GCC Code Coverage Report

Directory: ./
File: include/hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_dc1_c1.hh
Date: 2025-03-18 04:20:50
Exec Total Coverage
Lines: 87 93 93.5%
Branches: 278 568 48.9%
Line Branch Exec Source
1 /*
2 * Copyright 2018, LAAS-CNRS
3 * Author: Pierre Fernbach
4 */
5
6 #ifndef BEZIER_COM_TRAJ_C0DC0D1C1_H
7 #define BEZIER_COM_TRAJ_C0DC0D1C1_H
8
9 #include <hpp/bezier-com-traj/data.hh>
10
11 namespace bezier_com_traj {
12 namespace c0_dc0_dc1_c1 {
13
14 static const ConstraintFlag flag = INIT_POS | INIT_VEL | END_POS | END_VEL;
15
16 /// ### EQUATION FOR CONSTRAINTS ON INIT AND FINAL POSITION AND VELOCITY (DEGREE
17 /// = 4)
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 */
25 128 inline coefs_t evaluateCurveAtTime(const std::vector<point_t>& pi, double t) {
26
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 128 coefs_t wp;
27 128 double t2 = t * t;
28 128 double t3 = t2 * t;
29 128 double t4 = t3 * t;
30 // equation found with sympy
31 128 wp.first = (6.0 * t4 - 12.0 * t3 + 6.0 * t2);
32
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 128 wp.second = 1.0 * pi[0] * t4 - 4.0 * pi[0] * t3 + 6.0 * pi[0] * t2 -
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 256 4.0 * pi[0] * t + 1.0 * pi[0] - 4.0 * pi[1] * t4 +
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 256 12.0 * pi[1] * t3 - 12.0 * pi[1] * t2 + 4.0 * pi[1] * t -
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 256 4.0 * pi[3] * t4 + 4.0 * pi[3] * t3 + 1.0 * pi[4] * t4;
36 256 return wp;
37 }
38
39 408 inline coefs_t evaluateAccelerationCurveAtTime(const std::vector<point_t>& pi,
40 double T, double t) {
41
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 408 coefs_t wp;
42 408 double alpha = 1. / (T * T);
43 // equation found with sympy
44 408 wp.first = (72.0 * t * t - 72.0 * t + 12.0) * alpha;
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 408 wp.second = (12.0 * pi[0] * t * t - 24.0 * pi[0] * t + 12.0 * pi[0] -
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 816 48.0 * pi[1] * t * t + 72.0 * pi[1] * t - 24.0 * pi[1] -
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 816 48.0 * pi[3] * t * t + 24.0 * pi[3] * t + 12.0 * pi[4] * t * t) *
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 408 alpha;
49 816 return wp;
50 }
51
52 92 inline std::vector<point_t> computeConstantWaypoints(const ProblemData& pData,
53 double T) {
54 // equation for constraint on initial and final position and velocity (degree
55 // 4, 4 constant waypoint and one free (p2)) first, compute the constant
56 // waypoints that only depend on pData :
57 92 int n = 4;
58 92 std::vector<point_t> pi;
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 92 pi.push_back(pData.c0_); // p0
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 92 pi.push_back((pData.dc0_ * T / n) + pData.c0_); // p1
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 92 pi.push_back(point_t::Zero()); // p2 = x
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 92 pi.push_back((-pData.dc1_ * T / n) + pData.c1_); // p3
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 92 pi.push_back(pData.c1_); // p4
64 184 return pi;
65 }
66
67 22 inline bezier_wp_t::t_point_t computeWwaypoints(const ProblemData& pData,
68 double T) {
69
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 22 bezier_wp_t::t_point_t wps;
70 22 const int DIM_POINT = 6;
71 22 const int DIM_VAR = 3;
72
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 22 std::vector<point_t> pi = computeConstantWaypoints(pData, T);
73 22 std::vector<Matrix3> Cpi;
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 132 for (std::size_t i = 0; i < pi.size(); ++i) {
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 110 Cpi.push_back(skew(pi[i]));
76 }
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 22 const Vector3 g = pData.contacts_.front().contactPhase_->m_gravity;
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 22 const Matrix3 Cg = skew(g);
79 22 const double T2 = T * T;
80 22 const double alpha = 1 / (T2);
81 // equation of waypoints for curve w found with sympy
82
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 22 waypoint_t w0 = initwp(DIM_POINT, DIM_VAR);
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 22 w0.first.block<3, 3>(0, 0) = 12. * alpha * Matrix3::Identity();
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 22 w0.first.block<3, 3>(3, 0) = 12. * alpha * Cpi[0];
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 22 w0.second.head<3>() = (12. * pi[0] - 24. * pi[1]) * alpha;
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 22 w0.second.tail<3>() = 1.0 * Cg * pi[0] - (24.0 * Cpi[0] * pi[1]) * alpha;
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 22 wps.push_back(w0);
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 22 waypoint_t w1 = initwp(DIM_POINT, DIM_VAR);
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 22 w1.first.block<3, 3>(0, 0) = -2.4 * alpha * Matrix3::Identity();
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 22 w1.first.block<3, 3>(3, 0) = (-12.0 * Cpi[0] + 9.6 * Cpi[1]) * alpha;
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 22 w1.second.head<3>() = (7.2 * pi[0] - 9.6 * pi[1] + 4.8 * pi[3]) * alpha;
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 22 w1.second.tail<3>() =
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 22 (0.2 * Cg * T2 * pi[0] + 0.8 * Cg * T2 * pi[1] + 4.8 * Cpi[0] * pi[3]) *
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 22 alpha;
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 22 wps.push_back(w1);
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 22 waypoint_t w2 = initwp(DIM_POINT, DIM_VAR);
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 22 w2.first.block<3, 3>(0, 0) = -9.6 * alpha * Matrix3::Identity();
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 22 w2.first.block<3, 3>(3, 0) = (0.6 * Cg * T2 - 9.6 * Cpi[1]) * alpha;
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 22 w2.second.head<3>() = (3.6 * pi[0] + 4.8 * pi[3] + 1.2 * pi[4]) * alpha;
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 44 w2.second.tail<3>() = (0.4 * Cg * T2 * pi[1] - 4.8 * Cpi[0] * pi[3] +
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 44 1.2 * Cpi[0] * pi[4] + 9.6 * Cpi[1] * pi[3]) *
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 22 alpha;
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 22 wps.push_back(w2);
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 22 waypoint_t w3 = initwp(DIM_POINT, DIM_VAR);
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 22 w3.first.block<3, 3>(0, 0) = -9.6 * alpha * Matrix3::Identity();
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 22 w3.first.block<3, 3>(3, 0) = (0.6 * Cg * T2 - 9.6 * Cpi[3]) * alpha;
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 22 w3.second.head<3>() = (1.2 * pi[0] + 4.8 * pi[1] + 3.6 * pi[4]) * alpha;
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 44 w3.second.tail<3>() = (0.4 * Cg * T2 * pi[3] - 1.2 * Cpi[0] * pi[4] -
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 44 9.6 * Cpi[1] * pi[3] + 4.8 * Cpi[1] * pi[4]) *
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 22 alpha;
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 22 wps.push_back(w3);
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 22 waypoint_t w4 = initwp(DIM_POINT, DIM_VAR);
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 22 w4.first.block<3, 3>(0, 0) = -2.4 * alpha * Matrix3::Identity();
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 22 w4.first.block<3, 3>(3, 0) = (9.6 * Cpi[3] - 12.0 * Cpi[4]) * alpha;
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 22 w4.second.head<3>() = (4.8 * pi[1] - 9.6 * pi[3] + 7.2 * pi[4]) * alpha;
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 22 w4.second.tail<3>() =
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 22 (0.8 * Cg * T2 * pi[3] + 0.2 * Cg * T2 * pi[4] - 4.8 * Cpi[1] * pi[4]) *
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 22 alpha;
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 22 wps.push_back(w4);
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 22 waypoint_t w5 = initwp(DIM_POINT, DIM_VAR);
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 22 w5.first.block<3, 3>(0, 0) = 12 * alpha * Matrix3::Identity();
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 22 w5.first.block<3, 3>(3, 0) = 12.0 * Cpi[4] * alpha;
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 22 w5.second.head<3>() = (-24 * pi[3] + 12 * pi[4]) * alpha;
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 22 w5.second.tail<3>() = (Cg * T2 * pi[4] + 24.0 * Cpi[3] * pi[4]) * alpha;
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 22 wps.push_back(w5);
126 44 return wps;
127 22 }
128
129 ✗ inline coefs_t computeFinalVelocityPoint(const ProblemData& pData, double T) {
130 ✗ coefs_t v;
131 ✗ std::vector<point_t> pi = computeConstantWaypoints(pData, T);
132 // equation found with sympy
133 ✗ v.first = 0.;
134 ✗ v.second = (-4.0 * pi[3] + 4.0 * pi[4]) / T;
135 ✗ return v;
136 }
137
138 } // namespace c0_dc0_dc1_c1
139 } // namespace bezier_com_traj
140
141 #endif
142