def main():
######## DEFINE STATE && UNCERTAINTY #############
x_truth = np.array([[0]])
P_initial = np.array([2])
####### DEFINE PROCESS NOISE #######
Q = np.array([0.1])
####### DEFINE PERCEIVED PROCESS NOISE #######
Q_perceived = np.array([0.3])
###### DEFINE DYNAMICS #########
linear_dynamics_status = True
########## DEFINE MEAS NOISE ##########
R = np.array([0.1])
########## INITIALIZE ASSETS ##########
asset = Asset(0, num_ownship_states, world_dim, x_truth, P_initial, linear_dynamics_status)
########## DEFINE ET DELTAS ##########
gps_xy_delta = 3
########## DATA RECORDING ##########
x_truth_bag = np.array([])
x_hat_bag0 = np.array([])
p_bag0 = np.array([])
seq = 0
for k in range(K):
########## DEFINE CONTROL INPUT ##########
u = np.array([0.1])
########## SIMULATE TRUTH MOTION ##########
x_truth_prev = deepcopy(x_truth)
x_truth = linear_propagation(x_truth, u, world_dim, num_ownship_states)
########## ADD NOISE TO TRUTH MOTION ##########
x_truth_no_noise = deepcopy(x_truth)
x_truth += np.random.normal(0, np.sqrt(Q))
########## PREDICTION STEP ##########
asset.predict(u, Q_perceived)
########## GENERATE MEASUREMENTS VALUES ##########
meas_vector = x_truth
########## ADD NOIES TO MEASUREMENTS ##########
meas_vector += np.random.normal(0, np.sqrt(R))
########## INITIALIZE MEASUREMENT TYPES ##########
gpsx0 = GPSx_Explicit(0, meas_vector, R, gps_xy_delta)
########## ASSETS RECEIVE MEASUREMNTS ##########
asset.receive_meas(gpsx0, shareable=False)
########## ASSETS SHARE MEASUREMENTS ##########
# asset.receive_meas(gpsy0, shareable=False)
# asset.receive_meas(gpsyaw0, shareable=False)
# asset1.receive_meas(gpsx1, shareable=False)
# asset1.receive_meas(gpsy1, shareable=False)
# asset1.receive_meas(gpsyaw1, shareable=False)
# sharing = []
# sharing.append(asset.receive_meas(gpsx0, shareable=True))
# sharing.append(asset.receive_meas(gpsy0, shareable=True))
# sharing.append(asset.receive_meas(gpsyaw0, shareable=True))
# sharing.append(asset1.receive_meas(gpsx1, shareable=True))
# sharing.append(asset1.receive_meas(gpsy1, shareable=True))
# sharing.append(asset1.receive_meas(gpsyaw1, shareable=True))
# sharing.append(asset.receive_meas(diff_measx, shareable=True))
# sharing.append(asset.receive_meas(diff_measy, shareable=True))
# sharing.append(asset1.receive_meas(diff_measx_red, shareable=True))
# sharing.append(asset1.receive_meas(diff_measy_red, shareable=True))
# for s in sharing:
# i = s.keys()[0]
# if isinstance(s[i], Implicit):
# implicit_update_cnt += 1
# total_num_meas_cnt += 2
# a = asset_list[i]
# meas = s[i]
# # print("Asset "+ str(meas.src_id) + " sharing with " + str(i) + " " + s[i].__class__.__name__ + "| data: " + str(meas.data))
# a.receive_shared_meas(meas)
########## CORRECTION STEP ##########
asset.correct()
########## RECORD DATA ##########
if x_truth_bag.size == 0:
x_truth_bag = deepcopy(x_truth).reshape(-1,1)
else:
x_truth_bag = np.concatenate((x_truth_bag, x_truth.reshape(-1,1)), axis=1)
# Estimate 0
if x_hat_bag0.size == 0:
x_hat_bag0 = deepcopy(asset.main_filter.x_hat).reshape(-1,1)
else:
x_hat_bag0 = np.concatenate((x_hat_bag0, asset.main_filter.x_hat), axis=1)
# Uncertainty 0
if p_bag0.size == 0:
p_bag0 = deepcopy(asset.main_filter.P).reshape(num_states, num_states)
else:
p_bag0 = np.concatenate((p_bag0, asset.main_filter.P.reshape(num_states,num_states)), axis=1)
########## DEBUG FILTER INPUTS ##########
if DEBUG:
print("Filter Debug Step: " + str(seq))
# Check what our error is at this step
set_trace()
seq += 1
print(str(seq) + " out of " + str(K))
plot_error(x_truth_bag, x_hat_bag0, p_bag0, num_ownship_states, 0)
def main():
######## DEFINE STATE && UNCERTAINTY #############
x_truth = np.array([[0,0,5,0,7,0]], dtype=np.float64).T
P_initial = np.array([[1,0,0,0,0,0], \
[0,4,0,0,0,0], \
[0,0,1,0,0,0], \
[0,0,0,4,0,0],
[0,0,0,0,1,0],
[0,0,0,0,0,4]], dtype=np.float64)
####### DEFINE PROCESS NOISE #######
q = 0.1
####### DEFINE PERCEIVED PROCESS NOISE #######
Q_perceived = np.array([[4,0,0,0,0,0], \
[0,0,0,0,0,0], \
[0,0,4,0,0,0], \
[0,0,0,0,0,0],
[0,0,0,0,4,0],
[0,0,0,0,0,0]], dtype=np.float64)
###### DEFINE DYNAMICS #########
linear_dynamics_status = True
########## DEFINE MEAS NOISE ##########
r_gps = 0.1
r_gps_perceived = 1
########## DEFINE ET DELTAS ##########
gps_xy_delta = 0.3
########## INITIALIZE ASSETS ##########
asset_list = []
asset = Asset(0, num_ownship_states, world_dim, x_truth, P_initial, linear_dynamics_status, red_team=[2])
asset1 = Asset(1, num_ownship_states, world_dim, x_truth, P_initial, linear_dynamics_status, red_team=[2])
asset_list.append(asset); asset_list.append(asset1)
########## DATA RECORDING ##########
x_truth_bag = x_truth_bag = deepcopy(x_truth).reshape(-1,1)
x_hat_bag0 = deepcopy(asset.main_filter.x_hat).reshape(-1,1)
p_bag0 = deepcopy(asset.main_filter.P)
x_hat_bag1 = deepcopy(asset1.main_filter.x_hat).reshape(-1,1)
p_bag1 = deepcopy(asset1.main_filter.P)
seq = 0
implicit_update_cnt = 0
total_num_meas_cnt = 0
for k in range(K):
########## DEFINE CONTROL INPUT ##########
u0 = np.array([0.2], dtype=np.float64).reshape(-1,1)
u1 = np.array([0.1], dtype=np.float64).reshape(-1,1)
u2 = np.array([0.1], dtype=np.float64).reshape(-1,1)
########## SIMULATE TRUTH MOTION ##########
# x_truth_prev = deepcopy(x_truth)
x_truth0 = linear_propagation(x_truth[:num_ownship_states,0], u0, world_dim, num_ownship_states).reshape(-1,1)
x_truth1 = linear_propagation(x_truth[num_ownship_states:2*num_ownship_states,0], u1, world_dim, num_ownship_states)
x_truth2 = linear_propagation(x_truth[2*num_ownship_states:3*num_ownship_states,0], u2, world_dim, num_ownship_states)
x_truth[:num_ownship_states,0] = x_truth0.ravel()
x_truth[num_ownship_states:2*num_ownship_states,0] = x_truth1.ravel()
x_truth[2*num_ownship_states:3*num_ownship_states,0] = x_truth2.ravel()
########## BAG TRUTH DATA ##########
x_truth_bag = np.concatenate((x_truth_bag, x_truth.reshape(-1,1)), axis=1)
########## ADD NOISE TO TRUTH MOTION ##########
x_truth_no_noise = deepcopy(x_truth)
x_truth[0,0] += np.random.normal(0, np.sqrt(q))
x_truth[num_ownship_states,0] += + np.random.normal(0, np.sqrt(q))
x_truth[2*num_ownship_states,0] += + np.random.normal(0, np.sqrt(q))
########## PREDICTION STEP ##########
asset.predict(u0, Q_perceived)
asset1.predict(u1, Q_perceived)
# continue #** CHECK
########## GENERATE MEASUREMENTS VALUES ##########
gpsx0 = x_truth[0,0]
gpsx1 = x_truth[num_ownship_states,0]
gpsx2 = x_truth[2*num_ownship_states,0]
########## ADD NOIES TO MEASUREMENTS ##########
gpsx0 += np.random.normal(0, r_gps)
gpsx1 += np.random.normal(0, r_gps)
gpsx2 += np.random.normal(0, r_gps)
# STOP, CHECK PERFECT MEASUREMENTS
########## INITIALIZE MEASUREMENT TYPES ##########
gpsx0_meas = GPSx_Explicit(0, gpsx0, r_gps_perceived**2, gps_xy_delta)
gpsx1_meas = GPSx_Explicit(1, gpsx1, r_gps_perceived**2, gps_xy_delta)
gpsx2_meas = GPSx_Neighbor_Explicit(0,2, gpsx2, r_gps_perceived**2, gps_xy_delta)
# gpsx2_measp2 = GPSx_Neighbor_Explicit(1,2, gpsx2, r_gps_perceived**2, gps_xy_delta)
########## ASSETS RECEIVE UNSHAREABLE MEASUREMNTS ##########
# asset.receive_meas(gpsx0_meas, shareable=False)
# asset1.receive_meas(gpsx0_meas, shareable=False)
# asset1.receive_meas(gpsx1_meas, shareable=False)
# asset.receive_meas(gpsx2_meas, shareable=False)
# asset1.receive_meas(gpsx2_measp2, shareable=False)
# STOP, CHECK Improved estimation of asset by sharing
########## ASSETS SHARE MEASUREMENTS ##########
sharing = []
sharing.append(asset.receive_meas(gpsx0_meas, shareable=True))
sharing.append(asset.receive_meas(gpsx2_meas, shareable=True))
sharing.append(asset1.receive_meas(gpsx1_meas, shareable=True))
# sharing.append(asset.receive_meas(diff_measx, shareable=True))
# sharing.append(asset.receive_meas(diff_measy, shareable=True))
# sharing.append(asset1.receive_meas(diff_measx_red, shareable=True))
# sharing.append(asset1.receive_meas(diff_measy_red, shareable=True))
# Share measurements
for s in sharing:
i = s.keys()[0]
if isinstance(s[i], Implicit):
implicit_update_cnt += 1
total_num_meas_cnt += 1
a = asset_list[i]
meas = s[i]
a.receive_shared_meas(meas)
########## CORRECTION STEP ##########
asset.correct()
asset1.correct()
########## RECORD FITLER DATA ##########
# Estimate 0
x_hat_bag0 = np.concatenate((x_hat_bag0, asset.main_filter.x_hat), axis=1)
p_bag0 = np.concatenate((p_bag0, asset.main_filter.P), axis=1)
x_hat_bag1 = np.concatenate((x_hat_bag1, asset1.main_filter.x_hat), axis=1)
p_bag1 = np.concatenate((p_bag1, asset1.main_filter.P), axis=1)
########## DEBUG FILTER INPUTS ##########
if DEBUG:
print(asset.main_filter.P)
print("---")
# set_trace()
seq += 1
print(str(seq) + " out of " + str(K))
# STEP CHECK MEAN ESTIMATES ARE DECENT
# print(x_truth)
# print(asset.main_filter.x_hat)
# print(asset1.main_filter.x_hat)
print("Percent of msgs sent implicitly: " + str((implicit_update_cnt / total_num_meas_cnt)*100))
# PLOT ERROR BOUNDS
plot_error(x_truth_bag, x_hat_bag0, p_bag0, num_ownship_states, 0)
plot_error(x_truth_bag, x_hat_bag1, p_bag1, num_ownship_states, 1)
def main():
######## DEFINE STATE && UNCERTAINTY #############
x_truth = np.array([[0,0,0,0,0,0,0,0,
-10,-5,-2,0,0,0,0,0,
7,-25,np.pi/2,0,0,0,0,0]], dtype=np.float64).T
P_initial = np.array([[.5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,.5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,.5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,.5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,.5,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,.5,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,NO_ASSET_INFORMATION,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,NO_ASSET_INFORMATION,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,NO_ASSET_INFORMATION,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,9]], dtype=np.float64).T
####### DEFINE PROCESS NOISE #######
q = 0.01
q_yaw = 0.01
####### DEFINE PERCEIVED PROCESS NOISE #######
Q_perceived0 = np.array([[.001,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,.001,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,.001,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,.01,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,.1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,.1,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,.1,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,.1,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,.1,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,.1,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,.1,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,.1,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,.01,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]], dtype=np.float64).T
Q_perceived1 = np.array([[.1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,.1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,.1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,.1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,.001,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,.001,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,.001,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,.01,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,.1,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,.1,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,.1,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,.1,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,.01,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]], dtype=np.float64).T
###### DEFINE DYNAMICS #########
linear_dynamics_status = False
########## DEFINE MEAS NOISE ##########
r_gps = 0.3
r_gps_yaw = 0.01
r_gps_perceived = 0.5
r_gps_yaw_perceived = 0.01
r_range = 0.1
r_bearing = 0.04
r_range_perceived = 0.1
r_bearing_perceived = 0.04
########## DEFINE ET DELTAS ##########
# gps_yaw_delta = 0.3
# gps_xy_delta = 0.2
gps_yaw_delta = 0.0
gps_xy_delta = 0.0
bearing_delta = 0.0
range_delta = 0.0
########## INITIALIZE ASSETS ##########
asset_starting = deepcopy(x_truth)
asset_starting[2*num_ownship_states,0] = RED_ASSET_START
asset_starting[2*num_ownship_states+1,0] = RED_ASSET_START
asset_starting[2*num_ownship_states+2,0] = RED_ASSET_START
asset_list = []
asset = Asset(0, num_ownship_states, world_dim, asset_starting, P_initial, linear_dynamics_status, red_team=[2])
asset1 = Asset(1, num_ownship_states, world_dim, asset_starting, P_initial, linear_dynamics_status, red_team=[2])
asset_list.append(asset); asset_list.append(asset1)
########## DATA RECORDING ##########
x_truth_bag = x_truth_bag = deepcopy(x_truth).reshape(-1,1)
x_hat_bag0 = deepcopy(asset.main_filter.x_hat).reshape(-1,1)
p_bag0 = deepcopy(asset.main_filter.P)
x_hat_bag1 = deepcopy(asset1.main_filter.x_hat).reshape(-1,1)
p_bag1 = deepcopy(asset1.main_filter.P)
seq = 0
implicit_update_cnt = 0
total_num_meas_cnt = 0
comms_success_cnt = 0
mf0_xhat = deepcopy(asset.main_filter.x_hat)
mf0_P = deepcopy(asset.main_filter.P)
mf1_xhat = deepcopy(asset1.main_filter.x_hat)
mf1_P = deepcopy(asset1.main_filter.P)
plotting_bag = [[deepcopy(x_truth), mf0_xhat, mf0_P, mf1_xhat, mf1_P, 0, ""]]
for k in range(K):
########## DEFINE CONTROL INPUT ##########
u0 = np.array([[0.1, -0.0, np.pi/50]], dtype=np.float64).T # Speed, depth speed, ang velocity
u1 = np.array([[0.1, 0.0, -np.pi/50]], dtype=np.float64).T
u2 = np.array([[0.2, 0.0, np.pi/30]], dtype=np.float64).T
########## SIMULATE TRUTH MOTION ##########
x_truth0 = nonlinear_propagation(x_truth, u0, world_dim, num_ownship_states, 0)
x_truth0[3,0] = normalize_angle(x_truth0[3,0])
x_truth1 = nonlinear_propagation(x_truth, u1, world_dim, num_ownship_states, 1)
x_truth1[num_ownship_states+3,0] = normalize_angle(x_truth1[num_ownship_states+3,0])
x_truth2 = nonlinear_propagation(x_truth, u2, world_dim, num_ownship_states, 2)
x_truth2[num_ownship_states+3,0] = normalize_angle(x_truth2[num_ownship_states+3,0])
x_truth[:num_ownship_states,0] = x_truth0[:num_ownship_states].ravel()
x_truth[num_ownship_states:2*num_ownship_states,0] = x_truth1[num_ownship_states:2*num_ownship_states].ravel()
x_truth[2*num_ownship_states:3*num_ownship_states,0] = x_truth2[2*num_ownship_states:3*num_ownship_states].ravel()
########## BAG TRUTH DATA ##########
x_truth_bag = np.concatenate((x_truth_bag, x_truth.reshape(-1,1)), axis=1)
########## ADD NOISE TO TRUTH MOTION ##########
x_truth_no_noise = deepcopy(x_truth)
x_truth[0,0] += np.random.normal(0, q)
x_truth[1,0] += np.random.normal(0, q)
x_truth[2,0] += np.random.normal(0, q)
x_truth[3,0] = normalize_angle(x_truth[3,0] + np.random.normal(0, q_yaw))
x_truth[num_ownship_states,0] += + np.random.normal(0, q)
x_truth[num_ownship_states+1,0] += + np.random.normal(0, q)
x_truth[num_ownship_states+2,0] += + np.random.normal(0, q)
x_truth[num_ownship_states+3,0] = normalize_angle(x_truth[num_ownship_states+3,0] + np.random.normal(0, q_yaw) )
x_truth[2*num_ownship_states,0] += + np.random.normal(0, q)
x_truth[2*num_ownship_states+1,0] += + np.random.normal(0, q)
x_truth[2*num_ownship_states+2,0] += + np.random.normal(0, q)
x_truth[num_ownship_states+3,0] = normalize_angle(x_truth[num_ownship_states+3,0] + np.random.normal(0, q_yaw) )
########## PREDICTION STEP ##########
asset.predict(u0, Q_perceived0)
asset1.predict(u1, Q_perceived1)
# print("prior:\n" + str(asset1.main_filter.x_hat))
# print("truth:\n" + str(x_truth_no_noise))
# print("x_hat0:\n" + str(asset.main_filter.x_hat))
# print("x_hat1:\n" + str(asset1.main_filter.x_hat))
# print("---")
# continue #** CHECK
########## GENERATE MEASUREMENTS VALUES ##########
gpsx0 = x_truth[0,0]
gpsy0 = x_truth[1,0]
gpsz0 = x_truth[2,0]
gpsyaw0 = x_truth[3,0]
gpsx1 = x_truth[num_ownship_states,0]
gpsy1 = x_truth[num_ownship_states+1,0]
gpsz1 = x_truth[num_ownship_states+2,0]
gpsyaw1 = x_truth[num_ownship_states+3,0]
gpsx2 = x_truth[2*num_ownship_states,0]
gpsy2 = x_truth[2*num_ownship_states+1,0]
gpsz2 = x_truth[2*num_ownship_states+2,0]
gpsyaw2 = x_truth[2*num_ownship_states+3,0]
# Relative 02 Range
src_x = x_truth[0,0]
src_y = x_truth[1,0]
src_z = x_truth[2,0]
other_x = x_truth[2*num_ownship_states,0]
other_y = x_truth[2*num_ownship_states+1,0]
other_z = x_truth[2*num_ownship_states+2,0]
diff_x = other_x - src_x
diff_y = other_y - src_y
diff_z = other_z - src_z
relRange02 = np.linalg.norm([diff_x, diff_y, diff_z])
# Relative 02 Azimuth
src_x = x_truth[0,0]
src_y = x_truth[1,0]
src_yaw = x_truth[3,0]
other_x = x_truth[2*num_ownship_states,0]
other_y = x_truth[2*num_ownship_states+1,0]
diff_x = other_x - src_x
diff_y = other_y - src_y
relAzimuth02 = np.arctan2(diff_y, diff_x) - src_yaw
# Relative 02 Elevation
src_z = x_truth[2,0]
other_z = x_truth[2*num_ownship_states+2,0]
diff_z = other_z - src_z
relElevation02 = np.arcsin(diff_z / relRange02)
# 01 Relative Range
src_x = x_truth[0,0]
src_y = x_truth[1,0]
src_z = x_truth[2,0]
other_x = x_truth[num_ownship_states,0]
other_y = x_truth[num_ownship_states+1,0]
other_z = x_truth[num_ownship_states+2,0]
diff_x = other_x - src_x
diff_y = other_y - src_y
diff_z = other_z - src_z
relRange01 = np.linalg.norm([diff_x, diff_y, diff_z])
# Global 0 Azimuth
global_gps_src = np.array([[-5,10,0]]).T
src_x = x_truth[0,0]
src_y = x_truth[1,0]
src_yaw = x_truth[3,0]
other_x = global_gps_src[0]
other_y = global_gps_src[1]
diff_x = other_x - src_x
diff_y = other_y - src_y
globalazimuth0 = np.arctan2(diff_y, diff_x) - src_yaw
# Global 0 Range
src_x = x_truth[0,0]
src_y = x_truth[1,0]
src_z = x_truth[2,0]
other_x = global_gps_src[0]
other_y = global_gps_src[1]
other_z = global_gps_src[2]
diff_x = other_x - src_x
diff_y = other_y - src_y
diff_z = other_z - src_z
globalrange0 = np.linalg.norm([diff_x, diff_y, diff_z])
# Global 0 Elevation
src_z = x_truth[2,0]
other_z = global_gps_src[2]
diff_z = other_z - src_z
globalelevation0 = np.arcsin(diff_z / globalrange0)
# # Global 1 Azimuth
src_x = x_truth[num_ownship_states,0]
src_y = x_truth[num_ownship_states+1,0]
src_yaw = x_truth[num_ownship_states+3,0]
other_x = global_gps_src[0]
other_y = global_gps_src[1]
diff_x = other_x - src_x
diff_y = other_y - src_y
globalazimuth1 = np.arctan2(diff_y, diff_x) - src_yaw
# # Global 1 Range
src_x = x_truth[num_ownship_states,0]
src_y = x_truth[num_ownship_states+1,0]
src_z = x_truth[num_ownship_states+2,0]
other_x = global_gps_src[0]
other_y = global_gps_src[1]
other_z = global_gps_src[2]
diff_x = other_x - src_x
diff_y = other_y - src_y
diff_z = other_z - src_z
globalrange1 = np.linalg.norm([diff_x, diff_y, diff_z])
# Global 1 Elevation
src_z = x_truth[num_ownship_states + 2,0]
other_z = global_gps_src[2]
diff_z = other_z - src_z
globalelevation1 = np.arcsin(diff_z / globalrange1)
# # 02 Relative Azimuth
# src_x = x_truth[0,0]
# src_y = x_truth[1,0]
# src_yaw = x_truth[2,0]
# other_x = x_truth[2*num_ownship_states,0]
# other_y = x_truth[2*num_ownship_states+1,0]
# diff_x = other_x - src_x
# diff_y = other_y - src_y
# relBearing02 = np.arctan2(diff_y, diff_x) - src_yaw
# # 12 Relative Azimuth
# src_x = x_truth[num_ownship_states,0]
# src_y = x_truth[num_ownship_states+1,0]
# src_yaw = x_truth[num_ownship_states+2,0]
# other_x = x_truth[2*num_ownship_states,0]
# other_y = x_truth[2*num_ownship_states+1,0]
# diff_x = other_x - src_x
# diff_y = other_y - src_y
# relBearing12 = np.arctan2(diff_y, diff_x) - src_yaw
# # 12 Relative Range
# src_x = x_truth[num_ownship_states,0]
# src_y = x_truth[num_ownship_states+1,0]
# other_x = x_truth[2*num_ownship_states,0]
# other_y = x_truth[2*num_ownship_states+1,0]
# diff_x = other_x - src_x
# diff_y = other_y - src_y
# relRange12 = np.sqrt(diff_x**2 + diff_y**2)
########## ADD NOIES TO MEASUREMENTS ##########
gpsx0 += np.random.normal(0, r_gps)
gpsy0 += np.random.normal(0, r_gps)
gpsz0 += np.random.normal(0, r_gps)
gpsyaw0 += np.random.normal(0, r_gps_yaw)
gpsx1 += np.random.normal(0, r_gps)
gpsy1 += np.random.normal(0, r_gps)
gpsz1 += np.random.normal(0, r_gps)
gpsyaw1 += np.random.normal(0, r_gps_yaw)
gpsx2 += np.random.normal(0, r_gps)
gpsy2 += np.random.normal(0, r_gps)
gpsz2 += np.random.normal(0, r_gps)
gpsyaw2 += np.random.normal(0, r_gps_yaw)
# bearing01 += np.random.normal(0, r_bearing)
relRange01 += np.random.normal(0, r_range)
globalazimuth0 += np.random.normal(0, r_bearing)
globalelevation0 += np.random.normal(0, r_bearing)
globalrange0 += np.random.normal(0, r_range)
globalazimuth1 += np.random.normal(0, r_bearing)
globalelevation1 += np.random.normal(0, r_bearing)
globalrange1 += np.random.normal(0, r_range)
relAzimuth02 += np.random.normal(0, r_bearing)
relRange02 += np.random.normal(0, r_range)
relElevation02 += np.random.normal(0, r_bearing)
# relBearing12 += np.random.normal(0, r_bearing)
# relRange12 += np.random.normal(0, r_range)
########## INITIALIZE MEASUREMENT TYPES ##########
gpsx0_meas = GPSx_Explicit(0, gpsx0, r_gps_perceived, gps_xy_delta)
gpsy0_meas = GPSy_Explicit(0, gpsy0, r_gps_perceived, gps_xy_delta)
gpsz0_meas = GPSz_Explicit(0, gpsz0, r_gps_perceived, gps_xy_delta)
gpsyaw0_meas = GPSyaw_Explicit(0, gpsyaw0, r_gps_yaw_perceived, gps_yaw_delta)
gpsx1_meas = GPSx_Explicit(1, gpsx1, r_gps_perceived, gps_xy_delta)
gpsy1_meas = GPSy_Explicit(1, gpsy1, r_gps_perceived, gps_xy_delta)
gpsz1_meas = GPSz_Explicit(1, gpsz1, r_gps_perceived, gps_xy_delta)
gpsyaw1_meas = GPSyaw_Explicit(1, gpsyaw1, r_gps_yaw_perceived, gps_yaw_delta)
gpsx2_meas0 = GPSx_Neighbor_Explicit(0, 2, gpsx2, r_gps_perceived, gps_xy_delta)
gpsy2_meas0 = GPSy_Neighbor_Explicit(0, 2, gpsy2, r_gps_perceived, gps_xy_delta)
gpsz2_meas0 = GPSz_Neighbor_Explicit(0, 2, gpsz2, r_gps_perceived, gps_xy_delta)
gpsyaw2_meas0 = GPSyaw_Neighbor_Explicit(0,2, gpsyaw2, r_gps_yaw_perceived, gps_yaw_delta)
# gpsx2_meas1 = GPSx_Neighbor_Explicit(1, 2, gpsx2, r_gps_perceived, gps_xy_delta)
# gpsy2_meas1 = GPSy_Neighbor_Explicit(1, 2, gpsy2, r_gps_perceived, gps_xy_delta)
# gpsyaw2_meas1 = GPSyaw_Neighbor_Explicit(1,2, gpsyaw2, r_gps_yaw_perceived, gps_yaw_delta)
# bearing02_meas = Azimuth_Explicit(0,2, relBearing02, r_bearing_perceived, bearing_delta)
# range02_meas = Range_Explicit(0, 2, relRange02, r_range_perceived, range_delta)
# bearing12_meas = Azimuth_Explicit(1,2, relBearing12, r_bearing_perceived, bearing_delta)
# range12_meas = Range_Explicit(1, 2, relRange12, r_range_perceived, range_delta)
# bearing01_meas = Azimuth_Explicit(0,1, bearing01, r_bearing_perceived, bearing_delta)
relRange01_meas = Range_Explicit(0, 1, relRange01, r_range_perceived, range_delta)
relRange02_meas = Range_Explicit(0, 2, relRange02, r_range_perceived, range_delta)
relAzimuth02_meas = Azimuth_Explicit(0,2, relAzimuth02, r_bearing_perceived, bearing_delta)
relElevation02_meas = Elevation_Explicit(0, 2, relElevation02, r_bearing_perceived, bearing_delta)
globalazimuth0_meas = AzimuthGlobal_Explicit(0, global_gps_src, globalazimuth0, r_bearing_perceived, 0)
globalelevation0_meas = ElevationGlobal_Explicit(0, global_gps_src, globalelevation0, r_bearing_perceived, 0)
globalrange0_meas = RangeGlobal_Explicit(0, global_gps_src, globalrange0, r_range_perceived, 0)
globalazimuth1_meas = AzimuthGlobal_Explicit(1, global_gps_src, globalazimuth1, r_bearing_perceived, 0)
globalelevation1_meas = ElevationGlobal_Explicit(1, global_gps_src, globalelevation1, r_bearing_perceived, 0)
globalrange1_meas = RangeGlobal_Explicit(1, global_gps_src, globalrange1, r_range_perceived, 0)
########## ASSETS SHARE MEASUREMENTS ##########
shared_msgs = ""
sharing = []
# sharing.append(asset.receive_meas(gpsx0_meas, shareable=True))
# sharing.append(asset.receive_meas(gpsy0_meas, shareable=True))
sharing.append(asset.receive_meas(gpsz0_meas, shareable=True))
sharing.append(asset.receive_meas(gpsyaw0_meas, shareable=True))
sharing.append(asset.receive_meas(globalelevation0_meas, shareable=True))
sharing.append(asset.receive_meas(globalrange0_meas, shareable=True))
sharing.append(asset.receive_meas(globalazimuth0_meas, shareable=True))
# sharing.append(asset1.receive_meas(gpsx1_meas, shareable=True))
# sharing.append(asset1.receive_meas(gpsy1_meas, shareable=True))
sharing.append(asset1.receive_meas(gpsz1_meas, shareable=True))
sharing.append(asset1.receive_meas(gpsyaw1_meas, shareable=True))
sharing.append(asset1.receive_meas(globalelevation1_meas, shareable=True))
sharing.append(asset1.receive_meas(globalrange1_meas, shareable=True))
sharing.append(asset1.receive_meas(globalazimuth1_meas, shareable=True))
sharing.append(asset.receive_meas(relRange01_meas, shareable=True))
sharing.append(asset.receive_meas(relRange02_meas, shareable=True))
sharing.append(asset.receive_meas(relAzimuth02_meas, shareable=True))
sharing.append(asset.receive_meas(relElevation02_meas, shareable=True))
# sharing.append(asset.receive_meas(gpsx2_meas0, shareable=True))
# sharing.append(asset.receive_meas(gpsy2_meas0, shareable=True))
# sharing.append(asset.receive_meas(gpsz2_meas0, shareable=True))
# sharing.append(asset.receive_meas(gpsyaw2_meas0, shareable=True))
# Share measurements
for s in sharing:
if s == None:
continue
i = s.keys()[0]
if isinstance(s[i], Implicit):
raise Exception("Shared some shit")
implicit_update_cnt += 1
total_num_meas_cnt += 1
a = asset_list[i]
meas = s[i]
a.receive_shared_meas(meas)
if isinstance(meas, Range_Explicit):
if meas.measured_asset == 2:
shared_msgs += "red, "
else:
shared_msgs += 'rel, '
elif isinstance(meas, RangeGlobal_Explicit):
shared_msgs += "glob, "
elif isinstance(meas, GPSyaw_Explicit):
shared_msgs += "yaw, "
# elif isinstance(meas, Implicit) or isinstance(meas, AzimuthGlobal_Explicit):
# pass
# else:
# raise Exception("Unanticipated meas type: " + meas.__class__.__name__)
########## CORRECTION STEP ##########
# if seq > 33:
# print("x_truth: \n" + str(x_truth))
asset.correct()
asset1.correct()
# if seq > 200:
# print(asset1.main_filter.x_hat)
# print(asset1.main_filter.P[2*num_ownship_states:3*num_ownship_states, 2*num_ownship_states:3*num_ownship_states])
# if seq > 205:
# break
# if quit:
# print(x_truth)
# print(asset.main_filter.x_hat)
# print(asset1.main_filter.x_hat)
# return
########## RECORD FITLER DATA ##########
# Estimate 0
x_hat_bag0 = np.concatenate((x_hat_bag0, asset.main_filter.x_hat), axis=1)
p_bag0 = np.concatenate((p_bag0, asset.main_filter.P), axis=1)
x_hat_bag1 = np.concatenate((x_hat_bag1, asset1.main_filter.x_hat), axis=1)
p_bag1 = np.concatenate((p_bag1, asset1.main_filter.P), axis=1)
########## DEBUG FILTER INPUTS ##########
if DEBUG:
if seq > 37:
print(x_truth)
print("meas")
print(gpsx2)
print(gpsy2)
print(gpsyaw2)
print(asset.main_filter.x_hat)
print("---")
if abs(x_truth[2*num_ownship_states+2,0] - asset.main_filter.x_hat[2*num_ownship_states+2,0]) > 1:
print("Error Large detected")
break
# set_trace()
seq += 1
print(str(seq) + " out of " + str(K))
print(shared_msgs)
print('---')
# Plot bagging
mf0_xhat = deepcopy(asset.main_filter.x_hat)
mf0_P = deepcopy(asset.main_filter.P)
mf1_xhat = deepcopy(asset1.main_filter.x_hat)
mf1_P = deepcopy(asset1.main_filter.P)
plotting_bag.append([deepcopy(x_truth), mf0_xhat, mf0_P, mf1_xhat, mf1_P])
# set_trace()
# 2D Movie Creating Scenario
# print(x_truth)
# print(asset.main_filter.x_hat)
# print(asset1.main_filter.x_hat)
# plot_truth_data(x_truth_bag, num_ownship_states)
# plot_data(plotting_bag, num_ownship_states, num_assets, global_gps_src, )
# print("Percent of msgs sent implicitly: " + str((implicit_update_cnt / total_num_meas_cnt)*100))
# PLOT ERROR BOUNDS
plot_error(x_truth_bag, x_hat_bag0, p_bag0, num_ownship_states, 0)
plot_error(x_truth_bag, x_hat_bag1, p_bag1, num_ownship_states, 1)
