mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-02 03:01:36 +08:00
86 lines
3.0 KiB
C++
86 lines
3.0 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2018 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
|
|
* Build and run using: make && ./test_velocity_smoothing
|
|
*/
|
|
|
|
#include "VelocitySmoothing.hpp"
|
|
#include <cstdio>
|
|
|
|
int main(int argc, char *argv[])
|
|
{
|
|
VelocitySmoothing trajectory[3];
|
|
|
|
float a0[3] = {0.22, 0.f, 0.22f};
|
|
float v0[3] = {2.47f, -5.59e-6f, 2.47f};
|
|
float x0[3] = {0.f, 0.f, 0.f};
|
|
|
|
float j_max = 55.2f;
|
|
float a_max = 6.f;
|
|
float v_max = 6.f;
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
trajectory[i].setMaxJerk(j_max);
|
|
trajectory[i].setMaxAccel(a_max);
|
|
trajectory[i].setMaxVel(v_max);
|
|
trajectory[i].setCurrentAcceleration(a0[i]);
|
|
trajectory[i].setCurrentVelocity(v0[i]);
|
|
}
|
|
|
|
float dt = 0.01f;
|
|
|
|
float velocity_setpoint[3] = {0.f, 1.f, 0.f};
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
trajectory[i].updateDurations(dt, velocity_setpoint[i]);
|
|
}
|
|
|
|
VelocitySmoothing::timeSynchronization(trajectory, 2);
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
trajectory[i].integrate(a0[i], v0[i], x0[i]);
|
|
}
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
printf("Traj[%d]\n", i);
|
|
printf("jerk = %.3f\taccel = %.3f\tvel = %.3f\n", trajectory[i].getCurrentJerk(),
|
|
trajectory[i].getCurrentAcceleration(), trajectory[i].getCurrentVelocity());
|
|
printf("T1 = %.3f\tT2 = %.3f\tT3 = %.3f\n", trajectory[i].getT1(), trajectory[i].getT2(), trajectory[i].getT3());
|
|
printf("\n");
|
|
}
|
|
|
|
return 0;
|
|
}
|