GCC Code Coverage Report

Directory: ./
File: include/hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_ddc0.hh
Date: 2025-04-18 04:07:36
Exec Total Coverage
Lines: 68 74 91.9%
Branches: 163 334 48.8%
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1 /*
2 * Copyright 2018, LAAS-CNRS
3 * Author: Pierre Fernbach
4 */
5
6 #ifndef BEZIER_COM_TRAJ_c0_dc0_ddc0_H
7 #define BEZIER_COM_TRAJ_c0_dc0_ddc0_H
8
9 #include <hpp/bezier-com-traj/data.hh>
10
11 namespace bezier_com_traj {
12 namespace c0_dc0_ddc0 {
13
14 static const ConstraintFlag flag = INIT_POS | INIT_VEL | INIT_ACC;
15
16 /// ### EQUATION FOR CONSTRAINts on initial position, velocity and acceleration,
17 /// and only final position (degree = 4)
18 /**
19 * @brief evaluateCurveAtTime compute the expression of the point on the curve
20 * at t, defined by the waypoint pi and one free waypoint (x)
21 * @param pi constant waypoints of the curve, assume pi[0] pi[1] x pi[2] p3
22 * @param t param (normalized !)
23 * @return the expression of the waypoint such that wp.first . x + wp.second =
24 * point on curve
25 */
26 6 inline coefs_t evaluateCurveAtTime(const std::vector<point_t>& pi, double t) {
27
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 6 coefs_t wp;
28 6 double t2 = t * t;
29 6 double t3 = t2 * t;
30 // equation found with sympy
31 // (-1.0*pi[0] + 3.0*pi[1] - 3.0*pi[2] + 1.0*x)*t**3 + (3.0*pi[0] - 6.0*pi[1]
32 // + 3.0*pi[2])*T2 +
33 // (-3.0*pi[0] + 3.0*pi[1])*t + 1.0*pi[0],
34 6 wp.first = t3;
35
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 6 wp.second = t3 * (3 * (pi[1] - pi[2]) - pi[0]) +
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 12 t2 * (3 * (pi[0] + pi[2]) - 6 * pi[1]) + 3 * t * (pi[1] - pi[0]) +
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 12 pi[0];
38 12 return wp;
39 }
40
41 22 inline coefs_t evaluateAccelerationCurveAtTime(const std::vector<point_t>& pi,
42 double T, double t) {
43
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 22 coefs_t wp;
44 22 double alpha = 1. / (T * T);
45 // equation found with sympy
46 // 6.0*t*alpha*x + (-6.0*pi[0] + 18.0*pi[1] - 18.0*pi[2])/T2*t + (6.0*pi[0]
47 // - 12.0*pi[1] + 6.0*pi[2])/T2
48 22 wp.first = 6.0 * t * alpha;
49
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 22 wp.second = (18. * (pi[1] - pi[2]) - 6. * pi[0]) * alpha * t +
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 44 (6. * (pi[0] + pi[2]) - 12.0 * pi[1]) * alpha;
51 44 return wp;
52 }
53
54 12 inline std::vector<point_t> computeConstantWaypoints(const ProblemData& pData,
55 double T) {
56 // equation for constraint on initial position, velocity and acceleration, and
57 // only final position (degree = 4)(degree 4, 4 constant waypoint and one free
58 // (p3)) first, compute the constant waypoints that only depend on pData :
59 12 double n = 3.;
60 12 std::vector<point_t> pi;
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 12 pi.push_back(pData.c0_); // pi[0]
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 12 pi.push_back((pData.dc0_ * T / n) + pData.c0_); // pi[1]
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 24 pi.push_back((pData.ddc0_ * T * T / (n * (n - 1))) +
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 24 (2. * pData.dc0_ * T / n) + pData.c0_); // pi[2]
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 12 pi.push_back(point_t::Zero()); // x
66 24 return pi;
67 }
68
69 3 inline bezier_wp_t::t_point_t computeWwaypoints(const ProblemData& pData,
70 double T) {
71
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 3 bezier_wp_t::t_point_t wps;
72 3 const int DIM_POINT = 6;
73 3 const int DIM_VAR = 3;
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 3 std::vector<point_t> pi = computeConstantWaypoints(pData, T);
75 3 std::vector<Matrix3> Cpi;
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 15 for (std::size_t i = 0; i < pi.size(); ++i) {
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 12 Cpi.push_back(skew(pi[i]));
78 }
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 3 const Vector3 g = pData.contacts_.front().contactPhase_->m_gravity;
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 3 const Matrix3 Cg = skew(g), Id = Matrix3::Identity();
81 3 const double T2 = T * T;
82 3 const double alpha = 1 / (T2);
83
84 // equation of waypoints for curve w found with sympy
85
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 3 waypoint_t w0 = initwp(DIM_POINT, DIM_VAR);
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 3 w0.second.head<3>() = (6 * pi[0] - 12 * pi[1] + 6 * pi[2]) * alpha;
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 3 w0.second.tail<3>() =
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 3 1.0 *
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 6 (1.0 * Cg * T2 * pi[0] - 12.0 * Cpi[0] * pi[1] + 6.0 * Cpi[0] * pi[2]) *
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 3 alpha;
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 3 wps.push_back(w0);
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 3 waypoint_t w1 = initwp(DIM_POINT, DIM_VAR);
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 3 w1.first.block<3, 3>(0, 0) = 2.0 * alpha * Id;
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 3 w1.first.block<3, 3>(3, 0) = 2.0 * Cpi[0] * alpha;
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 3 w1.second.head<3>() = 1.0 * (4.0 * pi[0] - 6.0 * pi[1]) * alpha;
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 3 w1.second.tail<3>() =
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 3 1.0 *
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 6 (1.0 * Cg * T2 * pi[1] - 6.0 * Cpi[0] * pi[2] + 6.0 * Cpi[1] * pi[2]) *
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 3 alpha;
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 3 wps.push_back(w1);
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 3 waypoint_t w2 = initwp(DIM_POINT, DIM_VAR);
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 3 w2.first.block<3, 3>(0, 0) = 4.0 * alpha * Id;
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 3 w2.first.block<3, 3>(3, 0) = 1.0 * (-2.0 * Cpi[0] + 6.0 * Cpi[1]) * alpha;
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 3 w2.second.head<3>() = 1.0 * (2.0 * pi[0] - 6.0 * pi[2]) * alpha;
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 3 w2.second.tail<3>() =
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 6 1.0 * (1.0 * Cg * T2 * pi[2] - 6.0 * Cpi[1] * pi[2]) * alpha;
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 3 wps.push_back(w2);
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 3 waypoint_t w3 = initwp(DIM_POINT, DIM_VAR);
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 3 w3.first.block<3, 3>(0, 0) = 6 * alpha * Id;
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 3 w3.first.block<3, 3>(3, 0) =
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 6 1.0 * (1.0 * Cg * T2 - 6.0 * Cpi[1] + 12.0 * Cpi[2]) * alpha;
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 3 w3.second.head<3>() = (6 * pi[1] - 12 * pi[2]) * alpha;
113 // w3.second.head<3>() = 0;
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 3 wps.push_back(w3);
115 6 return wps;
116 3 }
117
118 ✗ inline coefs_t computeFinalVelocityPoint(const ProblemData& pData, double T) {
119 ✗ coefs_t v;
120 ✗ std::vector<point_t> pi = computeConstantWaypoints(pData, T);
121 // equation found with sympy
122 // 3.0*(-pi[2] + x)/T
123 ✗ v.first = 3. / T;
124 ✗ v.second = -3. * pi[2] / T;
125 ✗ return v;
126 }
127
128 } // namespace c0_dc0_ddc0
129 } // namespace bezier_com_traj
130
131 #endif
132