mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-03 01:00:35 +08:00
Matthias Grob
452 lines
12 KiB
C++
452 lines
12 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 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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#pragma once
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#include <cmath>
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#include <motion_planning/VelocitySmoothing.hpp>
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#include <matrix/matrix/math.hpp>
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#include <px4_defines.h>
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using matrix::Vector2f;
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using matrix::Vector3f;
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/**
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* @brief Class that generates setpoints for a smooth trajectory
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* to position waypoints.
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*
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* This is achieved by first generating an unsmoothed velocity setpoint
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* which then gets smoothed using the VelocitySmoothing library.
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*/
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class PositionSmoothing
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{
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public:
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/**
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* @brief Result type of the position smoothing algorithm.
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* The included values shall then be used as setpoints for
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* the controllers.
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*/
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struct PositionSmoothingSetpoints {
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Vector3f jerk;
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Vector3f acceleration;
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Vector3f velocity;
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Vector3f position;
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Vector3f unsmoothed_velocity;
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};
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/**
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* @brief Generates new setpoints for jerk, acceleration, velocity and position
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* to reach the given waypoint triplet smoothly from current position
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*
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* @param position Current position of the vehicle
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* @param waypoints 0: Past waypoint, 1: target, 2: Target after next target
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* @param feedforward_velocity FF velocity
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* @param delta_time Time since last invocation of the function
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* @param force_zero_velocity_setpoint Force vehicle to stop. Generate trajectory that ends with still vehicle.
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* @param out_setpoints Output of the generated setpoints
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*/
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inline void generateSetpoints(
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const Vector3f &position,
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const Vector3f(&waypoints)[3],
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const Vector3f &feedforward_velocity,
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float delta_time,
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bool force_zero_velocity_setpoint,
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PositionSmoothingSetpoints &out_setpoints
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)
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{
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_generateSetpoints(position, waypoints, false, feedforward_velocity, delta_time, force_zero_velocity_setpoint,
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out_setpoints);
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}
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/**
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* @brief Generates new setpoints for jerk, acceleration, velocity and position
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* to reach the given waypoint smoothly from current position.
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*
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* @param position Current position of the vehicle
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* @param waypoint desired waypoint
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* @param feedforward_velocity FF velocity
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* @param delta_time Time since last invocation of the function
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* @param force_zero_velocity_setpoint Force vehicle to stop. Generate trajectory that ends with still vehicle.
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* @param out_setpoints Output of the generated setpoints
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*/
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inline void generateSetpoints(
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const Vector3f &position,
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const Vector3f &waypoint,
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const Vector3f &feedforward_velocity,
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float delta_time,
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bool force_zero_velocity_setpoint,
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PositionSmoothingSetpoints &out_setpoints
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)
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{
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Vector3f waypoints[3] = {waypoint, waypoint, waypoint};
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_generateSetpoints(position, waypoints, true, feedforward_velocity, delta_time, force_zero_velocity_setpoint,
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out_setpoints);
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}
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/**
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* @brief Reset internal state to the given values
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*
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* @param acceleration current acceleration
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* @param velocity current velocity
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* @param position current position
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*/
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void reset(const Vector3f &acceleration, const Vector3f &velocity, const Vector3f &position)
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{
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for (size_t i = 0; i < 3; i++) {
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_trajectory[i].reset(acceleration(i), velocity(i), position(i));
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}
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}
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/**
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* @return float Current trajectory acceleration in X
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*/
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inline float getCurrentAccelerationX() const
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{
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return _trajectory[0].getCurrentAcceleration();
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}
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/**
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* @return float Current trajectory acceleration in Y
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*/
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inline float getCurrentAccelerationY() const
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{
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return _trajectory[1].getCurrentAcceleration();
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}
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/**
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* @return float Current trajectory acceleration in Z
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*/
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inline float getCurrentAccelerationZ() const
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{
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return _trajectory[2].getCurrentAcceleration();
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}
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/**
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* @return float Current trajectory acceleration
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*/
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inline Vector3f getCurrentAcceleration() const
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{
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return {getCurrentAccelerationX(), getCurrentAccelerationY(), getCurrentAccelerationZ()};
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}
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/**
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* @return float Current trajectory acceleration in X and Y
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*/
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inline Vector2f getCurrentAccelerationXY() const
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{
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return {getCurrentAccelerationX(), getCurrentAccelerationY()};
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}
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/**
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* @return float Current trajectory velocity in X
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*/
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inline float getCurrentVelocityX() const
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{
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return _trajectory[0].getCurrentVelocity();
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}
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/**
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* @return float Current trajectory velocity in Y
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*/
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inline float getCurrentVelocityY() const
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{
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return _trajectory[1].getCurrentVelocity();
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}
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/**
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* @return float Current trajectory velocity in Z
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*/
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inline float getCurrentVelocityZ() const
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{
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return _trajectory[2].getCurrentVelocity();
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}
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/**
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* @return float Current trajectory velocity
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*/
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inline Vector3f getCurrentVelocity() const
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{
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return {getCurrentVelocityX(), getCurrentVelocityY(), getCurrentVelocityZ()};
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}
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/**
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* @return float Current trajectory velocity in X and Y
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*/
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inline Vector2f getCurrentVelocityXY() const
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{
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return {getCurrentVelocityX(), getCurrentVelocityY()};
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}
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/**
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* @return float Current trajectory position in X
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*/
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inline float getCurrentPositionX() const
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{
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return _trajectory[0].getCurrentPosition();
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}
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/**
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* @return float Current trajectory position in Y
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*/
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inline float getCurrentPositionY() const
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{
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return _trajectory[1].getCurrentPosition();
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}
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/**
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* @return float Current trajectory position in Z
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*/
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inline float getCurrentPositionZ() const
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{
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return _trajectory[2].getCurrentPosition();
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}
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/**
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* @return float Current trajectory position
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*/
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inline Vector3f getCurrentPosition() const
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{
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return {getCurrentPositionX(), getCurrentPositionY(), getCurrentPositionZ()};
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}
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/**
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* @param jerk maximum jerk for generated trajectory
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*/
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inline void setMaxJerkXY(float jerk)
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{
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_trajectory[0].setMaxJerk(jerk);
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_trajectory[1].setMaxJerk(jerk);
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}
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/**
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* @param jerk maximum jerk for generated trajectory
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*/
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inline void setMaxJerkZ(float jerk)
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{
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_trajectory[2].setMaxJerk(jerk);
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}
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/**
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* @param jerk maximum jerk for generated trajectory
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*/
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inline void setMaxJerk(const Vector3f &jerk)
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{
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_trajectory[0].setMaxJerk(jerk(0));
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_trajectory[1].setMaxJerk(jerk(1));
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_trajectory[2].setMaxJerk(jerk(2));
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}
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/**
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* @param accel maximum acceleration for generated trajectory
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*/
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inline void setMaxAccelerationXY(float accel)
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{
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_trajectory[0].setMaxAccel(accel);
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_trajectory[1].setMaxAccel(accel);
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}
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/**
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* @param accel maximum acceleration for generated trajectory
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*/
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inline void setMaxAccelerationZ(float accel)
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{
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_trajectory[2].setMaxAccel(accel);
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}
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/**
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* @param accel maximum acceleration for generated trajectory
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*/
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inline void setMaxAcceleration(const Vector3f &accel)
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{
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_trajectory[0].setMaxAccel(accel(0));
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_trajectory[1].setMaxAccel(accel(1));
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_trajectory[2].setMaxAccel(accel(2));
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}
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/**
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* @param vel maximum velocity for generated trajectory
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*/
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inline void setMaxVelocityXY(float vel)
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{
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_trajectory[0].setMaxVel(vel);
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_trajectory[1].setMaxVel(vel);
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}
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/**
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* @param vel maximum velocity for generated trajectory
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*/
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inline void setMaxVelocityZ(float vel)
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{
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_trajectory[2].setMaxVel(vel);
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}
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/**
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* @param vel maximum velocity for generated trajectory
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*/
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inline void setMaxVelocity(const Vector3f &vel)
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{
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_trajectory[0].setMaxVel(vel(0));
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_trajectory[1].setMaxVel(vel(1));
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_trajectory[2].setMaxVel(vel(2));
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}
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/**
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* @param error Maximum horizontal error allowed by the trajectory generator. Often set to param MPC_XY_ERR_MAX
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*/
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inline void setMaxAllowedHorizontalError(float error)
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{
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_max_allowed_horizontal_error = error;
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}
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/**
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* @param radius Altitude Acceptance Radius. Often set to NAV_MC_ALT_RAD
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*/
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inline void setVerticalAcceptanceRadius(float radius)
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{
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_vertical_acceptance_radius = radius;
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}
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/**
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* @param speed vehicle cruise speed
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*/
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inline void setCruiseSpeed(float speed)
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{
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_cruise_speed = speed;
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}
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/**
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* @param gain Proportional gain for horizontal trajectory position error. Set to MPC_XY_TRAJ_P
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*/
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inline void setHorizontalTrajectoryGain(float gain)
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{
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_horizontal_trajectory_gain = gain;
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}
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/**
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* @param radius target acceptance radius
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*/
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inline void setTargetAcceptanceRadius(float radius)
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{
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_target_acceptance_radius = radius;
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}
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/**
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* @brief Set the current position in the trajectory to the given value.
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* Any coordinate with NAN will not be set
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*
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* @param position
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*/
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void forceSetPosition(const Vector3f &position)
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{
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for (size_t i = 0; i < 3; i++) {
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if (PX4_ISFINITE(position(i))) {
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_trajectory[i].setCurrentPosition(position(i));
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}
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}
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}
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/**
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* @brief Set the current velocity in the trajectory to the given value.
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* Any coordinate with NAN will not be set
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*
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* @param velocity
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*/
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void forceSetVelocity(const Vector3f &velocity)
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{
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for (size_t i = 0; i < 3; i++) {
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if (PX4_ISFINITE(velocity(i))) {
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_trajectory[i].setCurrentVelocity(velocity(i));
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}
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}
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}
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/**
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* @brief Set the current acceleration in the trajectory to the given value.
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* Any coordinate with NAN will not be set
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*
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* @param acceleration
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*/
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void forceSetAcceleration(const Vector3f &acceleration)
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{
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for (size_t i = 0; i < 3; i++) {
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if (PX4_ISFINITE(acceleration(i))) {
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_trajectory[i].setCurrentAcceleration(acceleration(i));
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}
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}
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}
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private:
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/* params, only modified from external */
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float _max_allowed_horizontal_error{0.f};
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float _vertical_acceptance_radius{0.f};
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float _cruise_speed{0.f};
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float _horizontal_trajectory_gain{0.f};
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float _target_acceptance_radius{0.f};
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/* Internal state */
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VelocitySmoothing _trajectory[3]; ///< Trajectories in x, y and z directions
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float _max_speed_previous{0.f};
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/* Internal functions */
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bool _isTurning(const Vector3f &target) const;
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void _generateSetpoints(
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const Vector3f &position,
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const Vector3f(&waypoints)[3],
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bool is_single_waypoint,
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const Vector3f &feedforward_velocity,
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float delta_time,
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bool force_zero_velocity_setpoint,
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PositionSmoothingSetpoints &out_setpoints
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);
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const Vector3f _generateVelocitySetpoint(const Vector3f &position, const Vector3f(&waypoints)[3],
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bool is_single_waypoint,
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const Vector3f &feedforward_velocity_setpoint);
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const Vector3f _getL1Point(const Vector3f &position, const Vector3f(&waypoints)[3]) const;
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const Vector3f _getCrossingPoint(const Vector3f &position, const Vector3f(&waypoints)[3]) const;
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float _getMaxXYSpeed(const Vector3f(&waypoints)[3]) const;
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float _getMaxZSpeed(const Vector3f(&waypoints)[3]) const;
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void _generateTrajectory(
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const Vector3f &position,
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const Vector3f &velocity_setpoint,
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float delta_time,
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PositionSmoothingSetpoints &out_setpoints);
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};
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