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mavsdk_tests: move math things to separate header

This commit is contained in:
Julian Oes 2020-07-29 14:04:02 +02:00 committed by Daniel Agar
parent 1eaceb17dc
commit ed357cf356
3 changed files with 99 additions and 57 deletions
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58
test/mavsdk_tests/autopilot_tester.cpp
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@ -32,64 +32,12 @@
****************************************************************************/
#include "autopilot_tester.h"
#include "math_helpers.h"
#include <iostream>
#include <future>
std::string connection_url {"udp://"};
namespace
{
std::array<float, 3> get_local_mission_item(const Mission::MissionItem &item, const CoordinateTransformation &ct)
{
using GlobalCoordinate = mavsdk::geometry::CoordinateTransformation::GlobalCoordinate;
GlobalCoordinate global;
global.latitude_deg = item.latitude_deg;
global.longitude_deg = item.longitude_deg;
auto local = ct.local_from_global(global);
return {static_cast<float>(local.north_m), static_cast<float>(local.east_m), -item.relative_altitude_m};
}
float norm(const std::array<float, 3> &vec)
{
return std::sqrt(sq(vec[0]) + sq(vec[1]) + sq(vec[2]));
}
float dot(const std::array<float, 3> &vec1, const std::array<float, 3> &vec2)
{
return vec1[0] * vec2[0] + vec1[1] * vec2[1] + vec1[2] * vec2[2];
}
std::array<float, 3> diff(const std::array<float, 3> &vec1, const std::array<float, 3> &vec2)
{
return {vec1[0] - vec2[0], vec1[1] - vec2[1], vec1[2] - vec2[2]};
}
std::array<float, 3> normalized(const std::array<float, 3> &vec)
{
float n = norm(vec);
if (n > 1e-6f) {
return {vec[0] / n, vec[1] / n, vec[2] / n};
} else {
return {0, 0, 0};
}
}
float point_to_line_distance(const std::array<float, 3> &point, const std::array<float, 3> &line_start,
const std::array<float, 3> &line_end)
{
std::array<float, 3> norm_dir = normalized(diff(line_end, line_start));
float t = dot(norm_dir, diff(point, line_start));
// closest_on_line = line_start + t * norm_dir;
std::array<float, 3> closest_on_line { line_start[0] + t *norm_dir[0], line_start[1] + t *norm_dir[1], line_start[2] + t *norm_dir[2]};
return norm(diff(closest_on_line, point));
}
}
void AutopilotTester::connect(const std::string uri)
{
ConnectionResult ret = _mavsdk.add_any_connection(uri);
@ -498,8 +446,8 @@ void AutopilotTester::check_tracks_mission(float corridor_radius_m)
std::array<float, 3> current { position_velocity_ned.position.north_m,
position_velocity_ned.position.east_m,
position_velocity_ned.position.down_m };
std::array<float, 3> wp_prev = get_local_mission_item(mission_items[progress.current - 1], ct);
std::array<float, 3> wp_next = get_local_mission_item(mission_items[progress.current], ct);
std::array<float, 3> wp_prev = get_local_mission_item<float>(mission_items[progress.current - 1], ct);
std::array<float, 3> wp_next = get_local_mission_item<float>(mission_items[progress.current], ct);
float distance_to_trajectory = point_to_line_distance(current, wp_prev, wp_next);

2
test/mavsdk_tests/autopilot_tester.h
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@ -132,8 +132,6 @@ private:
return true;
}
static float sq(float x) { return x * x; };
mavsdk::Mavsdk _mavsdk{};
std::unique_ptr<mavsdk::Action> _action{};
std::unique_ptr<mavsdk::Failure> _failure{};

96
test/mavsdk_tests/math_helpers.h Normal file
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@ -0,0 +1,96 @@
/****************************************************************************
*
* Copyright (c) 2020 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 <array>
template<typename T>
std::array<T, 3> get_local_mission_item(const Mission::MissionItem &item, const CoordinateTransformation &ct)
{
using GlobalCoordinate = mavsdk::geometry::CoordinateTransformation::GlobalCoordinate;
GlobalCoordinate global;
global.latitude_deg = item.latitude_deg;
global.longitude_deg = item.longitude_deg;
auto local = ct.local_from_global(global);
return {static_cast<T>(local.north_m), static_cast<T>(local.east_m), -item.relative_altitude_m};
}
template<typename T>
T sq(T x)
{
return x * x;
}
template<typename T>
T norm(const std::array<T, 3> &vec)
{
return std::sqrt(sq(vec[0]) + sq(vec[1]) + sq(vec[2]));
}
template<typename T>
T dot(const std::array<T, 3> &vec1, const std::array<T, 3> &vec2)
{
return vec1[0] * vec2[0] + vec1[1] * vec2[1] + vec1[2] * vec2[2];
}
template<typename T>
std::array<T, 3> diff(const std::array<T, 3> &vec1, const std::array<T, 3> &vec2)
{
return {vec1[0] - vec2[0], vec1[1] - vec2[1], vec1[2] - vec2[2]};
}
template<typename T>
std::array<T, 3> normalized(const std::array<T, 3> &vec)
{
T n = norm(vec);
if (n > 1e-6f) {
return {vec[0] / n, vec[1] / n, vec[2] / n};
} else {
return {0, 0, 0};
}
}
template<typename T>
T point_to_line_distance(const std::array<T, 3> &point, const std::array<T, 3> &line_start,
const std::array<T, 3> &line_end)
{
std::array<T, 3> norm_dir = normalized(diff(line_end, line_start));
T t = dot(norm_dir, diff(point, line_start));
// closest_on_line = line_start + t * norm_dir;
std::array<T, 3> closest_on_line { line_start[0] + t *norm_dir[0], line_start[1] + t *norm_dir[1], line_start[2] + t *norm_dir[2]};
return norm(diff(closest_on_line, point));
}