mirror of https://github.com/ArduPilot/ardupilot
AP_Math: Convert S-Curves to use maximum Snap to remove minimum time between waypoints
This commit is contained in:
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d0213dd886
commit
fa12b0ac53
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@ -40,7 +40,7 @@ SCurve::SCurve()
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// initialise and clear the path
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void SCurve::init()
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{
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jerk_time = 0.0f;
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snap_max = 0.0f;
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jerk_max = 0.0f;
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accel_max = 0.0f;
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vel_max = 0.0f;
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@ -57,7 +57,7 @@ void SCurve::init()
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void SCurve::calculate_track(const Vector3f &origin, const Vector3f &destination,
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float speed_xy, float speed_up, float speed_down,
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float accel_xy, float accel_z,
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float jerk_time_sec, float jerk_maximum)
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float snap_maximum, float jerk_maximum)
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{
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init();
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@ -67,8 +67,8 @@ void SCurve::calculate_track(const Vector3f &origin, const Vector3f &destination
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return;
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}
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// set jerk time and jerk max
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jerk_time = jerk_time_sec;
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// set snap_max and jerk max
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snap_max = snap_maximum;
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jerk_max = jerk_maximum;
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// update speed and acceleration limits along path
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@ -77,7 +77,7 @@ void SCurve::calculate_track(const Vector3f &origin, const Vector3f &destination
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accel_xy, accel_z);
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// avoid divide-by zeros. Path will be left as a zero length path
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if (!is_positive(jerk_time) || !is_positive(jerk_max) || !is_positive(accel_max) || !is_positive(vel_max)) {
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if (!is_positive(snap_max) || !is_positive(jerk_max) || !is_positive(accel_max) || !is_positive(vel_max)) {
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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::printf("SCurve::calculate_track created zero length path\n");
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#endif
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@ -210,13 +210,13 @@ void SCurve::set_speed_max(float speed_xy, float speed_up, float speed_down)
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// minimum velocity that can be obtained by shortening SEG_ACCEL_MAX
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const float Vmin = segment[SEG_ACCEL_END].end_vel - segment[SEG_ACCEL_MAX].end_accel * (segment[SEG_ACCEL_MAX].end_time - MAX(time, segment[SEG_ACCEL_MAX-1].end_time));
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float Jm, t2, t4, t6;
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calculate_path(jerk_time, jerk_max, Vstart, accel_max, MAX(Vmin, vel_max), Pend * 0.5f, Jm, t2, t4, t6);
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float Jm, tj, t2, t4, t6;
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calculate_path(snap_max, jerk_max, Vstart, accel_max, MAX(Vmin, vel_max), Pend * 0.5f, Jm, tj, t2, t4, t6);
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uint8_t seg = SEG_INIT+1;
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add_segments_jerk(seg, jerk_time, Jm, t2);
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add_segments_jerk(seg, tj, Jm, t2);
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add_segment_const_jerk(seg, t4, 0.0f);
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add_segments_jerk(seg, jerk_time, -Jm, t6);
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add_segments_jerk(seg, tj, -Jm, t6);
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// remove numerical errors
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segment[SEG_ACCEL_END].end_accel = 0.0f;
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@ -231,12 +231,12 @@ void SCurve::set_speed_max(float speed_xy, float speed_up, float speed_down)
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segment[i].end_pos = segment[SEG_ACCEL_END].end_pos;
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}
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calculate_path(jerk_time, jerk_max, 0.0f, accel_max, MAX(Vmin, vel_max), Pend * 0.5f, Jm, t2, t4, t6);
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calculate_path(snap_max, jerk_max, 0.0f, accel_max, MAX(Vmin, vel_max), Pend * 0.5f, Jm, tj, t2, t4, t6);
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seg = SEG_CONST + 1;
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add_segments_jerk(seg, jerk_time, -Jm, t6);
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add_segments_jerk(seg, tj, -Jm, t6);
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add_segment_const_jerk(seg, t4, 0.0f);
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add_segments_jerk(seg, jerk_time, Jm, t2);
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add_segments_jerk(seg, tj, Jm, t2);
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// remove numerical errors
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segment[SEG_DECEL_END].end_accel = 0.0f;
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@ -264,27 +264,30 @@ void SCurve::set_speed_max(float speed_xy, float speed_up, float speed_down)
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if (!is_equal(vel_max, segment[SEG_ACCEL_END].end_vel)) {
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// add velocity adjustment
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// check there is enough time to make velocity change
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// we use the approximation that the time will be distance/max_vel and 8 jerk segments
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const float L = segment[SEG_CONST].end_pos - segment[SEG_ACCEL_END].end_pos;
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float Jm = 0;
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float tj = 0;
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float t2 = 0;
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float t4 = 0;
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float t6 = 0;
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float jerk_time = MIN(powf((fabsf(vel_max - segment[SEG_ACCEL_END].end_vel) * M_PI) / (4 * snap_max), 1/3), jerk_max * M_PI / (2 * snap_max));
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if ((vel_max < segment[SEG_ACCEL_END].end_vel) && (jerk_time*12.0f < L/segment[SEG_ACCEL_END].end_vel)) {
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// we have a problem here with small segments.
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calculate_path(jerk_time, jerk_max, vel_max, accel_max, segment[SEG_ACCEL_END].end_vel, L * 0.5f, Jm, t6, t4, t2);
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calculate_path(snap_max, jerk_max, vel_max, accel_max, segment[SEG_ACCEL_END].end_vel, L * 0.5f, Jm, tj, t6, t4, t2);
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Jm = -Jm;
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} else if ((vel_max > segment[SEG_ACCEL_END].end_vel) && (L/(jerk_time*12.0f) > segment[SEG_ACCEL_END].end_vel)) {
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float Vm = MIN(vel_max, L/(jerk_time*12.0f));
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calculate_path(jerk_time, jerk_max, segment[SEG_ACCEL_END].end_vel, accel_max, Vm, L * 0.5f, Jm, t2, t4, t6);
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calculate_path(snap_max, jerk_max, segment[SEG_ACCEL_END].end_vel, accel_max, Vm, L * 0.5f, Jm, tj, t2, t4, t6);
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}
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uint8_t seg = SEG_ACCEL_END + 1;
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if (!is_zero(Jm) && !is_negative(t2) && !is_negative(t4) && !is_negative(t6)) {
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add_segments_jerk(seg, jerk_time, Jm, t2);
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add_segments_jerk(seg, tj, Jm, t2);
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add_segment_const_jerk(seg, t4, 0.0f);
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add_segments_jerk(seg, jerk_time, -Jm, t6);
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add_segments_jerk(seg, tj, -Jm, t6);
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// remove numerical errors
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segment[SEG_SPEED_CHANGE_END].end_accel = 0.0f;
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@ -297,11 +300,11 @@ void SCurve::set_speed_max(float speed_xy, float speed_up, float speed_down)
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Vend = MIN(Vend, segment[SEG_SPEED_CHANGE_END].end_vel);
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add_segment_const_jerk(seg, 0.0f, 0.0f);
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if (Vend < segment[SEG_SPEED_CHANGE_END].end_vel) {
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float Jm, t2, t4, t6;
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calculate_path(jerk_time, jerk_max, Vend, accel_max, segment[SEG_CONST].end_vel, Pend - segment[SEG_CONST].end_pos, Jm, t2, t4, t6);
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add_segments_jerk(seg, jerk_time, -Jm, t6);
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float Jm, tj, t2, t4, t6;
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calculate_path(snap_max, jerk_max, Vend, accel_max, segment[SEG_CONST].end_vel, Pend - segment[SEG_CONST].end_pos, Jm, tj, t2, t4, t6);
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add_segments_jerk(seg, tj, -Jm, t6);
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add_segment_const_jerk(seg, t4, 0.0f);
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add_segments_jerk(seg, jerk_time, Jm, t2);
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add_segments_jerk(seg, tj, Jm, t2);
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} else {
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// No deceleration is required
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for (uint8_t i = SEG_CONST+1; i <= SEG_DECEL_END; i++) {
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@ -355,14 +358,14 @@ float SCurve::set_origin_speed_max(float speed)
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const float track_length = track.length();
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speed = MIN(speed, Vm);
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float Jm, t2, t4, t6;
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calculate_path(jerk_time, jerk_max, speed, accel_max, Vm, track_length * 0.5f, Jm, t2, t4, t6);
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float Jm, tj, t2, t4, t6;
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calculate_path(snap_max, jerk_max, speed, accel_max, Vm, track_length * 0.5f, Jm, tj, t2, t4, t6);
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uint8_t seg = SEG_INIT;
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add_segment(seg, 0.0f, SegmentType::CONSTANT_JERK, 0.0f, 0.0f, speed, 0.0f);
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add_segments_jerk(seg, jerk_time, Jm, t2);
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add_segments_jerk(seg, tj, Jm, t2);
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add_segment_const_jerk(seg, t4, 0.0f);
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add_segments_jerk(seg, jerk_time, -Jm, t6);
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add_segments_jerk(seg, tj, -Jm, t6);
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// remove numerical errors
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segment[SEG_ACCEL_END].end_accel = 0.0f;
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@ -388,11 +391,11 @@ float SCurve::set_origin_speed_max(float speed)
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seg = SEG_CONST;
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add_segment_const_jerk(seg, 0.0f, 0.0f);
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calculate_path(jerk_time, jerk_max, 0.0f, accel_max, segment[SEG_CONST].end_vel, track_length * 0.5f, Jm, t2, t4, t6);
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calculate_path(snap_max, jerk_max, 0.0f, accel_max, segment[SEG_CONST].end_vel, track_length * 0.5f, Jm, tj, t2, t4, t6);
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add_segments_jerk(seg, jerk_time, -Jm, t6);
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add_segments_jerk(seg, tj, -Jm, t6);
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add_segment_const_jerk(seg, t4, 0.0f);
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add_segments_jerk(seg, jerk_time, Jm, t2);
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add_segments_jerk(seg, tj, Jm, t2);
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// remove numerical errors
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segment[SEG_DECEL_END].end_accel = 0.0f;
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@ -437,15 +440,15 @@ void SCurve::set_destination_speed_max(float speed)
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const float track_length = track.length();
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speed = MIN(speed, Vm);
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float Jm, t2, t4, t6;
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calculate_path(jerk_time, jerk_max, speed, accel_max, Vm, track_length * 0.5f, Jm, t2, t4, t6);
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float Jm, tj, t2, t4, t6;
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calculate_path(snap_max, jerk_max, speed, accel_max, Vm, track_length * 0.5f, Jm, tj, t2, t4, t6);
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uint8_t seg = SEG_CONST;
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add_segment_const_jerk(seg, 0.0f, 0.0f);
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add_segments_jerk(seg, jerk_time, -Jm, t6);
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add_segments_jerk(seg, tj, -Jm, t6);
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add_segment_const_jerk(seg, t4, 0.0f);
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add_segments_jerk(seg, jerk_time, Jm, t2);
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add_segments_jerk(seg, tj, Jm, t2);
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// remove numerical errors
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segment[SEG_DECEL_END].end_accel = 0.0f;
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@ -597,7 +600,7 @@ void SCurve::advance_time(float dt)
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// calculate the jerk, acceleration, velocity and position at the provided time
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void SCurve::get_jerk_accel_vel_pos_at_time(float time_now, float &Jt_out, float &At_out, float &Vt_out, float &Pt_out) const
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{
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if ((num_segs != segments_max) || !is_positive(jerk_time)) {
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if (num_segs != segments_max) {
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Jt_out = 0;
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At_out = 0;
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Vt_out = 0;
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@ -607,7 +610,7 @@ void SCurve::get_jerk_accel_vel_pos_at_time(float time_now, float &Jt_out, float
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SegmentType Jtype;
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uint8_t pnt = num_segs;
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float Jm, T0, A0, V0, P0;
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float Jm, tj, T0, A0, V0, P0;
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// find active segment at time_now
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for (uint8_t i = 0; i < num_segs; i++) {
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@ -618,6 +621,7 @@ void SCurve::get_jerk_accel_vel_pos_at_time(float time_now, float &Jt_out, float
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if (pnt == 0) {
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Jtype = SegmentType::CONSTANT_JERK;
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Jm = 0.0f;
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tj = 0.0f;
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T0 = segment[pnt].end_time;
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A0 = segment[pnt].end_accel;
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V0 = segment[pnt].end_vel;
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@ -625,6 +629,7 @@ void SCurve::get_jerk_accel_vel_pos_at_time(float time_now, float &Jt_out, float
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} else if (pnt == num_segs) {
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Jtype = SegmentType::CONSTANT_JERK;
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Jm = 0.0f;
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tj = 0.0f;
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T0 = segment[pnt - 1].end_time;
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A0 = segment[pnt - 1].end_accel;
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V0 = segment[pnt - 1].end_vel;
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@ -632,6 +637,7 @@ void SCurve::get_jerk_accel_vel_pos_at_time(float time_now, float &Jt_out, float
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} else {
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Jtype = segment[pnt].seg_type;
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Jm = segment[pnt].jerk_ref;
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tj = segment[pnt].end_time - segment[pnt - 1].end_time;
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T0 = segment[pnt - 1].end_time;
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A0 = segment[pnt - 1].end_accel;
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V0 = segment[pnt - 1].end_vel;
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@ -643,10 +649,10 @@ void SCurve::get_jerk_accel_vel_pos_at_time(float time_now, float &Jt_out, float
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calc_javp_for_segment_const_jerk(time_now - T0, Jm, A0, V0, P0, Jt_out, At_out, Vt_out, Pt_out);
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break;
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case SegmentType::POSITIVE_JERK:
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calc_javp_for_segment_incr_jerk(time_now - T0, jerk_time, Jm, A0, V0, P0, Jt_out, At_out, Vt_out, Pt_out);
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calc_javp_for_segment_incr_jerk(time_now - T0, tj, Jm, A0, V0, P0, Jt_out, At_out, Vt_out, Pt_out);
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break;
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case SegmentType::NEGATIVE_JERK:
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calc_javp_for_segment_decr_jerk(time_now - T0, jerk_time, Jm, A0, V0, P0, Jt_out, At_out, Vt_out, Pt_out);
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calc_javp_for_segment_decr_jerk(time_now - T0, tj, Jm, A0, V0, P0, Jt_out, At_out, Vt_out, Pt_out);
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break;
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}
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Pt_out = MAX(0.0f, Pt_out);
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@ -664,6 +670,13 @@ void SCurve::calc_javp_for_segment_const_jerk(float time_now, float J0, float A0
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// Calculate the jerk, acceleration, velocity and position at time time_now when running the increasing jerk magnitude time segment based on a raised cosine profile
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void SCurve::calc_javp_for_segment_incr_jerk(float time_now, float tj, float Jm, float A0, float V0, float P0, float &Jt, float &At, float &Vt, float &Pt) const
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{
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if (!is_positive(tj)) {
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Jt = 0.0;
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At = A0;
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Vt = V0;
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Pt = P0;
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return;
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}
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const float Alpha = Jm * 0.5f;
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const float Beta = M_PI / tj;
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Jt = Alpha * (1.0f - cosf(Beta * time_now));
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@ -675,6 +688,13 @@ void SCurve::calc_javp_for_segment_incr_jerk(float time_now, float tj, float Jm,
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// Calculate the jerk, acceleration, velocity and position at time time_now when running the decreasing jerk magnitude time segment based on a raised cosine profile
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void SCurve::calc_javp_for_segment_decr_jerk(float time_now, float tj, float Jm, float A0, float V0, float P0, float &Jt, float &At, float &Vt, float &Pt) const
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{
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if (!is_positive(tj)) {
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Jt = 0.0;
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At = A0;
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Vt = V0;
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Pt = P0;
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return;
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}
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const float Alpha = Jm * 0.5f;
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const float Beta = M_PI / tj;
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const float AT = Alpha * tj;
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@ -699,12 +719,12 @@ void SCurve::add_segments(float L)
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return;
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}
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float Jm, t2, t4, t6;
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calculate_path(jerk_time, jerk_max, 0.0f, accel_max, vel_max, L * 0.5f, Jm, t2, t4, t6);
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float Jm, tj, t2, t4, t6;
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calculate_path(snap_max, jerk_max, 0.0f, accel_max, vel_max, L * 0.5f, Jm, tj, t2, t4, t6);
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add_segments_jerk(num_segs, jerk_time, Jm, t2);
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add_segments_jerk(num_segs, tj, Jm, t2);
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add_segment_const_jerk(num_segs, t4, 0.0f);
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add_segments_jerk(num_segs, jerk_time, -Jm, t6);
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add_segments_jerk(num_segs, tj, -Jm, t6);
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// remove numerical errors
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segment[SEG_ACCEL_END].end_accel = 0.0f;
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@ -721,9 +741,9 @@ void SCurve::add_segments(float L)
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const float t15 = MAX(0.0f, (L - 2.0f * segment[SEG_SPEED_CHANGE_END].end_pos) / segment[SEG_SPEED_CHANGE_END].end_vel);
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add_segment_const_jerk(num_segs, t15, 0.0f);
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add_segments_jerk(num_segs, jerk_time, -Jm, t6);
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add_segments_jerk(num_segs, tj, -Jm, t6);
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add_segment_const_jerk(num_segs, t4, 0.0f);
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add_segments_jerk(num_segs, jerk_time, Jm, t2);
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add_segments_jerk(num_segs, tj, Jm, t2);
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// remove numerical errors
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segment[SEG_DECEL_END].end_accel = 0.0f;
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@ -731,23 +751,24 @@ void SCurve::add_segments(float L)
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}
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// calculate the segment times for the trigonometric S-Curve path defined by:
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// tj - duration of the raised cosine jerk profile
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// Sm - duration of the raised cosine jerk profile
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// Jm - maximum value of the raised cosine jerk profile
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// V0 - initial velocity magnitude
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// Am - maximum constant acceleration
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// Vm - maximum constant velocity
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// L - Length of the path
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// t2_out, t4_out, t6_out are the segment durations needed to achieve the kinematic path specified by the input variables
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void SCurve::calculate_path(float tj, float Jm, float V0, float Am, float Vm, float L, float &Jm_out, float &t2_out, float &t4_out, float &t6_out)
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// tj_out, t2_out, t4_out, t6_out are the segment durations needed to achieve the kinematic path specified by the input variables
|
||||
void SCurve::calculate_path(float Sm, float Jm, float V0, float Am, float Vm, float L,float &Jm_out, float &tj_out, float &t2_out, float &t4_out, float &t6_out)
|
||||
{
|
||||
// init outputs
|
||||
Jm_out = 0.0f;
|
||||
tj_out = 0.0f;
|
||||
t2_out = 0.0f;
|
||||
t4_out = 0.0f;
|
||||
t6_out = 0.0f;
|
||||
|
||||
// check for invalid arguments
|
||||
if (!is_positive(tj) || !is_positive(Jm) || !is_positive(Am) || !is_positive(Vm) || !is_positive(L)) {
|
||||
if (!is_positive(Sm) || !is_positive(Jm) || !is_positive(Am) || !is_positive(Vm) || !is_positive(L)) {
|
||||
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
||||
::printf("SCurve::calculate_path invalid inputs\n");
|
||||
#endif
|
||||
|
@ -760,9 +781,24 @@ void SCurve::calculate_path(float tj, float Jm, float V0, float Am, float Vm, fl
|
|||
return;
|
||||
}
|
||||
|
||||
Am = MIN(MIN(Am, (Vm - V0) / (2.0f * tj)), (L + 4.0f * V0 * tj) / (4.0f * sq(tj)));
|
||||
if (fabsf(Am) < Jm * tj) {
|
||||
Jm = Am / tj;
|
||||
float tj = Jm * M_PI / (2 * Sm);
|
||||
float At = MIN(MIN(Am,
|
||||
(Vm - V0) / (2.0f * tj) ),
|
||||
(L + 4.0f * V0 * tj) / (4.0f * sq(tj)) );
|
||||
if (fabsf(At) < Jm * tj) {
|
||||
if (is_zero(V0)) {
|
||||
// we do not have a solution for non-zero initial velocity
|
||||
tj = MIN( MIN( MIN( tj,
|
||||
powf((L * M_PI) / (8.0 * Sm), 1.0/4.0) ),
|
||||
powf((Vm * M_PI) / (4.0 * Sm), 1.0/3.0) ),
|
||||
safe_sqrt((Am * M_PI) / (2.0 * Sm)) );
|
||||
Jm = 2.0 * Sm * tj / M_PI;
|
||||
Am = Jm * tj;
|
||||
} else {
|
||||
// When doing speed change we use fixed tj and adjust Jm for small changes
|
||||
Am = At;
|
||||
Jm = Am / tj;
|
||||
}
|
||||
if ((Vm <= V0 + 2.0f * Am * tj) || (L <= 4.0f * V0 * tj + 4.0f * Am * sq(tj))) {
|
||||
// solution = 0 - t6 t4 t2 = 0 0 0
|
||||
t2_out = 0.0f;
|
||||
|
@ -790,10 +826,12 @@ void SCurve::calculate_path(float tj, float Jm, float V0, float Am, float Vm, fl
|
|||
t6_out = t2_out;
|
||||
}
|
||||
}
|
||||
tj_out = tj;
|
||||
Jm_out = Jm;
|
||||
|
||||
// check outputs and reset back to zero if necessary
|
||||
if (!isfinite(Jm_out) || is_negative(Jm_out) ||
|
||||
!isfinite(tj_out) || is_negative(tj_out) ||
|
||||
!isfinite(t2_out) || is_negative(t2_out) ||
|
||||
!isfinite(t4_out) || is_negative(t4_out) ||
|
||||
!isfinite(t6_out) || is_negative(t6_out)) {
|
||||
|
@ -824,7 +862,7 @@ void SCurve::add_segments_jerk(uint8_t &index, float tj, float Jm, float Tcj)
|
|||
void SCurve::add_segment_const_jerk(uint8_t &index, float tj, float J0)
|
||||
{
|
||||
// if no time increase copy previous segment
|
||||
if (is_zero(tj)) {
|
||||
if (!is_positive(tj)) {
|
||||
add_segment(index, segment[index - 1].end_time,
|
||||
SegmentType::CONSTANT_JERK,
|
||||
J0,
|
||||
|
@ -847,6 +885,16 @@ void SCurve::add_segment_const_jerk(uint8_t &index, float tj, float J0)
|
|||
// the index variable is the position of this segment in the path array and is incremented to reference the next segment in the array
|
||||
void SCurve::add_segment_incr_jerk(uint8_t &index, float tj, float Jm)
|
||||
{
|
||||
// if no time increase copy previous segment
|
||||
if (!is_positive(tj)) {
|
||||
add_segment(index, segment[index - 1].end_time,
|
||||
SegmentType::CONSTANT_JERK,
|
||||
0.0,
|
||||
segment[index - 1].end_accel,
|
||||
segment[index - 1].end_vel,
|
||||
segment[index - 1].end_pos);
|
||||
return;
|
||||
}
|
||||
const float Beta = M_PI / tj;
|
||||
const float Alpha = Jm * 0.5f;
|
||||
const float AT = Alpha * tj;
|
||||
|
@ -866,6 +914,16 @@ void SCurve::add_segment_incr_jerk(uint8_t &index, float tj, float Jm)
|
|||
// the index variable is the position of this segment in the path and is incremented to reference the next segment in the array
|
||||
void SCurve::add_segment_decr_jerk(uint8_t &index, float tj, float Jm)
|
||||
{
|
||||
// if no time increase copy previous segment
|
||||
if (!is_positive(tj)) {
|
||||
add_segment(index, segment[index - 1].end_time,
|
||||
SegmentType::CONSTANT_JERK,
|
||||
0.0,
|
||||
segment[index - 1].end_accel,
|
||||
segment[index - 1].end_vel,
|
||||
segment[index - 1].end_pos);
|
||||
return;
|
||||
}
|
||||
const float Beta = M_PI / tj;
|
||||
const float Alpha = Jm * 0.5f;
|
||||
const float AT = Alpha * tj;
|
||||
|
@ -960,8 +1018,8 @@ bool SCurve::valid() const
|
|||
// debugging messages
|
||||
void SCurve::debug() const
|
||||
{
|
||||
::printf("num_segs:%u, time:%4.2f, jerk_time:%4.2f, jerk_max:%4.2f, accel_max:%4.2f, vel_max:%4.2f\n",
|
||||
(unsigned)num_segs, (double)time, (double)jerk_time, (double)jerk_max, (double)accel_max, (double)vel_max);
|
||||
::printf("num_segs:%u, time:%4.2f, snap_max:%4.2f, jerk_max:%4.2f, accel_max:%4.2f, vel_max:%4.2f\n",
|
||||
(unsigned)num_segs, (double)time, (double)snap_max, (double)jerk_max, (double)accel_max, (double)vel_max);
|
||||
::printf("T, Jt, J, A, V, P \n");
|
||||
for (uint8_t i = 0; i < num_segs; i++) {
|
||||
::printf("i:%u, T:%4.2f, Jtype:%4.2f, J:%4.2f, A:%4.2f, V: %4.2f, P: %4.2f\n",
|
||||
|
|
|
@ -36,8 +36,8 @@
|
|||
* velocity: rate of change of position. aka speed
|
||||
* acceleration: rate of change of speed
|
||||
* jerk: rate of change of acceleration
|
||||
* snap: rate of change of jerk
|
||||
* jerk time: the time (in seconds) for jerk to increase from zero to its maximum value
|
||||
* jounce: rate of change of jerk
|
||||
* track: 3D path that the vehicle will follow
|
||||
* path: position, velocity, accel and jerk kinematic profile that this library generates
|
||||
*/
|
||||
|
@ -53,21 +53,22 @@ public:
|
|||
void init();
|
||||
|
||||
// calculate the segment times for the trigonometric S-Curve path defined by:
|
||||
// tj - duration of the raised cosine jerk profile (aka jerk time)
|
||||
// Jm - maximum value of the raised cosine jerk profile (aka jerk max)
|
||||
// Sm - maximum value of the snap profile
|
||||
// Jm - maximum value of the raised cosine jerk profile
|
||||
// V0 - initial velocity magnitude
|
||||
// Am - maximum constant acceleration
|
||||
// Vm - maximum constant velocity
|
||||
// L - Length of the path
|
||||
// tj_out, t2_out, t4_out, t6_out are the segment durations needed to achieve the kinematic path specified by the input variables
|
||||
// this is an internal function, static for test suite
|
||||
static void calculate_path(float tj, float Jm, float V0, float Am, float Vm, float L, float &Jm_out, float &t2_out, float &t4_out, float &t6_out);
|
||||
static void calculate_path(float Sm, float Jm, float V0, float Am, float Vm, float L, float &Jm_out, float &tj_out, float &t2_out, float &t4_out, float &t6_out);
|
||||
|
||||
// generate a trigonometric track in 3D space that moves over a straight line
|
||||
// between two points defined by the origin and destination
|
||||
void calculate_track(const Vector3f &origin, const Vector3f &destination,
|
||||
float speed_xy, float speed_up, float speed_down,
|
||||
float accel_xy, float accel_z,
|
||||
float jerk_time_sec, float jerk_maximum);
|
||||
float snap_maximum, float jerk_maximum);
|
||||
|
||||
// set maximum velocity and re-calculate the path using these limits
|
||||
void set_speed_max(float speed_xy, float speed_up, float speed_down);
|
||||
|
@ -146,16 +147,16 @@ private:
|
|||
void add_segments(float L);
|
||||
|
||||
// generate three time segments forming the jerk profile
|
||||
void add_segments_jerk(uint8_t &seg_pnt, float tj, float Jm, float Tcj);
|
||||
void add_segments_jerk(uint8_t &seg_pnt, float Jm, float tj, float Tcj);
|
||||
|
||||
// generate constant jerk time segment
|
||||
void add_segment_const_jerk(uint8_t &seg_pnt, float tin, float J0);
|
||||
void add_segment_const_jerk(uint8_t &seg_pnt, float J0, float tin);
|
||||
|
||||
// generate increasing jerk magnitude time segment based on a raised cosine profile
|
||||
void add_segment_incr_jerk(uint8_t &seg_pnt, float tj, float Jm);
|
||||
void add_segment_incr_jerk(uint8_t &seg_pnt, float Jm, float tj);
|
||||
|
||||
// generate decreasing jerk magnitude time segment based on a raised cosine profile
|
||||
void add_segment_decr_jerk(uint8_t &seg_pnt, float tj, float Jm);
|
||||
void add_segment_decr_jerk(uint8_t &seg_pnt, float Jm, float tj);
|
||||
|
||||
// set speed and acceleration limits for the path
|
||||
// origin and destination are offsets from EKF origin
|
||||
|
@ -183,7 +184,7 @@ private:
|
|||
void add_segment(uint8_t &seg_pnt, float end_time, SegmentType seg_type, float jerk_ref, float end_accel, float end_vel, float end_pos);
|
||||
|
||||
// members
|
||||
float jerk_time; // duration of jerk raised cosine time segment
|
||||
float snap_max; // maximum snap magnitude
|
||||
float jerk_max; // maximum jerk magnitude
|
||||
float accel_max; // maximum acceleration magnitude
|
||||
float vel_max; // maximum velocity magnitude
|
||||
|
|
|
@ -7,13 +7,14 @@
|
|||
|
||||
TEST(LinesScurve, test_calculate_path)
|
||||
{
|
||||
float Jm_out, t2_out, t4_out, t6_out;
|
||||
SCurve::calculate_path(0.300000012, 19.4233513, 0, 5.82700586, 188.354691, 2.09772229,
|
||||
Jm_out, t2_out, t4_out, t6_out);
|
||||
EXPECT_FLOAT_EQ(Jm_out, 19.423351);
|
||||
EXPECT_FLOAT_EQ(t2_out, 0.0);
|
||||
EXPECT_FLOAT_EQ(t4_out, 0.0);
|
||||
EXPECT_FLOAT_EQ(t6_out, 0.0);
|
||||
// this test doesn't do much...
|
||||
float Jm_out, tj_out, t2_out, t4_out, t6_out;
|
||||
SCurve::calculate_path(62.8319, 10, 0, 5, 10, 100,
|
||||
Jm_out, tj_out, t2_out, t4_out, t6_out);
|
||||
EXPECT_FLOAT_EQ(Jm_out, 10);
|
||||
EXPECT_FLOAT_EQ(t2_out, 0.25000018);
|
||||
EXPECT_FLOAT_EQ(t4_out, 1.2500002);
|
||||
EXPECT_FLOAT_EQ(t6_out, 0.25000018);
|
||||
}
|
||||
|
||||
|
||||
|
|
Loading…
Reference in New Issue