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folder restructure

This commit is contained in:
chfriedrich98 2024-03-22 14:14:52 +01:00
parent 6efca3a196
commit 1f332d561e
8 changed files with 8 additions and 335 deletions
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2
src/modules/ackermann_drive/AckermannDrive.hpp
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@ -59,7 +59,7 @@
// Local includes // Local includes
// #include <DifferentialDriveKinematics.hpp> // #include <DifferentialDriveKinematics.hpp>
// #include "DifferentialDriveControl.hpp" // #include "DifferentialDriveControl.hpp"
#include "AckermannDriveControl.hpp" #include "AckermannDriveControl/AckermannDriveControl.hpp"
#define DIFFERENTIAL_DRIVE 6 #define DIFFERENTIAL_DRIVE 6
#define ACKERMANN_DRIVE 5 #define ACKERMANN_DRIVE 5

0
src/modules/ackermann_drive/AckermannDriveControl.cpp → src/modules/ackermann_drive/AckermannDriveControl/AckermannDriveControl.cpp
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0
src/modules/ackermann_drive/AckermannDriveControl.hpp → src/modules/ackermann_drive/AckermannDriveControl/AckermannDriveControl.hpp
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10
src/modules/ackermann_drive/DifferentialDriveKinematics/CMakeLists.txt → src/modules/ackermann_drive/AckermannDriveControl/CMakeLists.txt
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@ -1,6 +1,6 @@
############################################################################ ############################################################################
# #
# Copyright (c) 2023 PX4 Development Team. All rights reserved. # Copyright (c) 2024 PX4 Development Team. All rights reserved.
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
@ -31,10 +31,8 @@
# #
############################################################################ ############################################################################
px4_add_library(DifferentialDriveKinematics px4_add_library(AckermannDriveControl
DifferentialDriveKinematics.cpp AckermannDriveControl.cpp
) )
target_include_directories(DifferentialDriveKinematics PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) target_include_directories(AckermannDriveControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
px4_add_unit_gtest(SRC DifferentialDriveKinematicsTest.cpp LINKLIBS DifferentialDriveKinematics)

6
src/modules/ackermann_drive/CMakeLists.txt
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@ -33,16 +33,16 @@
# add_subdirectory(DifferentialDriveKinematics) # add_subdirectory(DifferentialDriveKinematics)
add_subdirectory(AckermannDriveControl)
px4_add_module( px4_add_module(
MODULE modules__ackermann_drive MODULE modules__ackermann_drive
MAIN ackermann_drive MAIN ackermann_drive
SRCS SRCS
AckermannDriveControl.cpp
AckermannDriveControl.hpp
AckermannDrive.cpp AckermannDrive.cpp
AckermannDrive.hpp AckermannDrive.hpp
DEPENDS DEPENDS
# DifferentialDriveKinematics AckermannDriveControl
px4_work_queue px4_work_queue
# MODULE_CONFIG # MODULE_CONFIG
# module.yaml # module.yaml

67
src/modules/ackermann_drive/DifferentialDriveKinematics/DifferentialDriveKinematics.cpp
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@ -1,67 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "DifferentialDriveKinematics.hpp"
#include <mathlib/mathlib.h>
using namespace matrix;
matrix::Vector2f DifferentialDriveKinematics::computeInverseKinematics(float linear_velocity_x, float yaw_rate)
{
if (_max_speed < FLT_EPSILON) {
return Vector2f();
}
linear_velocity_x = math::constrain(linear_velocity_x, -_max_speed, _max_speed);
yaw_rate = math::constrain(yaw_rate, -_max_angular_velocity, _max_angular_velocity);
const float rotational_velocity = (_wheel_base / 2.f) * yaw_rate;
float combined_velocity = fabsf(linear_velocity_x) + fabsf(rotational_velocity);
// Compute an initial gain
float gain = 1.0f;
if (combined_velocity > _max_speed) {
float excess_velocity = fabsf(combined_velocity - _max_speed);
float adjusted_linear_velocity = fabsf(linear_velocity_x) - excess_velocity;
gain = adjusted_linear_velocity / fabsf(linear_velocity_x);
}
// Apply the gain
linear_velocity_x *= gain;
// Calculate the left and right wheel speeds
return Vector2f(linear_velocity_x - rotational_velocity,
linear_velocity_x + rotational_velocity) / _max_speed;
}

84
src/modules/ackermann_drive/DifferentialDriveKinematics/DifferentialDriveKinematics.hpp
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@ -1,84 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <matrix/matrix/math.hpp>
/**
* @brief Differential Drive Kinematics class for computing the kinematics of a differential drive robot.
*
* This class provides functions to set the wheel base and radius, and to compute the inverse kinematics
* given linear velocity and yaw rate.
*/
class DifferentialDriveKinematics
{
public:
DifferentialDriveKinematics() = default;
~DifferentialDriveKinematics() = default;
/**
* @brief Sets the wheel base of the robot.
*
* @param wheel_base The distance between the centers of the wheels.
*/
void setWheelBase(const float wheel_base) { _wheel_base = wheel_base; };
/**
* @brief Sets the maximum speed of the robot.
*
* @param max_speed The maximum speed of the robot.
*/
void setMaxSpeed(const float max_speed) { _max_speed = max_speed; };
/**
* @brief Sets the maximum angular speed of the robot.
*
* @param max_angular_speed The maximum angular speed of the robot.
*/
void setMaxAngularVelocity(const float max_angular_velocity) { _max_angular_velocity = max_angular_velocity; };
/**
* @brief Computes the inverse kinematics for differential drive.
*
* @param linear_velocity_x Linear velocity along the x-axis.
* @param yaw_rate Yaw rate of the robot.
* @return matrix::Vector2f Motor velocities for the right and left motors.
*/
matrix::Vector2f computeInverseKinematics(float linear_velocity_x, float yaw_rate);
private:
float _wheel_base{0.f};
float _max_speed{0.f};
float _max_angular_velocity{0.f};
};

174
src/modules/ackermann_drive/DifferentialDriveKinematics/DifferentialDriveKinematicsTest.cpp
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@ -1,174 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <gtest/gtest.h>
#include "DifferentialDriveKinematics.hpp"
#include <mathlib/math/Functions.hpp>
using namespace matrix;
TEST(DifferentialDriveKinematicsTest, AllZeroInputCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(1.f);
kinematics.setMaxSpeed(10.f);
kinematics.setMaxAngularVelocity(10.f);
// Test with zero linear velocity and zero yaw rate (stationary vehicle)
EXPECT_EQ(kinematics.computeInverseKinematics(0.f, 0.f), Vector2f());
}
TEST(DifferentialDriveKinematicsTest, InvalidParameterCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(0.f);
kinematics.setMaxSpeed(10.f);
kinematics.setMaxAngularVelocity(10.f);
// Test with invalid parameters (zero wheel base and wheel radius)
EXPECT_EQ(kinematics.computeInverseKinematics(0.f, .1f), Vector2f());
}
TEST(DifferentialDriveKinematicsTest, UnitCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(1.f);
kinematics.setMaxSpeed(10.f);
kinematics.setMaxAngularVelocity(10.f);
// Test with unit values for linear velocity and yaw rate
EXPECT_EQ(kinematics.computeInverseKinematics(1.f, 1.f), Vector2f(0.05f, 0.15f));
}
TEST(DifferentialDriveKinematicsTest, UnitSaturationCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(1.f);
kinematics.setMaxSpeed(1.f);
kinematics.setMaxAngularVelocity(1.f);
// Test with unit values for linear velocity and yaw rate, but with max speed that requires saturation
EXPECT_EQ(kinematics.computeInverseKinematics(1.f, 1.f), Vector2f(0, 1));
}
TEST(DifferentialDriveKinematicsTest, OppositeUnitSaturationCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(1.f);
kinematics.setMaxSpeed(1.f);
kinematics.setMaxAngularVelocity(1.f);
// Negative linear velocity for backward motion and positive yaw rate for turning right
EXPECT_EQ(kinematics.computeInverseKinematics(-1.f, 1.f), Vector2f(-1, 0));
}
TEST(DifferentialDriveKinematicsTest, RandomCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(2.f);
kinematics.setMaxSpeed(1.f);
kinematics.setMaxAngularVelocity(1.f);
// Negative linear velocity for backward motion and positive yaw rate for turning right
EXPECT_EQ(kinematics.computeInverseKinematics(0.5f, 0.7f), Vector2f(-0.4f, 1.0f));
}
TEST(DifferentialDriveKinematicsTest, RotateInPlaceCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(1.f);
kinematics.setMaxSpeed(1.f);
kinematics.setMaxAngularVelocity(1.f);
// Test rotating in place (zero linear velocity, non-zero yaw rate)
EXPECT_EQ(kinematics.computeInverseKinematics(0.f, 1.f), Vector2f(-0.5f, 0.5f));
}
TEST(DifferentialDriveKinematicsTest, StraightMovementCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(1.f);
kinematics.setMaxSpeed(1.f);
kinematics.setMaxAngularVelocity(1.f);
// Test moving straight (non-zero linear velocity, zero yaw rate)
EXPECT_EQ(kinematics.computeInverseKinematics(1.f, 0.f), Vector2f(1.f, 1.f));
}
TEST(DifferentialDriveKinematicsTest, MinInputValuesCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(FLT_MIN);
kinematics.setMaxSpeed(FLT_MIN);
kinematics.setMaxAngularVelocity(FLT_MIN);
// Test with minimum possible input values
EXPECT_EQ(kinematics.computeInverseKinematics(FLT_MIN, FLT_MIN), Vector2f(0.f, 0.f));
}
TEST(DifferentialDriveKinematicsTest, MaxSpeedLimitCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(1.f);
kinematics.setMaxSpeed(1.f);
kinematics.setMaxAngularVelocity(1.f);
// Test with high linear velocity and yaw rate, expecting speeds to be scaled down to fit the max speed
EXPECT_EQ(kinematics.computeInverseKinematics(10.f, 10.f), Vector2f(0.f, 1.f));
}
TEST(DifferentialDriveKinematicsTest, MaxSpeedForwardsCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(1.f);
kinematics.setMaxSpeed(1.f);
kinematics.setMaxAngularVelocity(1.f);
// Test with high linear velocity and yaw rate, expecting speeds to be scaled down to fit the max speed
EXPECT_EQ(kinematics.computeInverseKinematics(10.f, 0.f), Vector2f(1.f, 1.f));
}
TEST(DifferentialDriveKinematicsTest, MaxAngularCase)
{
DifferentialDriveKinematics kinematics;
kinematics.setWheelBase(2.f);
kinematics.setMaxSpeed(1.f);
kinematics.setMaxAngularVelocity(1.f);
// Test with high linear velocity and yaw rate, expecting speeds to be scaled down to fit the max speed
EXPECT_EQ(kinematics.computeInverseKinematics(0.f, 10.f), Vector2f(-1.f, 1.f));
}