RefValJS_PTP.cpp

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
 
#include <cob_trajectory_controller/RefValJS_PTP.h>
 
inline double sqr(double x)
{
        return x*x;
}
 
const double RefValJS_PTP::weigths[] = { 1.5, 1.5, 1.0, 1.0, 0.8, 0.8, 0.7 };
 
 
RefValJS_PTP::RefValJS_PTP(const std::vector<double>& start, const std::vector<double>& ziel, double v_rad_s, double a_rad_s2)
{
        m_start = start;
        m_ziel = ziel;
 
        m_direction.resize(start.size());
        for(unsigned int i = 0; i < start.size(); i++)
                m_direction.at(i) = ziel.at(i) - start.at(i);
        double max = m_direction.at(0);
        double min = m_direction.at(0);
        for(unsigned int i = 0; i < m_direction.size(); i++)
        {
                if(max < m_direction.at(i))
                        max = m_direction.at(i);
                if(min > m_direction.at(i))
                        min = m_direction.at(i);
        }
        max = fabs(max);
        min = fabs(min);
 
        //m_length = (max>min)?max:min;
        m_length = norm(m_direction);
 
        m_v_rad_s = v_rad_s;
        m_a_rad_s2 = a_rad_s2;
 
        /* Parameter für Beschl.begrenzte Fahrt: */
        double a = fabs(m_a_rad_s2);
        double v = fabs(m_v_rad_s);
 
        if (m_length > v*v/a)
        {
                // Phase mit konst. Geschw. wird erreicht:
                m_T1 = m_T3 = v / a;
                m_T2 = (m_length - v*v/a) / v;
 
                // Wegparameter s immer positiv, deswegen keine weitere Fallunterscheidung nötig:
                m_sv2 = 1.0 / (m_T1 + m_T2);
                m_sa1 = m_sv2 / m_T1;
                m_sa3 = -m_sa1;
        }
        else {
                // Phase konst. Geschw. wird nicht erreicht:
                m_T2 = 0.0;
                m_T1 = m_T3 = sqrt(m_length / a);
 
                m_sv2 = 1.0 / m_T1;
                m_sa1 = m_sv2 / m_T1;
                m_sa3 = -m_sa1;
 
        }
        // Bewegung vollständig charakterisiert.
 
}
 
 
std::vector<double> RefValJS_PTP::r(double s) const
{
        std::vector<double> soll;
        soll.resize(m_start.size());
        if (s <= 0)
        {
                soll = m_start;
        } else
        if (s < 1)
        {
                for(unsigned int i = 0; i < m_start.size(); i++)
                        soll.at(i) = m_start.at(i) + m_direction.at(i) * s;
        }
        else
        {
                soll = m_ziel;
        }
        return soll;
}
 
double RefValJS_PTP::s(double t) const
{
        if (t >= m_T1 + m_T2 + m_T3)
                return 1.0;
        else if (t >= m_T1 + m_T2)
        {
                return 0.5*m_sa1*m_T1*m_T1 + m_sv2*m_T2 + m_sv2*(t-m_T1-m_T2) + 0.5*m_sa3*sqr(t-m_T1-m_T2);
        }
        else if (t >= m_T1)
        {
                return 0.5*m_sa1*m_T1*m_T1 + m_sv2*(t-m_T1);
        }
        else if (t > 0.0)
        {
                return 0.5*m_sa1*t*t;
        }
        else return 0.0;
}
 
double RefValJS_PTP::ds_dt(double t) const
{
        if (t >= m_T1 + m_T2 + m_T3)
                return 0.0;
        else if (t >= m_T1 + m_T2)
        {
                return m_sv2 + m_sa3*(t-m_T1-m_T2);
        }
        else if (t >= m_T1)
        {
                return m_sv2;
        }
        else if (t > 0.0)
        {
                return m_sa1*t;
        }
        else return 0.0;
}
 
std::vector<double> RefValJS_PTP::dr_ds(double s) const
{
        std::vector<double> result = m_start;
        if (s < 0.0 || s >= 1.0)
        {
                for(unsigned int i = 0; i<result.size(); i++)
                        result.at(i) = 0.0;
        }
        else
        {
                result = m_direction;
        }
 
        return result;
}