Directory: | ./ |
---|---|
File: | include/hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_ddc0_dc1_c1.hh |
Date: | 2025-03-18 04:20:50 |
Exec | Total | Coverage | |
---|---|---|---|
Lines: | 163 | 169 | 96.4% |
Branches: | 442 | 896 | 49.3% |
Line | Branch | Exec | Source |
---|---|---|---|
1 | /* | ||
2 | * Copyright 2018, LAAS-CNRS | ||
3 | * Author: Pierre Fernbach | ||
4 | */ | ||
5 | |||
6 | #ifndef BEZIER_COM_TRAJ_c0_dc0_ddc0_dc1_c1_H | ||
7 | #define BEZIER_COM_TRAJ_c0_dc0_ddc0_dc1_c1_H | ||
8 | |||
9 | #include <hpp/bezier-com-traj/data.hh> | ||
10 | |||
11 | namespace bezier_com_traj { | ||
12 | namespace c0_dc0_ddc0_dc1_c1 { | ||
13 | |||
14 | static const ConstraintFlag flag = | ||
15 | INIT_POS | INIT_VEL | INIT_ACC | END_VEL | END_POS; | ||
16 | |||
17 | /// ### EQUATION FOR CONSTRAINTS ON INIT AND FINAL POSITION AND VELOCITY AND | ||
18 | /// INIT ACCELERATION (DEGREE = 5) | ||
19 | /// | ||
20 | /** | ||
21 | * @brief evaluateCurveAtTime compute the expression of the point on the curve | ||
22 | * at t, defined by the waypoint pi and one free waypoint (x) | ||
23 | * @param pi constant waypoints of the curve, assume p0 p1 x p2 p3 | ||
24 | * @param t param (normalized !) | ||
25 | * @return the expression of the waypoint such that wp.first . x + wp.second = | ||
26 | * point on curve | ||
27 | */ | ||
28 | 64 | inline coefs_t evaluateCurveAtTime(const std::vector<point_t>& pi, double t) { | |
29 |
1/2✓ Branch 1 taken 64 times.
✗ Branch 2 not taken.
|
64 | coefs_t wp; |
30 | 64 | double t2 = t * t; | |
31 | 64 | double t3 = t2 * t; | |
32 | 64 | double t4 = t3 * t; | |
33 | 64 | double t5 = t4 * t; | |
34 | // equation found with sympy | ||
35 | 64 | wp.first = 10.0 * t5 - 20.0 * t4 + 10.0 * t3; | |
36 |
9/18✓ Branch 2 taken 64 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 64 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 64 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 64 times.
✗ Branch 13 not taken.
✓ Branch 16 taken 64 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 64 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 64 times.
✗ Branch 23 not taken.
✓ Branch 25 taken 64 times.
✗ Branch 26 not taken.
✓ Branch 28 taken 64 times.
✗ Branch 29 not taken.
|
64 | wp.second = -1.0 * pi[0] * t5 + 5.0 * pi[0] * t4 - 10.0 * pi[0] * t3 + |
37 |
8/16✓ Branch 2 taken 64 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 64 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 64 times.
✗ Branch 10 not taken.
✓ Branch 13 taken 64 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 64 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 64 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 64 times.
✗ Branch 23 not taken.
✓ Branch 25 taken 64 times.
✗ Branch 26 not taken.
|
128 | 10.0 * pi[0] * t2 - 5.0 * pi[0] * t + 1.0 * pi[0] + |
38 |
9/18✓ Branch 2 taken 64 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 64 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 64 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 64 times.
✗ Branch 13 not taken.
✓ Branch 16 taken 64 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 64 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 64 times.
✗ Branch 23 not taken.
✓ Branch 25 taken 64 times.
✗ Branch 26 not taken.
✓ Branch 28 taken 64 times.
✗ Branch 29 not taken.
|
128 | 5.0 * pi[1] * t5 - 20.0 * pi[1] * t4 + 30.0 * pi[1] * t3 - |
39 |
9/18✓ Branch 2 taken 64 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 64 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 64 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 64 times.
✗ Branch 13 not taken.
✓ Branch 16 taken 64 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 64 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 64 times.
✗ Branch 23 not taken.
✓ Branch 25 taken 64 times.
✗ Branch 26 not taken.
✓ Branch 28 taken 64 times.
✗ Branch 29 not taken.
|
128 | 20.0 * pi[1] * t2 + 5.0 * pi[1] * t - 10.0 * pi[2] * t5 + |
40 |
9/18✓ Branch 2 taken 64 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 64 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 64 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 64 times.
✗ Branch 13 not taken.
✓ Branch 16 taken 64 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 64 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 64 times.
✗ Branch 23 not taken.
✓ Branch 25 taken 64 times.
✗ Branch 26 not taken.
✓ Branch 28 taken 64 times.
✗ Branch 29 not taken.
|
128 | 30.0 * pi[2] * t4 - 30.0 * pi[2] * t3 + 10.0 * pi[2] * t2 - |
41 |
9/18✓ Branch 2 taken 64 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 64 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 64 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 64 times.
✗ Branch 13 not taken.
✓ Branch 16 taken 64 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 64 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 64 times.
✗ Branch 23 not taken.
✓ Branch 25 taken 64 times.
✗ Branch 26 not taken.
✓ Branch 28 taken 64 times.
✗ Branch 29 not taken.
|
128 | 5.0 * pi[4] * t5 + 5.0 * pi[4] * t4 + 1.0 * pi[5] * t5; |
42 | 128 | return wp; | |
43 | } | ||
44 | |||
45 | 212 | inline coefs_t evaluateAccelerationCurveAtTime(const std::vector<point_t>& pi, | |
46 | double T, double t) { | ||
47 |
1/2✓ Branch 1 taken 212 times.
✗ Branch 2 not taken.
|
212 | coefs_t wp; |
48 | 212 | double alpha = 1. / (T * T); | |
49 | 212 | double t2 = t * t; | |
50 | 212 | double t3 = t2 * t; | |
51 | // equation found with sympy | ||
52 | 212 | wp.first = (200.0 * t3 - 240.0 * t2 + 60.0 * t) * alpha; | |
53 |
1/2✓ Branch 1 taken 212 times.
✗ Branch 2 not taken.
|
212 | wp.second = 1.0 * |
54 |
9/18✓ Branch 2 taken 212 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 212 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 212 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 212 times.
✗ Branch 13 not taken.
✓ Branch 16 taken 212 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 212 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 212 times.
✗ Branch 23 not taken.
✓ Branch 25 taken 212 times.
✗ Branch 26 not taken.
✓ Branch 28 taken 212 times.
✗ Branch 29 not taken.
|
212 | (-20.0 * pi[0] * t3 + 60.0 * pi[0] * t2 - 60.0 * pi[0] * t + |
55 |
8/16✓ Branch 2 taken 212 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 212 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 212 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 212 times.
✗ Branch 13 not taken.
✓ Branch 16 taken 212 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 212 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 212 times.
✗ Branch 23 not taken.
✓ Branch 25 taken 212 times.
✗ Branch 26 not taken.
|
424 | 20.0 * pi[0] + 100.0 * pi[1] * t3 - 240.0 * pi[1] * t2 + |
56 |
8/16✓ Branch 2 taken 212 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 212 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 212 times.
✗ Branch 10 not taken.
✓ Branch 13 taken 212 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 212 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 212 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 212 times.
✗ Branch 23 not taken.
✓ Branch 25 taken 212 times.
✗ Branch 26 not taken.
|
424 | 180.0 * pi[1] * t - 40.0 * pi[1] - 200.0 * pi[2] * t3 + |
57 |
8/16✓ Branch 2 taken 212 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 212 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 212 times.
✗ Branch 10 not taken.
✓ Branch 13 taken 212 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 212 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 212 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 212 times.
✗ Branch 23 not taken.
✓ Branch 25 taken 212 times.
✗ Branch 26 not taken.
|
424 | 360.0 * pi[2] * t2 - 180.0 * pi[2] * t + 20.0 * pi[2] - |
58 |
9/18✓ Branch 2 taken 212 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 212 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 212 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 212 times.
✗ Branch 13 not taken.
✓ Branch 16 taken 212 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 212 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 212 times.
✗ Branch 23 not taken.
✓ Branch 25 taken 212 times.
✗ Branch 26 not taken.
✓ Branch 28 taken 212 times.
✗ Branch 29 not taken.
|
636 | 100.0 * pi[4] * t3 + 60.0 * pi[4] * t2 + 20.0 * pi[5] * t3) * |
59 |
1/2✓ Branch 1 taken 212 times.
✗ Branch 2 not taken.
|
212 | alpha; |
60 | 424 | return wp; | |
61 | } | ||
62 | |||
63 | 38 | inline std::vector<point_t> computeConstantWaypoints(const ProblemData& pData, | |
64 | double T) { | ||
65 | // equation for constraint on initial and final position and velocity and | ||
66 | // initial acceleration(degree 5, 5 constant waypoint and one free (p3)) | ||
67 | // first, compute the constant waypoints that only depend on pData : | ||
68 | 38 | double n = 5.; | |
69 | 38 | std::vector<point_t> pi; | |
70 |
1/2✓ Branch 1 taken 38 times.
✗ Branch 2 not taken.
|
38 | pi.push_back(pData.c0_); // p0 |
71 |
5/10✓ Branch 1 taken 38 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 38 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 38 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 38 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 38 times.
✗ Branch 14 not taken.
|
38 | pi.push_back((pData.dc0_ * T / n) + pData.c0_); // p1 |
72 |
6/12✓ Branch 1 taken 38 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 38 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 38 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 38 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 38 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 38 times.
✗ Branch 17 not taken.
|
76 | pi.push_back((pData.ddc0_ * T * T / (n * (n - 1))) + |
73 |
4/8✓ Branch 1 taken 38 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 38 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 38 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 38 times.
✗ Branch 11 not taken.
|
76 | (2. * pData.dc0_ * T / n) + pData.c0_); // p2 |
74 |
3/6✓ Branch 1 taken 38 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 38 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 38 times.
✗ Branch 8 not taken.
|
38 | pi.push_back(point_t::Zero()); // x |
75 |
6/12✓ Branch 1 taken 38 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 38 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 38 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 38 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 38 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 38 times.
✗ Branch 17 not taken.
|
38 | pi.push_back((-pData.dc1_ * T / n) + pData.c1_); // p4 |
76 |
1/2✓ Branch 1 taken 38 times.
✗ Branch 2 not taken.
|
38 | pi.push_back(pData.c1_); // p5 |
77 | 76 | return pi; | |
78 | } | ||
79 | |||
80 | 10 | inline bezier_wp_t::t_point_t computeWwaypoints(const ProblemData& pData, | |
81 | double T) { | ||
82 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | bezier_wp_t::t_point_t wps; |
83 | 10 | const int DIM_POINT = 6; | |
84 | 10 | const int DIM_VAR = 3; | |
85 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | std::vector<point_t> pi = computeConstantWaypoints(pData, T); |
86 | 10 | std::vector<Matrix3> Cpi; | |
87 |
2/2✓ Branch 1 taken 60 times.
✓ Branch 2 taken 10 times.
|
70 | for (std::size_t i = 0; i < pi.size(); ++i) { |
88 |
3/6✓ Branch 2 taken 60 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 60 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 60 times.
✗ Branch 9 not taken.
|
60 | Cpi.push_back(skew(pi[i])); |
89 | } | ||
90 |
1/2✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
|
10 | const Vector3 g = pData.contacts_.front().contactPhase_->m_gravity; |
91 |
2/4✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
|
10 | const Matrix3 Cg = skew(g); |
92 | 10 | const double T2 = T * T; | |
93 | 10 | const double alpha = 1 / (T2); | |
94 | |||
95 | // equation of waypoints for curve w found with sympy | ||
96 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | waypoint_t w0 = initwp(DIM_POINT, DIM_VAR); |
97 |
8/16✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 10 taken 10 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 10 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 10 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 10 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 10 times.
✗ Branch 23 not taken.
✓ Branch 25 taken 10 times.
✗ Branch 26 not taken.
|
10 | w0.second.head<3>() = (20 * pi[0] - 40 * pi[1] + 20 * pi[2]) * alpha; |
98 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | w0.second.tail<3>() = |
99 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | 1.0 * |
100 |
10/20✓ Branch 3 taken 10 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 10 times.
✗ Branch 15 not taken.
✓ Branch 18 taken 10 times.
✗ Branch 19 not taken.
✓ Branch 21 taken 10 times.
✗ Branch 22 not taken.
✓ Branch 24 taken 10 times.
✗ Branch 25 not taken.
✓ Branch 27 taken 10 times.
✗ Branch 28 not taken.
✓ Branch 30 taken 10 times.
✗ Branch 31 not taken.
✓ Branch 33 taken 10 times.
✗ Branch 34 not taken.
|
20 | (1.0 * Cg * T2 * pi[0] - 40.0 * Cpi[0] * pi[1] + 20.0 * Cpi[0] * pi[2]) * |
101 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | alpha; |
102 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | wps.push_back(w0); |
103 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | waypoint_t w1 = initwp(DIM_POINT, DIM_VAR); |
104 |
4/8✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 10 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 10 times.
✗ Branch 11 not taken.
|
10 | w1.first.block<3, 3>(0, 0) = 8.57142857142857 * alpha * Matrix3::Identity(); |
105 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 10 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
|
10 | w1.first.block<3, 3>(3, 0) = 8.57142857142857 * Cpi[0] * alpha; |
106 |
2/4✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
|
20 | w1.second.head<3>() = 1.0 * |
107 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 10 times.
✗ Branch 13 not taken.
|
10 | (11.4285714285714 * pi[0] - 14.2857142857143 * pi[1] - |
108 |
2/4✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
|
20 | 5.71428571428572 * pi[2]) * |
109 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | alpha; |
110 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | w1.second.tail<3>() = |
111 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | 1.0 * |
112 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 10 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
|
10 | (0.285714285714286 * Cg * T2 * pi[0] + |
113 |
7/14✓ Branch 3 taken 10 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 10 taken 10 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 10 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 10 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 10 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 10 times.
✗ Branch 23 not taken.
|
20 | 0.714285714285714 * Cg * T2 * pi[1] - 20.0 * Cpi[0] * pi[2] + |
114 |
3/6✓ Branch 3 taken 10 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
|
20 | 14.2857142857143 * Cpi[1] * pi[2]) * |
115 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | alpha; |
116 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | wps.push_back(w1); |
117 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | waypoint_t w2 = initwp(DIM_POINT, DIM_VAR); |
118 |
4/8✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 10 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 10 times.
✗ Branch 11 not taken.
|
10 | w2.first.block<3, 3>(0, 0) = 5.71428571428571 * alpha * Matrix3::Identity(); |
119 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | w2.first.block<3, 3>(3, 0) = |
120 |
6/12✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 10 times.
✗ Branch 13 not taken.
✓ Branch 15 taken 10 times.
✗ Branch 16 not taken.
✓ Branch 18 taken 10 times.
✗ Branch 19 not taken.
|
20 | 1.0 * (-8.57142857142857 * Cpi[0] + 14.2857142857143 * Cpi[1]) * alpha; |
121 |
2/4✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
|
20 | w2.second.head<3>() = 1.0 * |
122 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 10 times.
✗ Branch 13 not taken.
|
10 | (5.71428571428571 * pi[0] - 14.2857142857143 * pi[2] + |
123 |
2/4✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
|
20 | 2.85714285714286 * pi[4]) * |
124 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | alpha; |
125 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | w2.second.tail<3>() = |
126 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | 1.0 * |
127 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 10 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
|
10 | (0.0476190476190479 * Cg * T2 * pi[0] + |
128 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 10 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
|
20 | 0.476190476190476 * Cg * T2 * pi[1] + |
129 |
7/14✓ Branch 3 taken 10 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 10 taken 10 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 10 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 10 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 10 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 10 times.
✗ Branch 23 not taken.
|
20 | 0.476190476190476 * Cg * T2 * pi[2] + 2.85714285714286 * Cpi[0] * pi[4] - |
130 |
3/6✓ Branch 3 taken 10 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
|
20 | 14.2857142857143 * Cpi[1] * pi[2]) * |
131 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | alpha; |
132 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | wps.push_back(w2); |
133 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | waypoint_t w3 = initwp(DIM_POINT, DIM_VAR); |
134 |
4/8✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 10 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 10 times.
✗ Branch 11 not taken.
|
10 | w3.first.block<3, 3>(0, 0) = -2.85714285714286 * alpha * Matrix3::Identity(); |
135 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | w3.first.block<3, 3>(3, 0) = |
136 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | 1.0 * |
137 |
5/10✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 10 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 10 times.
✗ Branch 15 not taken.
|
10 | (0.285714285714286 * Cg * T2 - 14.2857142857143 * Cpi[1] + |
138 |
2/4✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
|
20 | 11.4285714285714 * Cpi[2]) * |
139 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | alpha; |
140 |
2/4✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
|
20 | w3.second.head<3>() = 1.0 * |
141 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 10 times.
✗ Branch 13 not taken.
|
10 | (2.28571428571429 * pi[0] + 5.71428571428571 * pi[1] - |
142 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 10 times.
✗ Branch 13 not taken.
|
20 | 11.4285714285714 * pi[2] + 5.71428571428571 * pi[4] + |
143 |
2/4✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
|
20 | 0.571428571428571 * pi[5]) * |
144 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | alpha; |
145 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | w3.second.tail<3>() = |
146 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | 1.0 * |
147 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 10 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
|
10 | (0.142857142857143 * Cg * T2 * pi[1] + |
148 |
7/14✓ Branch 3 taken 10 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 10 taken 10 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 10 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 10 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 10 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 10 times.
✗ Branch 23 not taken.
|
20 | 0.571428571428571 * Cg * T2 * pi[2] - 2.85714285714286 * Cpi[0] * pi[4] + |
149 |
6/12✓ Branch 3 taken 10 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 10 times.
✗ Branch 15 not taken.
✓ Branch 17 taken 10 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 10 times.
✗ Branch 21 not taken.
|
30 | 0.571428571428571 * Cpi[0] * pi[5] + 8.57142857142857 * Cpi[1] * pi[4]) * |
150 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | alpha; |
151 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | wps.push_back(w3); |
152 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | waypoint_t w4 = initwp(DIM_POINT, DIM_VAR); |
153 |
4/8✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 10 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 10 times.
✗ Branch 11 not taken.
|
10 | w4.first.block<3, 3>(0, 0) = -11.4285714285714 * alpha * Matrix3::Identity(); |
154 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | w4.first.block<3, 3>(3, 0) = |
155 |
7/14✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 10 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 10 times.
✗ Branch 15 not taken.
✓ Branch 17 taken 10 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 10 times.
✗ Branch 21 not taken.
|
20 | 1.0 * (0.571428571428571 * Cg * T2 - 11.4285714285714 * Cpi[2]) * alpha; |
156 |
2/4✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
|
20 | w4.second.head<3>() = 1.0 * |
157 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 10 times.
✗ Branch 13 not taken.
|
10 | (0.571428571428571 * pi[0] + 5.71428571428571 * pi[1] - |
158 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 10 times.
✗ Branch 13 not taken.
|
20 | 2.85714285714286 * pi[2] + 5.71428571428571 * pi[4] + |
159 |
2/4✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
|
20 | 2.28571428571429 * pi[5]) * |
160 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | alpha; |
161 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | w4.second.tail<3>() = |
162 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | 1.0 * |
163 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 10 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
|
10 | (0.285714285714286 * Cg * T2 * pi[2] + |
164 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 10 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
|
20 | 0.142857142857143 * Cg * T2 * pi[4] - |
165 |
6/12✓ Branch 3 taken 10 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 10 times.
✗ Branch 15 not taken.
✓ Branch 17 taken 10 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 10 times.
✗ Branch 21 not taken.
|
20 | 0.571428571428572 * Cpi[0] * pi[5] - 8.57142857142857 * Cpi[1] * pi[4] + |
166 |
6/12✓ Branch 3 taken 10 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 10 times.
✗ Branch 15 not taken.
✓ Branch 17 taken 10 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 10 times.
✗ Branch 21 not taken.
|
30 | 2.85714285714286 * Cpi[1] * pi[5] + 14.2857142857143 * Cpi[2] * pi[4]) * |
167 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | alpha; |
168 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | wps.push_back(w4); |
169 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | waypoint_t w5 = initwp(DIM_POINT, DIM_VAR); |
170 |
4/8✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 10 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 10 times.
✗ Branch 11 not taken.
|
10 | w5.first.block<3, 3>(0, 0) = -14.2857142857143 * alpha * Matrix3::Identity(); |
171 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | w5.first.block<3, 3>(3, 0) = |
172 |
7/14✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 10 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 10 times.
✗ Branch 15 not taken.
✓ Branch 17 taken 10 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 10 times.
✗ Branch 21 not taken.
|
20 | 1.0 * (0.476190476190476 * Cg * T2 - 14.2857142857143 * Cpi[4]) * alpha; |
173 |
2/4✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
|
20 | w5.second.head<3>() = 1.0 * |
174 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 10 times.
✗ Branch 13 not taken.
|
10 | (2.85714285714286 * pi[1] + 5.71428571428571 * pi[2] + |
175 |
2/4✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
|
20 | 5.71428571428571 * pi[5]) * |
176 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | alpha; |
177 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | w5.second.tail<3>() = |
178 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | 1.0 * |
179 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 10 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
|
10 | (0.476190476190476 * Cg * T2 * pi[4] + |
180 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 10 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
|
20 | 0.0476190476190476 * Cg * T2 * pi[5] - |
181 |
6/12✓ Branch 3 taken 10 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 10 times.
✗ Branch 15 not taken.
✓ Branch 17 taken 10 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 10 times.
✗ Branch 21 not taken.
|
20 | 2.85714285714286 * Cpi[1] * pi[5] - 14.2857142857143 * Cpi[2] * pi[4] + |
182 |
3/6✓ Branch 3 taken 10 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
|
20 | 8.57142857142857 * Cpi[2] * pi[5]) * |
183 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | alpha; |
184 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | wps.push_back(w5); |
185 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | waypoint_t w6 = initwp(DIM_POINT, DIM_VAR); |
186 |
4/8✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 10 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 10 times.
✗ Branch 11 not taken.
|
10 | w6.first.block<3, 3>(0, 0) = -5.71428571428572 * alpha * Matrix3::Identity(); |
187 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | w6.first.block<3, 3>(3, 0) = |
188 |
6/12✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 10 times.
✗ Branch 13 not taken.
✓ Branch 15 taken 10 times.
✗ Branch 16 not taken.
✓ Branch 18 taken 10 times.
✗ Branch 19 not taken.
|
20 | 1.0 * (14.2857142857143 * Cpi[4] - 20.0 * Cpi[5]) * alpha; |
189 |
2/4✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
|
20 | w6.second.head<3>() = 1.0 * |
190 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 10 times.
✗ Branch 13 not taken.
|
10 | (8.57142857142857 * pi[2] - 14.2857142857143 * pi[4] + |
191 |
2/4✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
|
20 | 11.4285714285714 * pi[5]) * |
192 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | alpha; |
193 |
2/4✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
|
20 | w6.second.tail<3>() = 1.0 * |
194 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 10 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
|
10 | (0.714285714285714 * Cg * T2 * pi[4] + |
195 |
4/8✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 10 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
|
20 | 0.285714285714286 * Cg * T2 * pi[5] - |
196 |
3/6✓ Branch 3 taken 10 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
|
20 | 8.57142857142858 * Cpi[2] * pi[5]) * |
197 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | alpha; |
198 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | wps.push_back(w6); |
199 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | waypoint_t w7 = initwp(DIM_POINT, DIM_VAR); |
200 |
4/8✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 10 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 10 times.
✗ Branch 11 not taken.
|
10 | w7.first.block<3, 3>(0, 0) = 20 * alpha * Matrix3::Identity(); |
201 |
5/10✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 10 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 10 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 10 times.
✗ Branch 15 not taken.
|
10 | w7.first.block<3, 3>(3, 0) = 1.0 * (20.0 * Cpi[5]) * alpha; |
202 |
6/12✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 10 times.
✗ Branch 13 not taken.
✓ Branch 15 taken 10 times.
✗ Branch 16 not taken.
✓ Branch 18 taken 10 times.
✗ Branch 19 not taken.
|
10 | w7.second.head<3>() = (-40 * pi[4] + 20 * pi[5]) * alpha; |
203 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | w7.second.tail<3>() = |
204 |
9/18✓ Branch 3 taken 10 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 10 taken 10 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 10 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 10 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 10 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 10 times.
✗ Branch 23 not taken.
✓ Branch 25 taken 10 times.
✗ Branch 26 not taken.
✓ Branch 28 taken 10 times.
✗ Branch 29 not taken.
|
20 | 1.0 * (1.0 * Cg * T2 * pi[5] + 40.0 * Cpi[4] * pi[5]) * alpha; |
205 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | wps.push_back(w7); |
206 | 20 | return wps; | |
207 | 10 | } | |
208 | |||
209 | ✗ | inline coefs_t computeFinalVelocityPoint(const ProblemData& pData, double T) { | |
210 | ✗ | coefs_t v; | |
211 | ✗ | std::vector<point_t> pi = computeConstantWaypoints(pData, T); | |
212 | // equation found with sympy | ||
213 | ✗ | v.first = 0.; | |
214 | ✗ | v.second = (-5.0 * pi[4] + 5.0 * pi[5]) / T; | |
215 | ✗ | return v; | |
216 | } | ||
217 | |||
218 | } // namespace c0_dc0_ddc0_dc1_c1 | ||
219 | } // namespace bezier_com_traj | ||
220 | |||
221 | #endif | ||
222 |