+
+#define POS_ACCURACY 10.0 /* 1 cm accuracy max */
+#ifndef HOST_VERSION
+#define printf(args...) do {} while(0)
+#endif
+
+static int dprint = 0;
+#define dprintf(args...) if (dprint) printf(args)
+
+const point_t beacon0 = { 0, 1050 };
+const point_t beacon1 = { 3000, 0 };
+const point_t beacon2 = { 3000, 2100 };
+
+/* Fill the 2 circles pointer given as parameter, each of those cross
+ * both beacons b1 and b2. From any point of these circles (except b1
+ * and b2), we see b1 and b2 with the angle of a_rad (which must be
+ * positive). Return 0 on success.
+ *
+ * l
+ * <------------------------->
+ *
+ * b1 O b2
+ * +----------------------------+
+ * ,' \\ | /|'\
+ * / \ \ | ^ / | `
+ * / \ \ a___ | | d / | `.
+ * / \ \ / | v / | \
+ * | \ \ | / | |
+ * | \ \ | / | |
+ * | \ \|/ | |
+ * | \ * C | |
+ * | \ | .'
+ * | \ | |
+ * | \ | .'
+ * \ \ a____| /
+ * \ \ / | ,'
+ * ` \ | /
+ * '. \ | ,'
+ * '-. \ |_,'
+ * '-._ _,*'
+ * '`--......---' R (the robot)
+ *
+ */
+int8_t angle_to_circles(circle_t *c1, circle_t *c2,
+ const point_t *b1, const point_t *b2,
+ double a_rad)
+{
+ point_t O;
+ vect_t v;
+ float l, d;
+
+ /* reject negative or too small angles */
+ if (a_rad <= 0.01)
+ return -1;
+
+ /* get position of O */
+ O.x = (b1->x + b2->x) / 2;
+ O.y = (b1->y + b2->y) / 2;
+
+ /* get the length l */
+ v.x = b2->x - b1->x;
+ v.y = b2->y - b1->y;
+ l = vect_norm(&v);
+
+ /* distance from O to the center of the circle */
+ /* XXX div by 0 when pi */
+ d = l / (2 * tan(a_rad));
+
+ /* get the circle c1 */
+ vect_rot_trigo(&v);
+ vect_resize(&v, d);
+ if (c1) {
+ c1->x = O.x + v.x;
+ c1->y = O.y + v.y;
+ c1->r = norm(b1->x, b1->y, c1->x, c1->y);
+ }
+
+ /* get the circle c2 */
+ if (c2) {
+ c2->x = O.x - v.x;
+ c2->y = O.y - v.y;
+ c2->r = norm(b1->x, b1->y, c1->x, c1->y);
+ }
+
+ return 0;
+}
+
+/* get the position of the robot from the angle of the 3 beacons */
+int8_t angles_to_posxy(point_t *pos, double a01, double a12, double a20)
+{
+ circle_t c01, c12, c20;
+ point_t dummy_pt, p1, p2, p3;
+
+ dprintf("a01 = %2.2f\n", a01);
+ dprintf("a12 = %2.2f\n", a12);
+ dprintf("a20 = %2.2f\n", a20);
+
+ if (angle_to_circles(&c01, NULL, &beacon0, &beacon1, a01))
+ return -1;
+ dprintf("circle: x=%2.2f y=%2.2f r=%2.2f\n", c01.x, c01.y, c01.r);
+
+ if (angle_to_circles(&c12, NULL, &beacon1, &beacon2, a12))
+ return -1;
+ dprintf("circle: x=%2.2f y=%2.2f r=%2.2f\n", c12.x, c12.y, c12.r);
+
+ if (angle_to_circles(&c20, NULL, &beacon2, &beacon0, a20))
+ return -1;
+ dprintf("circle: x=%2.2f y=%2.2f r=%2.2f\n", c20.x, c20.y, c20.r);
+
+ if (circle_intersect(&c01, &c12, &p1, &dummy_pt) == 0)
+ return -1;
+ if (circle_intersect(&c12, &c20, &p2, &dummy_pt) == 0)
+ return -1;
+ if (circle_intersect(&c20, &c01, &dummy_pt, &p3) == 0)
+ return -1;
+
+ dprintf("p1: x=%2.2f y=%2.2f\n", p1.x, p1.y);
+ dprintf("p2: x=%2.2f y=%2.2f\n", p2.x, p2.y);
+ dprintf("p3: x=%2.2f y=%2.2f\n", p3.x, p3.y);
+
+ /* if (norm(p1.x, p1.y, p2.x, p2.y) > POS_ACCURACY || */
+ /* norm(p2.x, p2.y, p3.x, p3.y) > POS_ACCURACY || */
+ /* norm(p3.x, p3.y, p1.x, p1.y) > POS_ACCURACY) */
+ /* return -1; */
+
+ pos->x = (p1.x + p2.x + p3.x) / 3.0;
+ pos->y = (p1.y + p2.y + p3.y) / 3.0;
+
+ return 0;
+}
+
+/* get the angles of beacons from xy pos */
+int8_t posxy_to_angles(point_t pos, double *a01, double *a12,
+ double *a20, int err_num, float err_val)
+{
+ double a0, a1, a2;
+
+ a0 = atan2(beacon0.y-pos.y, beacon0.x-pos.x);
+ a1 = atan2(beacon1.y-pos.y, beacon1.x-pos.x);
+ a2 = atan2(beacon2.y-pos.y, beacon2.x-pos.x);
+
+ if (err_num == 0 || err_num == 3)
+ a0 += (err_val * M_PI/180.);
+ if (err_num == 1 || err_num == 3)
+ a1 += (err_val * M_PI/180.);
+ if (err_num == 2 || err_num == 3)
+ a2 += (err_val * M_PI/180.);
+
+ *a01 = a1-a0;
+ if (*a01 < 0)
+ *a01 += M_PI*2;
+ *a12 = a2-a1;
+ if (*a12 < 0)
+ *a12 += M_PI*2;
+ *a20 = a0-a2;
+ if (*a20 < 0)
+ *a20 += M_PI*2;
+
+ return 0;
+}
+
+int8_t process_move_error(double x, double y, double speed,
+ double period, double angle, double *err)
+{
+ double a01, a12, a20;
+ point_t pos, tmp;
+ double a0, a1, a2;
+ vect_t u,v;
+ point_t pos2, pos3;
+
+ pos.x = x;
+ pos.y = y;
+
+ /* from start to destination */
+ v.x = cos(angle) * speed * period;
+ v.y = sin(angle) * speed * period;
+
+ /* first process real pos */
+ posxy_to_angles(pos, &a01, &a12, &a20, -1, 0);
+
+ /* vector covered during measure of a0 and a1 */
+ u.x = v.x * a01 / (2*M_PI);
+ u.y = v.y * a01 / (2*M_PI);
+ pos2.x = pos.x + u.x;
+ pos2.y = pos.y + u.y;
+
+ /* vector covered during measure of a1 and a2 */
+ u.x = v.x * a12 / (2*M_PI);
+ u.y = v.y * a12 / (2*M_PI);
+ pos3.x = pos2.x + u.x;
+ pos3.y = pos2.y + u.y;
+
+ dprintf("p0: x=%2.2f y=%2.2f\n", pos.x, pos.y);
+ dprintf("p1: x=%2.2f y=%2.2f\n", pos2.x, pos2.y);
+ dprintf("p2: x=%2.2f y=%2.2f\n", pos3.x, pos3.y);
+
+ a0 = atan2(beacon0.y-pos.y, beacon0.x-pos.x);
+ a1 = atan2(beacon1.y-pos2.y, beacon1.x-pos2.x);
+ a2 = atan2(beacon2.y-pos3.y, beacon2.x-pos3.x);
+
+ a01 = a1-a0;
+ if (a01 < 0)
+ a01 += M_PI*2;
+ a12 = a2-a1;
+ if (a12 < 0)
+ a12 += M_PI*2;
+ a20 = a0-a2;
+ if (a20 < 0)
+ a20 += M_PI*2;
+
+ if (angles_to_posxy(&tmp, a01, a12, a20))
+ return -1;
+ *err = pt_norm(&tmp, &pos);
+ if (*err > 50.) /* saturate error to 5cm */
+ *err = 50.;
+ return 0;
+}
+
+/* whole process is around 3ms on atmega128 at 16Mhz */
+int main(int argc, char **argv)
+{
+ double a01, a12, a20;
+ point_t pos, tmp;
+ const char *mode = "nothing";
+
+#ifdef HOST_VERSION
+ if (argc < 2) {
+ printf("bad args\n");
+ return -1;
+ }
+ mode = argv[1];
+#else
+ mode = "angle2pos";
+ argc = 5;
+ a01 = 1.65;
+ a12 = 2.12;
+ a20 = 2.53;
+#endif
+
+ if (argc == 5 && strcmp(mode, "angle2pos") == 0) {
+#ifdef HOST_VERSION
+ dprint = 1;
+ a01 = atof(argv[2]);
+ a12 = atof(argv[3]);
+ a20 = atof(argv[4]);
+#endif
+ if (angles_to_posxy(&pos, a01, a12, a20) < 0)
+ return -1;
+ printf("p0: x=%2.2f y=%2.2f\n", pos.x, pos.y);
+ return 0;
+ }
+
+ if (argc == 4 && strcmp(mode, "simple_error") == 0) {
+ int x, y;
+ int err_num;
+ double err_val_deg;
+ double err;
+
+ err_num = atof(argv[2]); /* which beacon sees an error */
+ err_val_deg = atof(argv[3]); /* how many degrees of error */
+
+ for (x=0; x<300; x++) {
+ for (y=0; y<210; y++) {
+ pos.x = x*10;
+ pos.y = y*10;
+ posxy_to_angles(pos, &a01, &a12, &a20,
+ err_num, err_val_deg);
+ if (angles_to_posxy(&tmp, a01, a12, a20))
+ continue;
+ err = pt_norm(&tmp, &pos);
+ if (err > 50.) /* saturate error to 5cm */
+ err = 50.;
+ printf("%d %d %2.2f\n", x, y, err);
+ }
+ }
+ return 0;
+ }
+
+ if ((argc == 5 || argc == 7)
+ && strcmp(argv[1], "move_error") == 0) {
+ int x, y;
+ double angle, speed, period, err;
+
+ speed = atof(argv[2]); /* speed in m/s ( = mm/ms) */
+ period = atof(argv[3]); /* period of turret in ms */
+ angle = atof(argv[4]); /* direction of moving */
+ if (argc == 7) {
+ dprint = 1;
+ process_move_error(atof(argv[5]), atof(argv[6]),
+ speed, period, angle, &err);
+ printf("%2.2f %2.2f %2.2f\n", atof(argv[5]),
+ atof(argv[6]), err);
+ return 0;
+ }
+
+ for (x=0; x<300; x++) {
+ for (y=0; y<210; y++) {
+ pos.x = x*10;
+ pos.y = y*10;
+ if (process_move_error(pos.x, pos.y,
+ speed, period, angle,
+ &err) < 0)
+ continue;
+ printf("%d %d %2.2f\n", x, y, err);
+ }
+ }
+ return 0;
+ }
+
+ printf("bad args\n");
+ return -1;
+}
git.droids-corp.org / aversive.git / commitdiff