GCC Code Coverage Report

Directory: ./
File: include/hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_c1.hh
Date: 2025-03-18 04:20:50
Exec Total Coverage
Lines: 66 71 93.0%
Branches: 169 342 49.4%
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1 /*
2 * Copyright 2018, LAAS-CNRS
3 * Author: Pierre Fernbach
4 */
5
6 #ifndef BEZIER_COM_TRAJ_C0DC0C1_H
7 #define BEZIER_COM_TRAJ_C0DC0C1_H
8
9 #include <hpp/bezier-com-traj/data.hh>
10
11 namespace bezier_com_traj {
12 namespace c0_dc0_c1 {
13
14 static const ConstraintFlag flag = INIT_POS | INIT_VEL | END_POS;
15
16 /// ### EQUATION FOR CONSTRAINTS ON INIT AND FINAL POSITION AND final position
17 /// (DEGREE = 3)
18 /** @brief evaluateCurveAtTime compute the expression of the point on the curve
19 * at t, defined by the waypoint pi and one free waypoint (x)
20 * @param pi constant waypoints of the curve, assume p0 p1 x p2 p3
21 * @param t param (normalized !)
22 * @return the expression of the waypoint such that wp.first . x + wp.second =
23 * point on curve
24 */
25 64 inline coefs_t evaluateCurveAtTime(const std::vector<point_t>& pi, double t) {
26
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 64 coefs_t wp;
27 64 double t2 = t * t;
28 64 double t3 = t2 * t;
29 // equation found with sympy
30 64 wp.first = -3.0 * t3 + 3.0 * t2;
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 64 wp.second = -1.0 * pi[0] * t3 + 3.0 * pi[0] * t2 - 3.0 * pi[0] * t +
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 128 1.0 * pi[0] + 3.0 * pi[1] * t3 - 6.0 * pi[1] * t2 +
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 128 3.0 * pi[1] * t + 1.0 * pi[3] * t3;
34 128 return wp;
35 }
36
37 212 inline coefs_t evaluateAccelerationCurveAtTime(const std::vector<point_t>& pi,
38 double T, double t) {
39
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 212 coefs_t wp;
40 212 double alpha = 1. / (T * T);
41 // equation found with sympy
42 212 wp.first = (-18.0 * t + 6.0) * alpha;
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 212 wp.second = (-6.0 * pi[0] * t + 6.0 * pi[0] + 18.0 * pi[1] * t -
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 424 12.0 * pi[1] + 6.0 * pi[3] * t) *
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 212 alpha;
46 424 return wp;
47 }
48
49 38 inline std::vector<point_t> computeConstantWaypoints(const ProblemData& pData,
50 double T) {
51 // equation for constraint on initial and final position and velocity (degree
52 // 4, 4 constant waypoint and one free (p2)) first, compute the constant
53 // waypoints that only depend on pData :
54 38 int n = 3;
55 38 std::vector<point_t> pi;
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 38 pi.push_back(pData.c0_); // p0
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 38 pi.push_back((pData.dc0_ * T / n) + pData.c0_); // p1
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 38 pi.push_back(point_t::Zero()); // p2 = x
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 38 pi.push_back(pData.c1_); // p3
60
61 76 return pi;
62 }
63
64 10 inline bezier_wp_t::t_point_t computeWwaypoints(const ProblemData& pData,
65 double T) {
66
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 10 bezier_wp_t::t_point_t wps;
67 10 const int DIM_POINT = 6;
68 10 const int DIM_VAR = 3;
69
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 10 std::vector<point_t> pi = computeConstantWaypoints(pData, T);
70 10 std::vector<Matrix3> Cpi;
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 50 for (std::size_t i = 0; i < pi.size(); ++i) {
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 40 Cpi.push_back(skew(pi[i]));
73 }
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 10 const Vector3 g = pData.contacts_.front().contactPhase_->m_gravity;
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 10 const Matrix3 Cg = skew(g);
76 10 const double T2 = T * T;
77 10 const double alpha = 1 / (T2);
78 // equation of waypoints for curve w found with sympy
79
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 10 waypoint_t w0 = initwp(DIM_POINT, DIM_VAR);
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 10 w0.first.block<3, 3>(0, 0) = 6 * alpha * Matrix3::Identity();
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 10 w0.first.block<3, 3>(3, 0) = 6.0 * Cpi[0] * alpha;
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 10 w0.second.head<3>() = (6 * pi[0] - 12 * pi[1]) * alpha;
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 10 w0.second.tail<3>() =
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 20 1.0 * (1.0 * Cg * T2 * pi[0] - 12.0 * Cpi[0] * pi[1]) * alpha;
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 10 wps.push_back(w0);
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 10 waypoint_t w1 = initwp(DIM_POINT, DIM_VAR);
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 10 w1.first.block<3, 3>(3, 0) = 1.0 * (-6.0 * Cpi[0] + 6.0 * Cpi[1]) * alpha;
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 10 w1.second.head<3>() = 1.0 * (4.0 * pi[0] - 6.0 * pi[1] + 2.0 * pi[3]) * alpha;
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 10 w1.second.tail<3>() =
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 20 1.0 * (1.0 * Cg * T2 * pi[1] + 2.0 * Cpi[0] * pi[3]) * alpha;
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 10 wps.push_back(w1);
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 10 waypoint_t w2 = initwp(DIM_POINT, DIM_VAR);
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 10 w2.first.block<3, 3>(0, 0) = -6.0 * alpha * Matrix3::Identity();
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 10 w2.first.block<3, 3>(3, 0) = 1.0 * (1.0 * Cg * T2 - 6.0 * Cpi[1]) * alpha;
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 10 w2.second.head<3>() = 1.0 * (2.0 * pi[0] + 4.0 * pi[3]) * alpha;
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 10 w2.second.tail<3>() =
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 20 1.0 * (-2.0 * Cpi[0] * pi[3] + 6.0 * Cpi[1] * pi[3]) * alpha;
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 10 wps.push_back(w2);
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 10 waypoint_t w3 = initwp(DIM_POINT, DIM_VAR);
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 10 w3.first.block<3, 3>(0, 0) = -12 * alpha * Matrix3::Identity();
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 10 w3.first.block<3, 3>(3, 0) = -12.0 * Cpi[3] * alpha;
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 10 w3.second.head<3>() = (6 * pi[1] + 6 * pi[3]) * alpha;
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 10 w3.second.tail<3>() =
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 20 1.0 * (1.0 * Cg * T2 * pi[3] - 6.0 * Cpi[1] * pi[3]) * alpha;
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 10 wps.push_back(w3);
106 20 return wps;
107 10 }
108
109 ✗ inline coefs_t computeFinalVelocityPoint(const ProblemData& pData, double T) {
110 ✗ coefs_t v;
111 // equation found with sympy
112 ✗ v.first = -3. / T;
113 ✗ v.second = 3. * pData.c1_ / T;
114 ✗ return v;
115 }
116
117 } // namespace c0_dc0_c1
118 } // namespace bezier_com_traj
119
120 #endif
121