TrajectoryParameterizer.hpp

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
/*
 * MIT License
 *
 * Copyright (c) 2018 Team 254
 *
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 * of this software and associated documentation files (the "Software"), to deal
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#pragma once
 
#include <memory>
#include <utility>
#include <vector>
 
#include "wpi/math/trajectory/Trajectory.hpp"
#include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
#include "wpi/util/SymbolExports.hpp"
 
namespace wpi::math {
/**
 * Class used to parameterize a trajectory by time.
 */
class WPILIB_DLLEXPORT TrajectoryParameterizer {
 public:
  using PoseWithCurvature = std::pair<Pose2d, wpi::units::curvature_t>;
 
  /**
   * Parameterize the trajectory by time. This is where the velocity profile is
   * generated.
   *
   * The derivation of the algorithm used can be found here:
   * <http://www2.informatik.uni-freiburg.de/~lau/students/Sprunk2008.pdf>
   *
   * @param points Reference to the spline points.
   * @param constraints A vector of various velocity and acceleration
   * constraints.
   * @param startVelocity The start velocity for the trajectory.
   * @param endVelocity The end velocity for the trajectory.
   * @param maxVelocity The max velocity for the trajectory.
   * @param maxAcceleration The max acceleration for the trajectory.
   * @param reversed Whether the robot should move backwards. Note that the
   * robot will still move from a -> b -> ... -> z as defined in the waypoints.
   *
   * @return The trajectory.
   */
  static Trajectory TimeParameterizeTrajectory(
      const std::vector<PoseWithCurvature>& points,
      const std::vector<std::unique_ptr<TrajectoryConstraint>>& constraints,
      wpi::units::meters_per_second_t startVelocity,
      wpi::units::meters_per_second_t endVelocity,
      wpi::units::meters_per_second_t maxVelocity,
      wpi::units::meters_per_second_squared_t maxAcceleration, bool reversed);
 
 private:
  constexpr static double kEpsilon = 1E-6;
 
  /**
   * Represents a constrained state that is used when time parameterizing a
   * trajectory. Each state has the pose, curvature, distance from the start of
   * the trajectory, max velocity, min acceleration and max acceleration.
   */
  struct ConstrainedState {
    PoseWithCurvature pose = {Pose2d{}, wpi::units::curvature_t{0.0}};
    wpi::units::meter_t distance = 0_m;
    wpi::units::meters_per_second_t maxVelocity = 0_mps;
    wpi::units::meters_per_second_squared_t minAcceleration = 0_mps_sq;
    wpi::units::meters_per_second_squared_t maxAcceleration = 0_mps_sq;
  };
 
  /**
   * Enforces acceleration limits as defined by the constraints. This function
   * is used when time parameterizing a trajectory.
   *
   * @param reverse Whether the robot is traveling backwards.
   * @param constraints A vector of the user-defined velocity and acceleration
   * constraints.
   * @param state Pointer to the constrained state that we are operating on.
   * This is mutated in place.
   */
  static void EnforceAccelerationLimits(
      bool reverse,
      const std::vector<std::unique_ptr<TrajectoryConstraint>>& constraints,
      ConstrainedState* state);
};
}  // namespace wpi::math