fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Bezier trajectory functions to get position, velocity, accel on trajectory

Browse Source
This commit is contained in:
Julian Kent 2020-02-18 16:13:27 +01:00 committed by Julian Kent
parent b8970673c6
commit 5b8aa20c2f
5 changed files with 575 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

163
src/lib/bezier/BezierN.cpp Normal file
View File

@ -0,0 +1,163 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @file BezierN.cpp
* Bezier function
*
* @author Julian Kent <julian@auterion.com>
*/
#include <bezier/BezierN.hpp>
#include <matrix/Dual.hpp>
namespace
{
/*
* Generic in-place bezier implementation. Leaves result in first element.
*
*/
template <typename Scalar, size_t D>
void calculateBezier(matrix::Vector<Scalar, D> *positions, int N, Scalar t, Scalar one_minus_t)
{
for (int bezier_order = 1; bezier_order < N; bezier_order++) {
for (int i = 0; i < N - bezier_order; i++) {
positions[i] = positions[i] * one_minus_t + positions[i + 1] * t;
}
}
}
}
namespace bezier
{
bool calculateBezierPosVel(const matrix::Vector3f *positions, int N, float t,
matrix::Vector3f &position, matrix::Vector3f &velocity)
{
if (positions == nullptr || N == 0 || t < 0 || t > 1) {
return false;
}
using Df = matrix::Dual<float, 1>;
using Vector3Df = matrix::Vector3<Df>;
Vector3Df intermediates[N];
for (int i = 0; i < N; i++) {
for (int j = 0; j < 3; j++) {
intermediates[i](j) = positions[i](j);
}
}
Df dual_t(t, 0); // derivative with respect to time
calculateBezier(intermediates, N, dual_t, Df(1) - dual_t);
position = matrix::collectReals(intermediates[0]);
velocity = matrix::collectDerivatives(intermediates[0]);
return true;
}
bool calculateBezierPosVelAcc(const matrix::Vector3f *positions, int N, float t,
matrix::Vector3f &position, matrix::Vector3f &velocity, matrix::Vector3f &acceleration)
{
if (positions == nullptr || N == 0 || t < 0 || t > 1) {
return false;
}
using Df = matrix::Dual<float, 1>;
using DDf = matrix::Dual<Df, 1>;
using Vector3DDf = matrix::Vector3<DDf>;
Vector3DDf intermediates[N];
for (int i = 0; i < N; i++) {
for (int j = 0; j < 3; j++) {
intermediates[i](j) = Df(positions[i](j));
}
}
DDf dual_t(Df(t, 0), 0); // 1st and 2nd derivative with respect to time
calculateBezier(intermediates, N, dual_t, Df(1) - dual_t);
position = matrix::collectReals(matrix::collectReals(intermediates[0]));
velocity = matrix::collectReals(matrix::collectDerivatives(intermediates[0]));
acceleration = matrix::collectDerivatives(matrix::collectDerivatives(intermediates[0]));
return true;
}
bool calculateBezierYaw(const float *setpoints, int N, float t, float &yaw_setpoint, float &yaw_vel_setpoint)
{
if (setpoints == nullptr || N == 0 || t < 0 || t > 1) {
return false;
}
using Df = matrix::Dual<float, 1>;
using Vector1Df = matrix::Vector<Df, 1>;
Vector1Df intermediates[N];
// all yaw setpoints are wrapped relative to the starting yaw
const float offset = setpoints[0];
for (int i = 0; i < N; i++) {
intermediates[i](0) = matrix::wrap_pi(setpoints[i] - offset);
}
Df dual_t (t, 0); // derivative with respect to time
calculateBezier(intermediates, N, dual_t, Df(1) - dual_t);
Df result = intermediates[0](0);
yaw_setpoint = matrix::wrap_pi(result.value + offset);
yaw_vel_setpoint = result.derivative(0);
return true;
}
bool calculateT(int64_t start_time, int64_t end_time, int64_t now, float &T)
{
if (now < start_time || end_time < now) {
return false;
}
int64_t total_duration = end_time - start_time;
int64_t elapsed_duration = now - start_time;
T = (float) elapsed_duration / (float) total_duration;
return true;
}
}

76
src/lib/bezier/BezierN.hpp Normal file
View File

@ -0,0 +1,76 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @file BerzierN.hpp
*
* @author Julian Kent <julian@auterion.com>
*
* N-order Bezier library designed for time-aware trajectory tracking
*/
#pragma once
#include <matrix/math.hpp>
namespace bezier
{
/*
* Calculates the location and velocity with respect to T on a given bezier curve of any order.
*
*/
bool calculateBezierPosVel(const matrix::Vector3f *positions, int N, float t,
matrix::Vector3f &position, matrix::Vector3f &velocity);
/*
* Calculates the position, velocity and acceleration with respect to T on a given bezier curve of any order.
*
*/
bool calculateBezierPosVelAcc(const matrix::Vector3f *positions, int N, float t,
matrix::Vector3f &position, matrix::Vector3f &velocity, matrix::Vector3f &acceleration);
/*
* Calculates the position and velocity of yaw with respect to t on a bezier curve.
* All yaw setpoints are wrapped relative to the starting yaw.
*
*/
bool calculateBezierYaw(const float *setpoints, int N, float t, float &yaw_setpoint, float &yaw_vel_setpoint);
/*
* Calculates the fraction between the begin and end time which can be used for fast bezier curve lookups
*/
bool calculateT(int64_t start_time, int64_t end_time, int64_t now, float &T);
}

325
src/lib/bezier/BezierNTest.cpp Normal file
View File

@ -0,0 +1,325 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* Test code for the Velocity Smoothing library
* Run this test only using make tests TESTFILTER=BezierN
*
* @author Julian Kent <julian@auterion.com>
*/
#include <gtest/gtest.h>
#include <matrix/matrix/math.hpp>
#include "BezierN.hpp"
TEST(BezierN_calculateBezier, checks_validity)
{
matrix::Vector3f points[10];
matrix::Vector3f a, b;
EXPECT_FALSE(bezier::calculateBezierPosVel(nullptr, 10, 0.5f, a, b));
EXPECT_FALSE(bezier::calculateBezierPosVel(points, 0, 0.5f, a, b));
EXPECT_FALSE(bezier::calculateBezierPosVel(points, 10, -0.5f, a, b));
EXPECT_FALSE(bezier::calculateBezierPosVel(points, 10, 1.5f, a, b));
}
TEST(BezierN_calculateBezier, checks_validity_accel)
{
matrix::Vector3f points[10];
matrix::Vector3f a, b, c;
EXPECT_FALSE(bezier::calculateBezierPosVelAcc(nullptr, 10, 0.5f, a, b, c));
EXPECT_FALSE(bezier::calculateBezierPosVelAcc(points, 0, 0.5f, a, b, c));
EXPECT_FALSE(bezier::calculateBezierPosVelAcc(points, 10, -0.5f, a, b, c));
EXPECT_FALSE(bezier::calculateBezierPosVelAcc(points, 10, 1.5f, a, b, c));
}
TEST(BezierN_calculateBezier, work_1_point)
{
// GIVEN: a single point bezier curve
matrix::Vector3f points[2] = {matrix::Vector3f(1, 2, 3), matrix::Vector3f(NAN, NAN, NAN)};
matrix::Vector3f pos, vel;
pos *= NAN;
vel *= NAN;
// WHEN: we get the half-way point
EXPECT_TRUE(bezier::calculateBezierPosVel(points, 1, 0.5f, pos, vel));
// THEN: it should be the same as the point, and the velocity should be 0
EXPECT_EQ((pos - points[0]).norm(), 0.f);
EXPECT_EQ(vel.norm(), 0.f);
}
TEST(BezierN_calculateBezier, works_2_points)
{
// GIVEN: a 2-point bezier curve
matrix::Vector3f points[3] = {matrix::Vector3f(1, 2, 3), matrix::Vector3f(5, 0, 1), matrix::Vector3f(NAN, NAN, NAN)};
matrix::Vector3f pos, vel;
pos *= NAN;
vel *= NAN;
// WHEN: we get the half-way point
EXPECT_TRUE(bezier::calculateBezierPosVel(points, 2, 0.5f, pos, vel));
// THEN: the position should be the mid-point between the start and end, and velocity should be the length
EXPECT_EQ((pos - matrix::Vector3f(3, 1, 2)).norm(), 0.f);
EXPECT_FLOAT_EQ((vel - (points[1] - points[0])).norm(), 0.f);
// WHEN: we get the beginning point
EXPECT_TRUE(bezier::calculateBezierPosVel(points, 2, 0.f, pos, vel));
// THEN: the position should be the first point, and the velocity should still be the length
EXPECT_EQ((pos - points[0]).norm(), 0.f);
EXPECT_FLOAT_EQ((vel - (points[1] - points[0])).norm(), 0.f);
// WHEN: we get the end point
EXPECT_TRUE(bezier::calculateBezierPosVel(points, 2, 1.f, pos, vel));
// THEN: the position should be the first point, and the velocity should still be the length
EXPECT_EQ((pos - points[1]).norm(), 0.f);
EXPECT_FLOAT_EQ((vel - (points[1] - points[0])).norm(), 0.f);
}
TEST(BezierN_calculateBezier, works_3_points_zero_accel)
{
// GIVEN: 3 points bezier, evenly spaced in a straight line
matrix::Vector3f points[4] = {matrix::Vector3f(1, 2, 3), matrix::Vector3f(5, 0, 1), matrix::Vector3f(9, -2, -1), matrix::Vector3f(NAN, NAN, NAN)};
matrix::Vector3f pos, vel;
pos *= NAN;
vel *= NAN;
// WHEN: we get the half-way point
EXPECT_TRUE(bezier::calculateBezierPosVel(points, 3, 0.5f, pos, vel));
// THEN: it should be the middle point, with velocity of 1st to last
EXPECT_FLOAT_EQ((pos - points[1]).norm(), 0.f);
EXPECT_FLOAT_EQ((vel - (points[2] - points[0])).norm(), 0.f);
matrix::Vector3f pos2, vel2, accel2;
// WHEN: we use the accel interface
EXPECT_TRUE(bezier::calculateBezierPosVelAcc(points, 3, 0.5f, pos2, vel2, accel2));
// THEN: it should give same position, velocity as the non-accel interface, and zero accel (since this curve is 0 accel)
EXPECT_FLOAT_EQ((pos2 - pos).norm(), 0.f);
EXPECT_FLOAT_EQ((vel2 - vel).norm(), 0.f);
EXPECT_FLOAT_EQ(accel2.norm(), 0.f);
// WHEN: we check at the beginning
EXPECT_TRUE(bezier::calculateBezierPosVel(points, 3, 0.f, pos, vel));
EXPECT_TRUE(bezier::calculateBezierPosVelAcc(points, 3, 0.f, pos2, vel2, accel2));
// THEN: it should be the starting point and same velocity
EXPECT_FLOAT_EQ((pos - points[0]).norm(), 0.f);
EXPECT_FLOAT_EQ((vel - (points[2] - points[0])).norm(), 0.f);
EXPECT_FLOAT_EQ((pos2 - pos).norm(), 0.f);
EXPECT_FLOAT_EQ((vel2 - vel).norm(), 0.f);
EXPECT_FLOAT_EQ(accel2.norm(), 0.f);
// WHEN: we check at the end
EXPECT_TRUE(bezier::calculateBezierPosVel(points, 3, 1.f, pos, vel));
EXPECT_TRUE(bezier::calculateBezierPosVelAcc(points, 3, 1.f, pos2, vel2, accel2));
// THEN: it should be the ending point and same velocity
EXPECT_FLOAT_EQ((pos - points[2]).norm(), 0.f);
EXPECT_FLOAT_EQ((vel - (points[2] - points[0])).norm(), 0.f);
EXPECT_FLOAT_EQ((pos2 - pos).norm(), 0.f);
EXPECT_FLOAT_EQ((vel2 - vel).norm(), 0.f);
EXPECT_FLOAT_EQ(accel2.norm(), 0.f);
}
TEST(BezierN_calculateBezier, works_3_points_accel)
{
// GIVEN: 3 points bezier, in a curve
matrix::Vector3f points[4] = {matrix::Vector3f(1, 2, 3), matrix::Vector3f(5, 0, 1), matrix::Vector3f(19, -8, 1), matrix::Vector3f(NAN, NAN, NAN)};
matrix::Vector3f pos, vel;
pos *= NAN;
vel *= NAN;
matrix::Vector3f pos2;
pos2 *= NAN;
matrix::Vector3f accel_start, accel_mid, accel_end;
matrix::Vector3f vel_start, vel_mid, vel_end;
// WHEN: we check at the beginning
EXPECT_TRUE(bezier::calculateBezierPosVel(points, 3, 0.f, pos, vel));
EXPECT_TRUE(bezier::calculateBezierPosVelAcc(points, 3, 0.f, pos2, vel_start, accel_start));
// THEN: it should give same position, velocity as the non-accel interface, and non-zero accel
EXPECT_FLOAT_EQ((pos2 - pos).norm(), 0.f);
EXPECT_FLOAT_EQ((vel_start - vel).norm(), 0.f);
EXPECT_GT(accel_start.norm(), 0.f);
// WHEN: we use the accel interface to get the half-way point
EXPECT_TRUE(bezier::calculateBezierPosVel(points, 3, 0.5f, pos, vel));
EXPECT_TRUE(bezier::calculateBezierPosVelAcc(points, 3, 0.5f, pos2, vel_mid, accel_mid));
// THEN: the values should matche between accel and non-accel version
EXPECT_FLOAT_EQ((pos2 - pos).norm(), 0.f);
EXPECT_FLOAT_EQ((vel_mid - vel).norm(), 0.f);
// AND: the accel should be the same as the start
EXPECT_FLOAT_EQ((accel_mid - accel_start).norm(), 0.f);
// WHEN: we check at the end
EXPECT_TRUE(bezier::calculateBezierPosVel(points, 3, 1.f, pos, vel));
EXPECT_TRUE(bezier::calculateBezierPosVelAcc(points, 3, 1.f, pos2, vel_end, accel_end));
// THEN: it should be the ending point, and accel should match
EXPECT_FLOAT_EQ((pos - points[2]).norm(), 0.f);
EXPECT_FLOAT_EQ((pos2 - pos).norm(), 0.f);
EXPECT_FLOAT_EQ((vel_end - vel).norm(), 0.f);
EXPECT_FLOAT_EQ((accel_end - accel_start).norm(), 0.f);
// FINALLY: mid point velocity should be average of start and end velocity
EXPECT_FLOAT_EQ((vel_mid - 0.5f * (vel_start + vel_end)).norm(), 0.f);
}
TEST(BezierN_calculateBezierYaw, checks_validity)
{
float points[10];
float a, b;
EXPECT_FALSE(bezier::calculateBezierYaw(nullptr, 10, 0.5f, a, b));
EXPECT_FALSE(bezier::calculateBezierYaw(points, 0, 0.5f, a, b));
EXPECT_FALSE(bezier::calculateBezierYaw(points, 10, -0.5f, a, b));
EXPECT_FALSE(bezier::calculateBezierYaw(points, 10, 1.5f, a, b));
}
TEST(BezierN_calculateBezierYaw, work_1_point)
{
// GIVEN: a single yaw point
float points[2] = {M_PI / 2, NAN};
float yaw, yaw_speed;
// WHEN: we use it as a 1-point bezier curve
EXPECT_TRUE(bezier::calculateBezierYaw(points, 1, 0.5f, yaw, yaw_speed));
// THEN: it should have that same value, and the velocity should be 0
EXPECT_FLOAT_EQ(yaw, M_PI / 2);
EXPECT_FLOAT_EQ(yaw_speed, 0);
}
TEST(BezierN_calculateBezierYaw, work_2_points)
{
// GIVEN: a single yaw point
float points[3] = {0, M_PI / 2, NAN};
float yaw, yaw_speed;
// WHEN: we get the beginning
EXPECT_TRUE(bezier::calculateBezierYaw(points, 2, 0.f, yaw, yaw_speed));
// THEN: it should have the beginning value, and the velocity should be the difference between first and last
EXPECT_FLOAT_EQ(yaw, 0);
EXPECT_FLOAT_EQ(yaw_speed, M_PI / 2);
// WHEN: we get the middle
EXPECT_TRUE(bezier::calculateBezierYaw(points, 2, 0.5f, yaw, yaw_speed));
// THEN: it should have the beginning value, and the velocity should be the difference between first and last
EXPECT_FLOAT_EQ(yaw, M_PI / 4);
EXPECT_FLOAT_EQ(yaw_speed, M_PI / 2);
// WHEN: we get the end
EXPECT_TRUE(bezier::calculateBezierYaw(points, 2, 1.f, yaw, yaw_speed));
// THEN: it should have the beginning value, and the velocity should be the difference between first and last
EXPECT_FLOAT_EQ(yaw, M_PI / 2);
EXPECT_FLOAT_EQ(yaw_speed, M_PI / 2);
}
TEST(BezierN_calculateBezierYaw, work_2_points_wrap)
{
// GIVEN: 2 yaw points on either side of the +- PI wrap line
float points[3] = {-M_PI + 0.1, M_PI - 0.1, NAN};
float yaw, yaw_speed;
// WHEN: we get the beginning
EXPECT_TRUE(bezier::calculateBezierYaw(points, 2, 0.f, yaw, yaw_speed));
// THEN: it should have the beginning value, and the velocity should be the wrapped distance between first and last
EXPECT_FLOAT_EQ(yaw, -M_PI + 0.1);
EXPECT_NEAR(yaw_speed, -0.2, 1e-6f);
// WHEN: we get the middle
EXPECT_TRUE(bezier::calculateBezierYaw(points, 2, 0.5f, yaw, yaw_speed));
// THEN: it should have the wrapped middle value, and the velocity should be the wrapped distance between first and last
EXPECT_FLOAT_EQ(matrix::wrap_pi(yaw - float(M_PI)), 0);
EXPECT_NEAR(yaw_speed, -0.2, 1e-6f);
// WHEN: we get the end
EXPECT_TRUE(bezier::calculateBezierYaw(points, 2, 1.f, yaw, yaw_speed));
// THEN: it should have the end value, and the velocity should be the wrapped distance between first and last
EXPECT_FLOAT_EQ(yaw, M_PI - 0.1);
EXPECT_NEAR(yaw_speed, -0.2, 1e-6f);
}
TEST(BezierN_calculateT, rejects_bad_timestamps)
{
float f = NAN;
EXPECT_FALSE(bezier::calculateT(100, 1000, 99, f));
EXPECT_FALSE(bezier::calculateT(100, 1000, 1001, f));
EXPECT_FALSE(bezier::calculateT(1001, 1000, 1001, f));
}
TEST(BezierN_calculateT, begin_middle_end)
{
float f = NAN;
EXPECT_TRUE(bezier::calculateT(100, 1000, 100, f));
EXPECT_FLOAT_EQ(f, 0.f);
EXPECT_TRUE(bezier::calculateT(100, 1000, 550, f));
EXPECT_FLOAT_EQ(f, 0.5f);
EXPECT_TRUE(bezier::calculateT(100, 1000, 1000, f));
EXPECT_FLOAT_EQ(f, 1.f);
}
TEST(BezierN_calculateT, giant_offset)
{
int64_t offset = 0xFFFFFFFFFFFF; // 48 bit max
float f = NAN;
EXPECT_TRUE(bezier::calculateT(offset + 100, offset + 1000, offset + 100, f));
EXPECT_FLOAT_EQ(f, 0.f);
EXPECT_TRUE(bezier::calculateT(offset + 100, offset + 1000, offset + 550, f));
EXPECT_FLOAT_EQ(f, 0.5f);
EXPECT_TRUE(bezier::calculateT(offset + 100, offset + 1000, offset + 1000, f));
EXPECT_FLOAT_EQ(f, 1.f);
}

8
src/lib/bezier/BezierQuad.cpp
View File

@ -37,6 +37,12 @@
* @author Dennis Mannhart <dennis.mannhart@gmail.com>
*/
// The header includes this implementation, so in order to have this library shared with other
// .cpp files and avoid duplication of constants, we need to prevent including it twice
#ifndef BEZIER_QUAD_CPP
#define BEZIER_QUAD_CPP
#include "BezierQuad.hpp"
namespace bezier
@ -213,3 +219,5 @@ Tp BezierQuad<Tp>::_getDistanceSquared(const Tp t, const Vector3_t &pose)
return (vec * vec);
}
}
#endif

3
src/lib/bezier/CMakeLists.txt
View File

@ -33,4 +33,7 @@
px4_add_library(bezier
BezierQuad.cpp
BezierN.cpp
)
px4_add_unit_gtest(SRC BezierNTest.cpp LINKLIBS bezier)