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// Copyright (C) 2012 LAAS-CNRS |
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// |
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// Author: Florent Lamiraux |
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// |
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#include "sot/tools/cubic-interpolation.hh" |
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#include <dynamic-graph/command-bind.h> |
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#include <dynamic-graph/command-setter.h> |
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#include <dynamic-graph/command.h> |
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#include <dynamic-graph/factory.h> |
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namespace dynamicgraph { |
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namespace sot { |
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namespace tools { |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(CubicInterpolation, "CubicInterpolation"); |
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CubicInterpolation::CubicInterpolation(const std::string& name) |
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: Entity(name), |
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soutSOUT_("CubicInterpolation(" + name + ")::output(vector)::sout"), |
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soutdotSOUT_("CubicInterpolation(" + name + ")::output(vector)::soutdot"), |
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initSIN_(NULL, "CubicInterpolation(" + name + ")::input(vector)::init"), |
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goalSIN_(NULL, "CubicInterpolation(" + name + ")::input(vector)::goal"), |
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startTime_(0), |
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samplingPeriod_(0.), |
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state_(0), |
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p0_(), |
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p1_(), |
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p2_(), |
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p3_() { |
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signalRegistration(soutSOUT_); |
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signalRegistration(soutdotSOUT_); |
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signalRegistration(initSIN_); |
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signalRegistration(goalSIN_); |
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soutSOUT_.setFunction( |
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boost::bind(&CubicInterpolation::computeSout, this, _1, _2)); |
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soutdotSOUT_.setFunction( |
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boost::bind(&CubicInterpolation::computeSoutdot, this, _1, _2)); |
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std::string docstring; |
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docstring = |
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" Set sampling period of control discretization.\n" |
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"\n" |
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" Input:\n" |
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" - a floating point value.\n" |
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"\n"; |
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addCommand("setSamplingPeriod", |
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new command::Setter<CubicInterpolation, double>( |
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*this, &CubicInterpolation::setSamplingPeriod, docstring)); |
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docstring = |
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" Start tracking.\n" |
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"\n" |
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" Input\n" |
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" - duration of the motion.\n" |
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"\n" |
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"\n Read init and goal signals, compute output trajectory and" |
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" start\n" |
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"tracking.\n"; |
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addCommand("start", new command::Setter<CubicInterpolation, double>( |
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*this, &CubicInterpolation::start, docstring)); |
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docstring = |
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" Reset interpolation before calling start again\n" |
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"\n" |
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" After the end of an interpolation, goal signal is copied into\n" |
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" sout signal. Calling reset make the entity copy init signal into\n" |
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" sout signal.\n"; |
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addCommand("reset", command::makeCommandVoid0( |
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*this, &CubicInterpolation::reset, docstring)); |
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} |
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CubicInterpolation::~CubicInterpolation() {} |
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std::string CubicInterpolation::getDocString() const { |
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std::string doc = |
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"Perform a cubic interpolation in between two vectors.\n" |
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"\n" |
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" Initial pose is given by signal 'init', Target position is given" |
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" by signal\n" |
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" 'goal'. Interpolation is performed with zero velocities at start" |
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" and goal\n" |
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" positions.\n"; |
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return doc; |
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} |
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void CubicInterpolation::reset() { state_ = 0; } |
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Vector& CubicInterpolation::computeSout(Vector& sout, const int& inTime) { |
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double t; |
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switch (state_) { |
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case 0: |
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sout = initSIN_.accessCopy(); |
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break; |
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case 1: |
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t = (inTime - startTime_) * samplingPeriod_; |
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sout = p0_ + (p1_ + (p2_ + p3_ * t) * t) * t; |
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if (t >= duration_) { |
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state_ = 2; |
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} |
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break; |
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case 2: |
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sout = goalSIN_.accessCopy(); |
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default: |
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break; |
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} |
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return sout; |
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} |
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Vector& CubicInterpolation::computeSoutdot(Vector& soutdot, const int& inTime) { |
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soutdot.resize(initSIN_.accessCopy().size()); |
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double t; |
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switch (state_) { |
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case 0: |
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soutdot.setZero(); |
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break; |
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case 1: |
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t = (inTime - startTime_) * samplingPeriod_; |
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soutdot = p1_ + (p2_ * 2 + p3_ * (3 * t)) * t; |
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if (t >= duration_) { |
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state_ = 2; |
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} |
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break; |
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case 2: |
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soutdot.setZero(); |
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default: |
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break; |
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} |
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return soutdot; |
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} |
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void CubicInterpolation::setSamplingPeriod(const double& period) { |
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samplingPeriod_ = period; |
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} |
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void CubicInterpolation::start(const double& duration) { doStart(duration); } |
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void CubicInterpolation::doStart(const double& duration) { |
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// Check that sampling period has been initialized |
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if (samplingPeriod_ <= 0) |
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throw ExceptionSignal(ExceptionSignal::NOT_INITIALIZED, |
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"CubicInterpolation: samplingPeriod should" |
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" be positive. Are you sure you did\n" |
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"initialize it?"); |
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if (state_ == 0) { |
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duration_ = duration; |
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startTime_ = soutSOUT_.getTime(); |
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double T = duration; |
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// Initial position |
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p0_ = initSIN_.accessCopy(); |
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// Initial velocity |
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p1_.resize(p0_.size()); |
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p1_.fill(0.); |
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// Goal position |
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Vector P_T; |
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P_T = goalSIN_.accessCopy(); |
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// Final velocity |
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Vector D_T(P_T.size()); |
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D_T.fill(0.); |
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p2_ = (D_T + p1_ * 2) * (-1. / T) + (P_T - p0_) * (3. / (T * T)); |
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p3_ = (P_T - p0_) * (-2 / (T * T * T)) + (p1_ + D_T) * (1. / (T * T)); |
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state_ = 1; |
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} |
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} |
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} // namespace tools |
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} // namespace sot |
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} // namespace dynamicgraph |