Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-05 03:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Make trajectory constraints use Rectangle2d and Ellipse2d (#6901)

Browse Source
This commit is contained in:
Tyler Veness
2024-08-01 16:46:23 -07:00
committed by GitHub
parent ddd64aa70c
commit 685c732568
8 changed files with 108 additions and 232 deletions
Download Patch File Download Diff File Expand all files Collapse all files

57
wpimath/src/test/java/edu/wpi/first/math/trajectory/EllipticalRegionConstraintTest.java
View File

@@ -4,12 +4,11 @@
package edu.wpi.first.math.trajectory;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.math.geometry.Ellipse2d;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.constraint.EllipticalRegionConstraint;
import edu.wpi.first.math.trajectory.constraint.MaxVelocityConstraint;
import edu.wpi.first.math.util.Units;
@@ -19,27 +18,21 @@ import org.junit.jupiter.api.Test;
class EllipticalRegionConstraintTest {
@Test
void testConstraint() {
// Create constraints
double maxVelocity = Units.feetToMeters(3.0);
var maxVelocityConstraint = new MaxVelocityConstraint(maxVelocity);
var regionConstraint =
new EllipticalRegionConstraint(
new Translation2d(Units.feetToMeters(5.0), Units.feetToMeters(5.0)),
Units.feetToMeters(10.0),
var ellipse =
new Ellipse2d(
new Pose2d(Units.feetToMeters(5.0), Units.feetToMeters(2.5), Rotation2d.kPi),
Units.feetToMeters(5.0),
Rotation2d.kPi,
maxVelocityConstraint);
Units.feetToMeters(2.5));
// Get trajectory
var trajectory = TrajectoryGeneratorTest.getTrajectory(List.of(regionConstraint));
var trajectory =
TrajectoryGeneratorTest.getTrajectory(
List.of(
new EllipticalRegionConstraint(ellipse, new MaxVelocityConstraint(maxVelocity))));
// Iterate through trajectory and check constraints
boolean exceededConstraintOutsideRegion = false;
for (var point : trajectory.getStates()) {
var translation = point.poseMeters.getTranslation();
if (translation.getX() < Units.feetToMeters(10)
&& translation.getY() < Units.feetToMeters(5)) {
if (ellipse.contains(point.poseMeters.getTranslation())) {
assertTrue(Math.abs(point.velocityMetersPerSecond) < maxVelocity + 0.05);
} else if (Math.abs(point.velocityMetersPerSecond) >= maxVelocity + 0.05) {
exceededConstraintOutsideRegion = true;
@@ -47,34 +40,4 @@ class EllipticalRegionConstraintTest {
}
assertTrue(exceededConstraintOutsideRegion);
}
@Test
void testIsPoseWithinRegion() {
double maxVelocity = Units.feetToMeters(3.0);
var maxVelocityConstraint = new MaxVelocityConstraint(maxVelocity);
var regionConstraintNoRotation =
new EllipticalRegionConstraint(
new Translation2d(Units.feetToMeters(1.0), Units.feetToMeters(1.0)),
Units.feetToMeters(2.0),
Units.feetToMeters(4.0),
Rotation2d.kZero,
maxVelocityConstraint);
assertFalse(
regionConstraintNoRotation.isPoseInRegion(
new Pose2d(Units.feetToMeters(2.1), Units.feetToMeters(1.0), Rotation2d.kZero)));
var regionConstraintWithRotation =
new EllipticalRegionConstraint(
new Translation2d(Units.feetToMeters(1.0), Units.feetToMeters(1.0)),
Units.feetToMeters(2.0),
Units.feetToMeters(4.0),
Rotation2d.kCCW_Pi_2,
maxVelocityConstraint);
assertTrue(
regionConstraintWithRotation.isPoseInRegion(
new Pose2d(Units.feetToMeters(2.1), Units.feetToMeters(1.0), Rotation2d.kZero)));
}
}

41
wpimath/src/test/java/edu/wpi/first/math/trajectory/RectangularRegionConstraintTest.java
View File

@@ -4,11 +4,9 @@
package edu.wpi.first.math.trajectory;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rectangle2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.constraint.MaxVelocityConstraint;
import edu.wpi.first.math.trajectory.constraint.RectangularRegionConstraint;
@@ -19,22 +17,21 @@ import org.junit.jupiter.api.Test;
class RectangularRegionConstraintTest {
@Test
void testConstraint() {
// Create constraints
double maxVelocity = Units.feetToMeters(3.0);
var maxVelocityConstraint = new MaxVelocityConstraint(maxVelocity);
var regionConstraint =
new RectangularRegionConstraint(
double maxVelocity = Units.feetToMeters(2.0);
var rectangle =
new Rectangle2d(
new Translation2d(Units.feetToMeters(1.0), Units.feetToMeters(1.0)),
new Translation2d(Units.feetToMeters(7.0), Units.feetToMeters(27.0)),
maxVelocityConstraint);
new Translation2d(Units.feetToMeters(5.0), Units.feetToMeters(27.0)));
// Get trajectory
var trajectory = TrajectoryGeneratorTest.getTrajectory(List.of(regionConstraint));
var trajectory =
TrajectoryGeneratorTest.getTrajectory(
List.of(
new RectangularRegionConstraint(
rectangle, new MaxVelocityConstraint(maxVelocity))));
// Iterate through trajectory and check constraints
boolean exceededConstraintOutsideRegion = false;
for (var point : trajectory.getStates()) {
if (regionConstraint.isPoseInRegion(point.poseMeters)) {
if (rectangle.contains(point.poseMeters.getTranslation())) {
assertTrue(Math.abs(point.velocityMetersPerSecond) < maxVelocity + 0.05);
} else if (Math.abs(point.velocityMetersPerSecond) >= maxVelocity + 0.05) {
exceededConstraintOutsideRegion = true;
@@ -42,20 +39,4 @@ class RectangularRegionConstraintTest {
}
assertTrue(exceededConstraintOutsideRegion);
}
@Test
void testIsPoseWithinRegion() {
double maxVelocity = Units.feetToMeters(3.0);
var maxVelocityConstraint = new MaxVelocityConstraint(maxVelocity);
var regionConstraint =
new RectangularRegionConstraint(
new Translation2d(Units.feetToMeters(1.0), Units.feetToMeters(1.0)),
new Translation2d(Units.feetToMeters(7.0), Units.feetToMeters(27.0)),
maxVelocityConstraint);
assertFalse(regionConstraint.isPoseInRegion(Pose2d.kZero));
assertTrue(
regionConstraint.isPoseInRegion(
new Pose2d(Units.feetToMeters(3.0), Units.feetToMeters(14.5), Rotation2d.kZero)));
}
}

29
wpimath/src/test/native/cpp/trajectory/EllipticalRegionConstraintTest.cpp
View File

@@ -2,11 +2,8 @@
// 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.
#include <vector>
#include <gtest/gtest.h>
#include "frc/kinematics/DifferentialDriveKinematics.h"
#include "frc/trajectory/constraint/EllipticalRegionConstraint.h"
#include "frc/trajectory/constraint/MaxVelocityConstraint.h"
#include "trajectory/TestTrajectory.h"
@@ -19,38 +16,20 @@ using namespace frc;
TEST(EllipticalRegionConstraintTest, Constraint) {
constexpr auto maxVelocity = 2_fps;
constexpr frc::Ellipse2d ellipse{{5_ft, 2.5_ft, 180_deg}, 5_ft, 2.5_ft};
auto config = TrajectoryConfig(13_fps, 13_fps_sq);
MaxVelocityConstraint maxVelConstraint(maxVelocity);
EllipticalRegionConstraint regionConstraint(
frc::Translation2d{5_ft, 2.5_ft}, 10_ft, 5_ft, 180_deg, maxVelConstraint);
config.AddConstraint(regionConstraint);
config.AddConstraint(
EllipticalRegionConstraint{ellipse, MaxVelocityConstraint{maxVelocity}});
auto trajectory = TestTrajectory::GetTrajectory(config);
bool exceededConstraintOutsideRegion = false;
for (auto& point : trajectory.States()) {
auto translation = point.pose.Translation();
if (translation.X() < 10_ft && translation.Y() < 5_ft) {
if (ellipse.Contains(point.pose.Translation())) {
EXPECT_TRUE(units::math::abs(point.velocity) < maxVelocity + 0.05_mps);
} else if (units::math::abs(point.velocity) >= maxVelocity + 0.05_mps) {
exceededConstraintOutsideRegion = true;
}
}
EXPECT_TRUE(exceededConstraintOutsideRegion);
}
TEST(EllipticalRegionConstraintTest, IsPoseInRegion) {
constexpr auto maxVelocity = 2_fps;
MaxVelocityConstraint maxVelConstraint(maxVelocity);
EllipticalRegionConstraint regionConstraintNoRotation(
frc::Translation2d{1_ft, 1_ft}, 2_ft, 4_ft, 0_deg, maxVelConstraint);
EXPECT_FALSE(regionConstraintNoRotation.IsPoseInRegion(
frc::Pose2d{2.1_ft, 1_ft, 0_rad}));
EllipticalRegionConstraint regionConstraintWithRotation(
frc::Translation2d{1_ft, 1_ft}, 2_ft, 4_ft, 90_deg, maxVelConstraint);
EXPECT_TRUE(regionConstraintWithRotation.IsPoseInRegion(
frc::Pose2d{2.1_ft, 1_ft, 0_rad}));
}

26
wpimath/src/test/native/cpp/trajectory/RectangularRegionConstraintTest.cpp
View File

@@ -2,11 +2,8 @@
// 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.
#include <vector>
#include <gtest/gtest.h>
#include "frc/kinematics/DifferentialDriveKinematics.h"
#include "frc/trajectory/constraint/MaxVelocityConstraint.h"
#include "frc/trajectory/constraint/RectangularRegionConstraint.h"
#include "trajectory/TestTrajectory.h"
@@ -19,35 +16,20 @@ using namespace frc;
TEST(RectangularRegionConstraintTest, Constraint) {
constexpr auto maxVelocity = 2_fps;
constexpr frc::Rectangle2d rectangle{{1_ft, 1_ft}, {5_ft, 27_ft}};
auto config = TrajectoryConfig(13_fps, 13_fps_sq);
MaxVelocityConstraint maxVelConstraint(maxVelocity);
RectangularRegionConstraint regionConstraint(frc::Translation2d{1_ft, 1_ft},
frc::Translation2d{5_ft, 27_ft},
maxVelConstraint);
config.AddConstraint(regionConstraint);
config.AddConstraint(RectangularRegionConstraint{
rectangle, MaxVelocityConstraint{maxVelocity}});
auto trajectory = TestTrajectory::GetTrajectory(config);
bool exceededConstraintOutsideRegion = false;
for (auto& point : trajectory.States()) {
if (regionConstraint.IsPoseInRegion(point.pose)) {
if (rectangle.Contains(point.pose.Translation())) {
EXPECT_TRUE(units::math::abs(point.velocity) < maxVelocity + 0.05_mps);
} else if (units::math::abs(point.velocity) >= maxVelocity + 0.05_mps) {
exceededConstraintOutsideRegion = true;
}
}
EXPECT_TRUE(exceededConstraintOutsideRegion);
}
TEST(RectangularRegionConstraintTest, IsPoseInRegion) {
constexpr auto maxVelocity = 2_fps;
MaxVelocityConstraint maxVelConstraint(maxVelocity);
RectangularRegionConstraint regionConstraint(frc::Translation2d{1_ft, 1_ft},
frc::Translation2d{5_ft, 27_ft},
maxVelConstraint);
EXPECT_FALSE(regionConstraint.IsPoseInRegion(Pose2d{}));
EXPECT_TRUE(regionConstraint.IsPoseInRegion(Pose2d{3_ft, 14.5_ft, 0_deg}));
}