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TrajMath: move from FlightTasks/Utility into mathlib library because the function is also used by other libraries

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This commit is contained in:
Dennis Mannhart
2019-09-19 14:09:44 +02:00
committed by Mathieu Bresciani
parent e6b7062442
commit 453b6a39e4
4 changed files with 16 additions and 13 deletions
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src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
+5 -5
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@@ -38,7 +38,6 @@
#include "FlightTaskAutoLineSmoothVel.hpp"
#include <mathlib/mathlib.h>
#include <float.h>
#include "TrajMath.hpp"
using namespace matrix;
@@ -212,9 +211,10 @@ float FlightTaskAutoLineSmoothVel::_getSpeedAtTarget()
// We choose a maximum centripetal acceleration of MPC_ACC_HOR * MPC_XY_TRAJ_P to take in account
// that there is a jerk limit (a direct transition from line to circle is not possible)
// MPC_XY_TRAJ_P should be between 0 and 1.
const float max_speed_in_turn = trajmath::computeMaxSpeedInWaypoint(alpha,
_param_mpc_xy_traj_p.get() * _param_mpc_acc_hor.get(),
_target_acceptance_radius);
float accel_tmp = _param_mpc_xy_traj_p.get() * _param_mpc_acc_hor.get();
float max_speed_in_turn = math::trajectory::computeMaxSpeedInWaypoint(alpha,
accel_tmp,
_target_acceptance_radius);
speed_at_target = math::min(math::min(max_speed_in_turn, max_speed_current_next), _mc_cruise_speed);
}
@@ -223,7 +223,7 @@ float FlightTaskAutoLineSmoothVel::_getSpeedAtTarget()
float FlightTaskAutoLineSmoothVel::_getMaxSpeedFromDistance(float braking_distance)
{
float max_speed = trajmath::computeMaxSpeedFromBrakingDistance(_param_mpc_jerk_auto.get(),
float max_speed = math::trajectory::computeMaxSpeedFromBrakingDistance(_param_mpc_jerk_auto.get(),
_param_mpc_acc_hor.get(),
braking_distance);
// To avoid high gain at low distance due to the sqrt, we take the minimum
src/lib/FlightTasks/tasks/Utility/TrajMath.hpp
-87
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@@ -1,87 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2019 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.
*
****************************************************************************/
/**
* @file TrajMath.hpp
*
* collection of functions used in trajectory generators
*/
#pragma once
namespace trajmath
{
/* Compute the maximum possible speed on the track given the remaining distance,
* the maximum acceleration and the maximum jerk.
* We assume a constant acceleration profile with a delay of 2*accel/jerk
* (time to reach the desired acceleration from opposite max acceleration)
* Equation to solve: 0 = vel^2 - 2*accel*(x - vel*2*accel/jerk)
*
* @param jerk maximum jerk
* @param accel maximum acceleration
* @param braking_distance distance to the desired stopping point
*
* @return maximum speed
*/
float computeMaxSpeedFromBrakingDistance(const float jerk, const float accel, const float braking_distance)
{
float b = 4.0f * accel * accel / jerk;
float c = - 2.0f * accel * braking_distance;
float max_speed = 0.5f * (-b + sqrtf(b * b - 4.0f * c));
return max_speed;
}
/* Compute the maximum tangential speed in a circle defined by two line segments of length "d"
* forming a V shape, opened by an angle "alpha". The circle is tangent to the end of the
* two segments as shown below:
* \\
* | \ d
* / \
* __='___a\
* d
* @param alpha angle between the two line segments
* @param accel maximum lateral acceleration
* @param d length of the two line segments
*
* @return maximum tangential speed
*/
float computeMaxSpeedInWaypoint(const float alpha, const float accel, const float d)
{
float tan_alpha = tanf(alpha / 2.0f);
float max_speed_in_turn = sqrtf(accel * d * tan_alpha);
return max_speed_in_turn;
}
} /* namespace trajmath */