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trajectory-generators.hpp
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trajectory-generators.hpp
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#ifndef TRAJECTORYGENERATORS_HPP
#define TRAJECTORYGENERATORS_HPP
#include <tracking.hpp>
#include <functional>
#include "geometry.h"
#include <QDebug>
#include <math.h>
#include "pose.h"
#include "velocity-profile.hpp"
#include "trajectory.hpp"
#include "splines.hpp"
#include "controlpoint-optimization.hpp"
#include "drawable.h"
#include "collision-checking.h"
using namespace std;
extern RenderArea *gRenderArea;
namespace TrajectoryGenerators {
Trajectory* circleGenerator(double x, double y, double r, double startTheta, double f) {
function<double(double)> xfunc = [=](double t)->double {
return (r*sin(2*PI*f*t + startTheta)+x)/fieldXConvert;
};
function<double(double)> yfunc = [=](double t)->double {
return (r*cos(2*PI*f*t + startTheta)+y)/fieldXConvert;
};
return new Trajectory(xfunc, yfunc);
}
Trajectory *quinticBezierSplineGenerator(Pose start, Pose end, double vls, double vrs, double vle, double vre) {
QuinticBezierSpline *p = new QuinticBezierSpline(start, end, vls, vrs, vle, vre);
SplineTrajectory *st = new SplineTrajectory(p, vls, vrs, vle, vre);
return st;
//// double k = 1/3.;
// function<double(double)> xfunc = [=](double t)->double {
// return st->x(t);
// };
// function<double(double)> yfunc = [=](double t)->double {
// return st->y(t);
// };
// return new Trajectory(xfunc, yfunc);
}
// doesn't care about units, returns the answer in the same units of the input.
/*
Vector2D<double> predictBallPose(Vector2D<double> ballPos, Vector2D<double> ballVel, double timeOfPrediction){
Vector2D<double> finalBallPos;
finalBallPos.x = ballPos.x + timeOfPrediction*ballVel.x;
finalBallPos.y = ballPos.y + timeOfPrediction*ballVel.y;
return finalBallPos;
}
*/
Trajectory *ellipseGen(double x, double y, double a, double b, double startTheta, double f) {
function<double(double)> xfunc = [=](double t)->double {
return (a*sin(2*PI*f*t + startTheta)+x)/fieldXConvert;
};
function<double(double)> yfunc = [=](double t)->double {
return (b*cos(2*PI*f*t + startTheta)+y)/fieldXConvert;
};
return new Trajectory(xfunc, yfunc);
}
SplineTrajectory *cubic(Pose start, Pose end, double vls, double vrs, double vle, double vre, vector<Pose> midPoints = vector<Pose>()) {
CubicSpline *p = new CubicSpline(start, end, midPoints);
// p->maxk();
SplineTrajectory *st = new SplineTrajectory(p, vls, vrs, vle, vre);
return st;
}
Trajectory *cubicnCP(Pose start, Pose end, double vls, double vrs, double vle, double vre, int n) {
// Pose cp1((start.x()*2+end.x())*1/3., (start.y()*2+end.y())*1/3., 0);
// Pose cp2((start.x()+2*end.x())*1/3., (start.y()+2*end.y())*1/3., 0);
// vector<Pose> midPoints;
// midPoints.push_back(cp1);
// midPoints.push_back(cp2);
// static PointDrawable *pt1 = NULL, *pt2 = NULL;
// if (pt1)
// delete pt1;
// if (pt2)
// delete pt2;
// pt1 = new PointDrawable(QPointF(cp1.x(), cp1.y()), gRenderArea);
// pt2 = new PointDrawable(QPointF(cp2.x(), cp2.y()), gRenderArea);
// CubicSpline *p = new CubicSpline(start, end, midPoints);
// SplineTrajectory *st = new SplineTrajectory(p, vls, vrs, vle, vre);
Trajectory *sto = Optimization::cubicSplinenCPOptimization(start, end, vls, vrs, vle, vre, n);
return sto;
}
SplineTrajectory *cubic_drawCollisions(Pose start, Pose end, double vls, double vrs, double vle, double vre, vector<Pose> midPoints = vector<Pose>()) {
// line segments for walls
// currently just adding 4 walls that are the coordinate limits. However we need 12, and they
// will all be slightly inside the HALF_FIELD coordinates.
// Their coordinates will depend significantly on the camera/arena setup.
using CollisionChecking::LineSegment;
vector<LineSegment> ls;
ls.push_back(LineSegment(-HALF_FIELD_MAXX/fieldXConvert, -HALF_FIELD_MAXY/fieldXConvert, HALF_FIELD_MAXX/fieldXConvert, -HALF_FIELD_MAXY/fieldXConvert));
ls.push_back(LineSegment(-HALF_FIELD_MAXX/fieldXConvert, HALF_FIELD_MAXY/fieldXConvert, HALF_FIELD_MAXX/fieldXConvert, HALF_FIELD_MAXY/fieldXConvert));
ls.push_back(LineSegment(-HALF_FIELD_MAXX/fieldXConvert, -HALF_FIELD_MAXY/fieldXConvert, -HALF_FIELD_MAXX/fieldXConvert, +HALF_FIELD_MAXY/fieldXConvert));
ls.push_back(LineSegment(HALF_FIELD_MAXX/fieldXConvert, -HALF_FIELD_MAXY/fieldXConvert, HALF_FIELD_MAXX/fieldXConvert, +HALF_FIELD_MAXY/fieldXConvert));
CubicSpline *p = new CubicSpline(start, end, midPoints);
vector<Pose> collisions;
for (int i = 0; i < ls.size(); i++) {
vector<Pose> results = CollisionChecking::cubicSpline_LineSegmentIntersection(*p, ls[i]);
collisions.insert(collisions.end(), results.begin(), results.end());
}
static vector<PointDrawable*> pts;
for (int i = 0; i < pts.size(); i++) {
if (pts[i])
delete pts[i];
}
pts.clear();
for (int i = 0; i < collisions.size(); i++) {
PointDrawable *pt = new PointDrawable(QPointF(collisions[i].x(), collisions[i].y()), gRenderArea);
pts.push_back(pt);
}
// qDebug() << "num collisions = " << collisions.size();
SplineTrajectory *st = new SplineTrajectory(p, vls, vrs, vle, vre);
return st;
}
// ballPos: strategy coordinates
// ballVel: strategy coordinates per second
/*
SplineTrajectory* ballInterception(Pose botPosStart, Vector2D<double> ballPos, Vector2D<double> ballVel){
Vector2D<double> predictedBallPos;
double error = 0.1;
double T2 = 6.0;
double T1 = 0.0;
double d = 0.0;
Vector2D<double> goalCentre(-HALF_FIELD_MAXX, 0);
SplineTrajectory *st = NULL;
while (1) {
// predictedBallPos: strategy coordinates
double mid = (T1+T2)/2;
predictedBallPos = predictBallPose(ballPos, ballVel, mid);
double endTheta = atan2(goalCentre.y - predictedBallPos.y, goalCentre.x - predictedBallPos.x);
Pose endPose(predictedBallPos.x, predictedBallPos.y, endTheta);
if (st)
delete st;
// add a cp behind the ball pos, distance of 500
Pose cp1(predictedBallPos.x+500*cos(endTheta+M_PI), predictedBallPos.y+500*sin(endTheta+M_PI), 0);
vector<Pose> midPoints;
midPoints.push_back(cp1);
st = cubic(botPosStart, endPose, 0, 0, 50, 50, midPoints);
double t = st->totalTime();
qDebug() << "mid = " << mid << ", t = " << t;
if (fabs(t-mid) < error)
break;
if (t > mid) {
T1 = mid;
} else if (t < mid) {
T2 = mid;
}
if (fabs(T2-T1) < error) {
qDebug() << "T2, T1 almost same = " << T1 <<", t = " << t;
break;
}
}
return st;
}
*/
}
#endif // TRAJECTORYGENERATORS_HPP