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Apr26_lookahead.m
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clc; clear all;
%Webots Lidar Data
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ydat = ydat*4/max(ydat);
%Wheel Speed Lookahead
R = 0.34;
w = 1.63;
dt = 0.001;
time = linspace(0,10,10001);
Lpos = zeros(2,10001);
Rpos = zeros(2,10001);
pos = zeros(2,10001);
%thetaL = 0;
omegaL = 1;
%thetaR = 0;
omegaR = 1.4;
%initial values
theta = pi/2;
x = 0;
y = 0;
for i = 1:10001
%thetaL = thetaL + omegaL*dt;
%thetaR = thetaR + omegaR*dt;
xdot = R*(omegaR+omegaL)*cos(theta)/2;
ydot = R*(omegaR+omegaL)*sin(theta)/2;
omega = R*(omegaR-omegaL)/w;
x = x + xdot*dt;
y = y + ydot*dt;
theta = theta + omega*dt;
pos(1,i) = x;
pos(2,i) = y;
Lpos(1,i) = x-sin(theta)*w/2;
Lpos(2,i) = y+cos(theta)*w/2;
Rpos(1,i) = x+sin(theta)*w/2;
Rpos(2,i) = y-cos(theta)*w/2;
end
figure(1)
scatter(-pos(2,:),pos(1,:),'red'); hold on; scatter(-Lpos(2,:),Lpos(1,:),'blue'); hold on; scatter(-Rpos(2,:),Rpos(1,:),'green'); hold on; scatter(xdat,ydat);
figure(2)
scatter(xdat,ydat)
samp = zeros(2,101);
sampz = zeros(1,101);
knum = 10;
for i = 1:101
samp(:,i) = pos(:,100*i-99);
xdattest = xdat - samp(1,i);
ydattest = ydat - samp(2,i);
dists = sqrt(xdattest.^2 + ydattest.^2);
[B,I] = mink(dists,knum);
nrm = 0;
val = 0;
for j = 1:knum
nrm = nrm + 1/(0.01+B(j));
val = val + zdat(I(j))/(0.01+B(j));
end
%val = val/knum;
val = val/nrm;
sampz(i) = val;
end
figure(3)
scatter3(samp(1,:),samp(2,:),sampz,25,'red','filled'); hold on; scatter3(xdat,ydat,zdat,10,'blue')
%{
pltpos = round(pos,1);
test = pltpos(1,:).*exp(-pltpos(1,:).^2-pltpos(2,:).^2);
figure(2)
ecks = -2.5:0.1:2.5;
[X,Y] = meshgrid(ecks);
F = X.*exp(-X.^2-Y.^2);
surf(X,Y,F);hold on;scatter3(pltpos(1,:),pltpos(2,:),test,'red','filled')
%}
%{
err = 0;
for i = 1:14
set = set1;
class = class1;
set(i,:) = [];
class(i) = [];
test = class1(i);
set = set - set1(i,:);
dists = vecnorm(set,2,2);
[B,I] = mink(dists,knum);
klass = 0;
for j = 1:knum
klass = klass + class(I(j));
end
if sign(klass) ~= sign(test)
err = err + 1;
end
end
%}