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115 lines
4.5 KiB
C++
115 lines
4.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file TrajMath.hpp
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*
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* collection of functions used for trajectory generation
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*/
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#pragma once
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namespace math
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{
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namespace trajectory
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{
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/* Compute the maximum possible speed on the track given the desired speed,
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* remaining distance, the maximum acceleration and the maximum jerk.
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* We assume a constant acceleration profile with a delay of 2*accel/jerk
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* (time to reach the desired acceleration from opposite max acceleration)
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* Equation to solve: vel_final^2 = vel_initial^2 - 2*accel*(x - vel_initial*2*accel/jerk)
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*
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* @param jerk maximum jerk
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* @param accel maximum acceleration
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* @param braking_distance distance to the desired point
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* @param final_speed the still-remaining speed of the vehicle when it reaches the braking_distance
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*
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* @return maximum speed
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*/
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inline float computeMaxSpeedFromDistance(const float jerk, const float accel, const float braking_distance,
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const float final_speed)
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{
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auto sqr = [](float f) {return f * f;};
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float b = 4.0f * sqr(accel) / jerk;
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float c = - 2.0f * accel * braking_distance - sqr(final_speed);
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float max_speed = 0.5f * (-b + sqrtf(sqr(b) - 4.0f * c));
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// don't slow down more than the end speed, even if the conservative accel ramp time requests it
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return max(max_speed, final_speed);
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}
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/* Compute the maximum tangential speed in a circle defined by two line segments of length "d"
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* forming a V shape, opened by an angle "alpha". The circle is tangent to the end of the
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* two segments as shown below:
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* \\
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* | \ d
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* / \
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* __='___a\
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* d
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* @param alpha angle between the two line segments
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* @param accel maximum lateral acceleration
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* @param d length of the two line segments
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*
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* @return maximum tangential speed
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*/
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inline float computeMaxSpeedInWaypoint(const float alpha, const float accel, const float d)
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{
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float tan_alpha = tanf(alpha / 2.0f);
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float max_speed_in_turn = sqrtf(accel * d * tan_alpha);
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return max_speed_in_turn;
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}
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/* Compute the braking distance given a maximum acceleration, maximum jerk and a maximum delay acceleration.
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* We assume a constant acceleration profile with a delay of accel_delay_max/jerk
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* (time to reach the desired acceleration from opposite max acceleration)
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* Equation to solve: vel_final^2 = vel_initial^2 - 2*accel*(x - vel_initial*2*accel/jerk)
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*
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* @param velocity initial velocity
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* @param jerk maximum jerk
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* @param accel maximum target acceleration during the braking maneuver
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* @param accel_delay_max the acceleration defining the delay described above
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*
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* @return braking distance
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*/
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inline float computeBrakingDistanceFromVelocity(const float velocity, const float jerk, const float accel,
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const float accel_delay_max)
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{
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return velocity * (velocity / (2.0f * accel) + accel_delay_max / jerk);
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}
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} /* namespace traj */
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} /* namespace math */
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