mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-03-05 21:23:58 -04:00
133 lines
7.7 KiB
C++
133 lines
7.7 KiB
C++
/*
|
|
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 3 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, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#define PROXIMITY_NUM_SECTORS 8 // number of sectors
|
|
#define PROXIMITY_NUM_LAYERS 5 // num of stacks in a sector
|
|
#define PROXIMITY_MIDDLE_LAYER 2 // middle stack
|
|
#define PROXIMITY_PITCH_WIDTH_DEG 30 // width between each stack in degrees
|
|
#define PROXIMITY_SECTOR_WIDTH_DEG 45.0f // width of sectors in degrees
|
|
#define PROXIMITY_BOUNDARY_DIST_MIN 0.6f // minimum distance for a boundary point. This ensures the object avoidance code doesn't think we are outside the boundary.
|
|
#define PROXIMITY_BOUNDARY_DIST_DEFAULT 100 // if we have no data for a sector, boundary is placed 100m out
|
|
#define DISTANCE_MAX 999999.0f // arbritary "large" distance
|
|
|
|
class AP_Proximity_Boundary_3D
|
|
{
|
|
public:
|
|
// constructor. This incorporates initialisation as well.
|
|
AP_Proximity_Boundary_3D();
|
|
|
|
// This class is used to store the stack and sector as a single packet to access and modify the 3-D boundary
|
|
class Boundary_Location
|
|
{
|
|
public:
|
|
// constructor when both stack and sector are passed
|
|
Boundary_Location(uint8_t Sector, uint8_t Stack) { sector = Sector; stack = Stack; }
|
|
// constructor defaults to "middle(horizontal) layer" if only sector is passed
|
|
Boundary_Location(uint8_t Sector) { sector = Sector; stack = PROXIMITY_MIDDLE_LAYER; }
|
|
|
|
uint8_t stack; // vertical "steps" on the 3D Boundary
|
|
uint8_t sector; // horizontal "steps" on the 3D Boundary
|
|
};
|
|
|
|
// returns Boundary_Location object consisting of appropriate stack and sector
|
|
// corresponding to the yaw and pitch.
|
|
// Pitch defaults to zero if only yaw is passed to this method
|
|
// Yaw is the horizontal body-frame angle the detected object makes with the vehicle
|
|
// Pitch is the vertical body-frame angle the detected object makes with the vehicle
|
|
Boundary_Location get_sector(float yaw, float pitch = 0.0f);
|
|
|
|
// Set the actual body-frame angle(yaw), pitch, and distance of the detected object.
|
|
// This method will also mark the sector and stack to be "valid"
|
|
// This distance can then be used for Obstacle Avoidance
|
|
void set_attributes(const Boundary_Location& bnd_loc, float angle, float pitch, float distance);
|
|
|
|
// Set the actual body-frame angle(yaw), pitch, and distance of the detected object.
|
|
// This method will also mark the sector and stack to be "valid",
|
|
// This distance can then be used for Obstacle Avoidance
|
|
// Assume detected obstacle is horizontal (zero pitch), if no pitch is passed
|
|
void set_attributes(const Boundary_Location& bnd_loc, float angle, float distance) { set_attributes(bnd_loc, angle, 0.0f, distance); }
|
|
|
|
// update boundary points used for object avoidance based on a single sector and pitch distance changing
|
|
// the boundary points lie on the line between sectors meaning two boundary points may be updated based on a single sector's distance changing
|
|
// the boundary point is set to the shortest distance found in the two adjacent sectors, this is a conservative boundary around the vehicle
|
|
void update_boundary(const Boundary_Location& bnd_loc);
|
|
|
|
// Reset this location, specified by Boundary_Location object, back to default
|
|
// i.e Distance is marked as not-valid, and set to a large number.
|
|
void reset_sector(const Boundary_Location& bnd_loc);
|
|
// Reset all horizontal sectors
|
|
void reset_all_horizontal_sectors();
|
|
// Reset all stacks and sectors
|
|
void reset_all_sectors_and_stacks();
|
|
|
|
// Get values given the stack and sector as a Boundary_Location object
|
|
float get_angle(const Boundary_Location& bnd_loc) const { return _angle[bnd_loc.sector][bnd_loc.stack]; }
|
|
float get_pitch(const Boundary_Location& bnd_loc) const { return _pitch[bnd_loc.sector][bnd_loc.stack]; }
|
|
float get_distance(const Boundary_Location& bnd_loc) const { return _distance[bnd_loc.sector][bnd_loc.stack]; }
|
|
bool check_distance_valid(const Boundary_Location& bnd_loc) const { return _distance_valid[bnd_loc.sector][bnd_loc.stack]; }
|
|
|
|
// Get the total number of obstacles
|
|
// This method iterates through the entire 3-D boundary and checks which layer has atleast one valid distance
|
|
uint8_t get_obstacle_count();
|
|
|
|
// WARNING: This requires get_obstacle_count() to be called before calling this method
|
|
// Appropriate stack and sector are found from the passed obstacle_num
|
|
// This function then draws a line between this sector, and sector + 1 at the given stack
|
|
// Then returns the closest point on this line from vehicle, in body-frame.
|
|
void get_obstacle(uint8_t obstacle_num, Vector3f& vec_to_boundary) const;
|
|
|
|
// WARNING: This requires get_obstacle_count() to be called before calling this method
|
|
// Appropriate stack and sector are found from the passed obstacle_num
|
|
// This function then draws a line between this sector, and sector + 1 at the given stack
|
|
// Then returns the closest point on this line from the segment that was passed, in body-frame.
|
|
// Used by GPS based Simple Avoidance - for "brake mode"
|
|
float distance_to_obstacle(uint8_t obstacle_num, const Vector3f& seg_start, const Vector3f& seg_end, Vector3f& closest_point) const;
|
|
|
|
// get distance and angle to closest object (used for pre-arm check)
|
|
// returns true on success, false if no valid readings
|
|
bool get_closest_object(float& angle_deg, float &distance) const;
|
|
|
|
// get number of objects, angle and distance - used for non-GPS avoidance
|
|
uint8_t get_horizontal_object_count() const;
|
|
bool get_horizontal_object_angle_and_distance(uint8_t object_number, float& angle_deg, float &distance) const;
|
|
|
|
// sectors
|
|
const uint16_t _sector_middle_deg[PROXIMITY_NUM_SECTORS] {0, 45, 90, 135, 180, 225, 270, 315}; // middle angle of each sector
|
|
// layers
|
|
const int16_t _pitch_middle_deg[PROXIMITY_NUM_LAYERS] {-60, -30, 0, 30, 60};
|
|
|
|
private:
|
|
// initialise the boundary and sector_edge_vector array used for object avoidance
|
|
void init_boundary();
|
|
|
|
// Converts obstacle_num passed from avoidance library into appropriate stack and sector
|
|
// This is packed into a Boundary Location object and returned
|
|
Boundary_Location convert_obstacle_num_to_boundary_loc(uint8_t obstacle_num) const;
|
|
|
|
Vector3f _sector_edge_vector[PROXIMITY_NUM_SECTORS][PROXIMITY_NUM_LAYERS];
|
|
Vector3f _boundary_points[PROXIMITY_NUM_SECTORS][PROXIMITY_NUM_LAYERS];
|
|
|
|
// sensor data
|
|
float _angle[PROXIMITY_NUM_SECTORS][PROXIMITY_NUM_LAYERS]; // angle to closest object within each sector and stack
|
|
float _pitch[PROXIMITY_NUM_SECTORS][PROXIMITY_NUM_LAYERS]; // pitch to the closest object within each sector and stack
|
|
float _distance[PROXIMITY_NUM_SECTORS][PROXIMITY_NUM_LAYERS]; // distance to closest object within each sector and stack
|
|
bool _distance_valid[PROXIMITY_NUM_SECTORS][PROXIMITY_NUM_LAYERS]; // true if a valid distance received for each sector and stack
|
|
bool _active_layer[PROXIMITY_NUM_LAYERS]; // layers which have atleast one valid distance are marked true
|
|
};
|
|
|
|
typedef AP_Proximity_Boundary_3D::Boundary_Location boundary_location;
|