27. Predict Radar Measurement Assignment 2

#include <iostream>
#include "ukf.h"

UKF::UKF() {
  //TODO Auto-generated constructor stub
  Init();
}

UKF::~UKF() {
  //TODO Auto-generated destructor stub
}

void UKF::Init() {

}

/*******************************************************************************
* Programming assignment functions: 
*******************************************************************************/

void UKF::PredictRadarMeasurement(VectorXd* z_out, MatrixXd* S_out) {

  //set state dimension
  int n_x = 5;

  //set augmented dimension
  int n_aug = 7;

  //set measurement dimension, radar can measure r, phi, and r_dot
  int n_z = 3;

  //define spreading parameter
  double lambda = 3 - n_aug;

  //set vector for weights
  VectorXd weights = VectorXd(2*n_aug+1);
   double weight_0 = lambda/(lambda+n_aug);
  weights(0) = weight_0;
  for (int i=1; i<2*n_aug+1; i++) {  
    double weight = 0.5/(n_aug+lambda);
    weights(i) = weight;
  }

  //radar measurement noise standard deviation radius in m
  double std_radr = 0.3;

  //radar measurement noise standard deviation angle in rad
  double std_radphi = 0.0175;

  //radar measurement noise standard deviation radius change in m/s
  double std_radrd = 0.1;

  //create example matrix with predicted sigma points
  MatrixXd Xsig_pred = MatrixXd(n_x, 2 * n_aug + 1);
  Xsig_pred <<
         5.9374,  6.0640,   5.925,  5.9436,  5.9266,  5.9374,  5.9389,  5.9374,  5.8106,  5.9457,  5.9310,  5.9465,  5.9374,  5.9359,  5.93744,
           1.48,  1.4436,   1.660,  1.4934,  1.5036,    1.48,  1.4868,    1.48,  1.5271,  1.3104,  1.4787,  1.4674,    1.48,  1.4851,    1.486,
          2.204,  2.2841,  2.2455,  2.2958,   2.204,   2.204,  2.2395,   2.204,  2.1256,  2.1642,  2.1139,   2.204,   2.204,  2.1702,   2.2049,
         0.5367, 0.47338, 0.67809, 0.55455, 0.64364, 0.54337,  0.5367, 0.53851, 0.60017, 0.39546, 0.51900, 0.42991, 0.530188,  0.5367, 0.535048,
          0.352, 0.29997, 0.46212, 0.37633,  0.4841, 0.41872,   0.352, 0.38744, 0.40562, 0.24347, 0.32926,  0.2214, 0.28687,   0.352, 0.318159;

  //create matrix for sigma points in measurement space
  MatrixXd Zsig = MatrixXd(n_z, 2 * n_aug + 1);

/*******************************************************************************
 * Student part begin
 ******************************************************************************/

  //transform sigma points into measurement space
  for (int i = 0; i < 2 * n_aug + 1; i++) {  //2n+1 simga points

    // extract values for better readibility
    double p_x = Xsig_pred(0,i);
    double p_y = Xsig_pred(1,i);
    double v  = Xsig_pred(2,i);
    double yaw = Xsig_pred(3,i);

    double v1 = cos(yaw)*v;
    double v2 = sin(yaw)*v;

    // measurement model
    Zsig(0,i) = sqrt(p_x*p_x + p_y*p_y);                        //r
    Zsig(1,i) = atan2(p_y,p_x);                                 //phi
    Zsig(2,i) = (p_x*v1 + p_y*v2 ) / sqrt(p_x*p_x + p_y*p_y);   //r_dot
  }

  //mean predicted measurement
  VectorXd z_pred = VectorXd(n_z);
  z_pred.fill(0.0);
  for (int i=0; i < 2*n_aug+1; i++) {
      z_pred = z_pred + weights(i) * Zsig.col(i);
  }

  //innovation covariance matrix S
  MatrixXd S = MatrixXd(n_z,n_z);
  S.fill(0.0);
  for (int i = 0; i < 2 * n_aug + 1; i++) {  //2n+1 simga points
    //residual
    VectorXd z_diff = Zsig.col(i) - z_pred;

    //angle normalization
    while (z_diff(1)> M_PI) z_diff(1)-=2.*M_PI;
    while (z_diff(1)<-M_PI) z_diff(1)+=2.*M_PI;

    S = S + weights(i) * z_diff * z_diff.transpose();
  }

  //add measurement noise covariance matrix
  MatrixXd R = MatrixXd(n_z,n_z);
  R <<    std_radr*std_radr, 0, 0,
          0, std_radphi*std_radphi, 0,
          0, 0,std_radrd*std_radrd;
  S = S + R;

  
/*******************************************************************************
 * Student part end
 ******************************************************************************/

  //print result
  std::cout << "z_pred: " << std::endl << z_pred << std::endl;
  std::cout << "S: " << std::endl << S << std::endl;

  //write result
  *z_out = z_pred;
  *S_out = S;
}

#ifndef UKF_H
#define UKF_H
#include "Dense"
#include <vector>

using Eigen::MatrixXd;
using Eigen::VectorXd;

class UKF {
public:


  /**
	 * Constructor
	 */
	UKF();

	/**
	 * Destructor
	 */
	virtual ~UKF();

	/**
	 * Init Initializes Unscented Kalman filter
	 */
	void Init();

  /**
   * Student assignment functions
   */
  void GenerateSigmaPoints(MatrixXd* Xsig_out);
  void AugmentedSigmaPoints(MatrixXd* Xsig_out);
  void SigmaPointPrediction(MatrixXd* Xsig_out);
  void PredictMeanAndCovariance(VectorXd* x_pred, MatrixXd* P_pred);
  void PredictRadarMeasurement(VectorXd* z_out, MatrixXd* S_out);
  void UpdateState(VectorXd* x_out, MatrixXd* P_out);

};

#endif /* UKF_H */