mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
[wpimath] Add Exponential motion profile (#5720)
This commit is contained in:
Jordan McMichael
@@ -0,0 +1,194 @@
|
||||
// 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.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "units/time.h"
|
||||
#include "wpimath/MathShared.h"
|
||||
|
||||
namespace frc {
|
||||
|
||||
/**
|
||||
* A Exponential-shaped velocity profile.
|
||||
*
|
||||
* While this class can be used for a profiled movement from start to finish,
|
||||
* the intended usage is to filter a reference's dynamics based on
|
||||
* ExponentialProfile velocity constraints. To compute the reference obeying
|
||||
* this constraint, do the following.
|
||||
*
|
||||
* Initialization:
|
||||
* @code{.cpp}
|
||||
* ExponentialProfile::Constraints constraints{kMaxV, kV, kA};
|
||||
* State previousProfiledReference = {initialReference, 0_mps};
|
||||
* @endcode
|
||||
*
|
||||
* Run on update:
|
||||
* @code{.cpp}
|
||||
* previousProfiledReference = profile.Calculate(timeSincePreviousUpdate,
|
||||
* previousProfiledReference, unprofiledReference);
|
||||
* @endcode
|
||||
*
|
||||
* where `unprofiledReference` is free to change between calls. Note that when
|
||||
* the unprofiled reference is within the constraints, `Calculate()` returns the
|
||||
* unprofiled reference unchanged.
|
||||
*
|
||||
* Otherwise, a timer can be started to provide monotonic values for
|
||||
* `Calculate()` and to determine when the profile has completed via
|
||||
* `IsFinished()`.
|
||||
*/
|
||||
template <class Distance, class Input>
|
||||
class ExponentialProfile {
|
||||
public:
|
||||
using Distance_t = units::unit_t<Distance>;
|
||||
using Velocity =
|
||||
units::compound_unit<Distance, units::inverse<units::seconds>>;
|
||||
using Velocity_t = units::unit_t<Velocity>;
|
||||
using Acceleration =
|
||||
units::compound_unit<Velocity, units::inverse<units::seconds>>;
|
||||
using Input_t = units::unit_t<Input>;
|
||||
using A_t = units::unit_t<units::inverse<units::seconds>>;
|
||||
using B_t =
|
||||
units::unit_t<units::compound_unit<Acceleration, units::inverse<Input>>>;
|
||||
using KV = units::compound_unit<Input, units::inverse<Velocity>>;
|
||||
using kV_t = units::unit_t<KV>;
|
||||
using KA = units::compound_unit<Input, units::inverse<Acceleration>>;
|
||||
using kA_t = units::unit_t<KA>;
|
||||
|
||||
class Constraints {
|
||||
public:
|
||||
Constraints(Input_t maxInput, A_t A, B_t B)
|
||||
: maxInput{maxInput}, A{A}, B{B} {}
|
||||
Constraints(Input_t maxInput, kV_t kV, kA_t kA)
|
||||
: maxInput{maxInput}, A{-kV / kA}, B{1 / kA} {}
|
||||
Velocity_t MaxVelocity() const { return -maxInput * B / A; }
|
||||
|
||||
Input_t maxInput{0};
|
||||
A_t A{0};
|
||||
B_t B{0};
|
||||
};
|
||||
|
||||
class State {
|
||||
public:
|
||||
Distance_t position{0};
|
||||
Velocity_t velocity{0};
|
||||
bool operator==(const State&) const = default;
|
||||
};
|
||||
|
||||
class ProfileTiming {
|
||||
public:
|
||||
units::second_t inflectionTime;
|
||||
units::second_t totalTime;
|
||||
|
||||
bool IsFinished(const units::second_t& time) const {
|
||||
return time > totalTime;
|
||||
}
|
||||
};
|
||||
|
||||
/**
|
||||
* Construct a ExponentialProfile.
|
||||
*
|
||||
* @param constraints The constraints on the profile, like maximum input.
|
||||
*/
|
||||
explicit ExponentialProfile(Constraints constraints);
|
||||
|
||||
ExponentialProfile(const ExponentialProfile&) = default;
|
||||
ExponentialProfile& operator=(const ExponentialProfile&) = default;
|
||||
ExponentialProfile(ExponentialProfile&&) = default;
|
||||
ExponentialProfile& operator=(ExponentialProfile&&) = default;
|
||||
|
||||
/**
|
||||
* Calculate the correct position and velocity for the profile at a time t
|
||||
* where the current state is at time t = 0.
|
||||
*/
|
||||
State Calculate(const units::second_t& t, const State& current,
|
||||
const State& goal) const;
|
||||
|
||||
/**
|
||||
* Calculate the point after which the fastest way to reach the goal state is
|
||||
* to apply input in the opposite direction.
|
||||
*/
|
||||
State CalculateInflectionPoint(const State& current, const State& goal) const;
|
||||
|
||||
/**
|
||||
* Calculate the time it will take for this profile to reach the goal state.
|
||||
*/
|
||||
units::second_t TimeLeftUntil(const State& current, const State& goal) const;
|
||||
|
||||
/**
|
||||
* Calculate the time it will take for this profile to reach the inflection
|
||||
* point, and the time it will take for this profile to reach the goal state.
|
||||
*/
|
||||
ProfileTiming CalculateProfileTiming(const State& current,
|
||||
const State& goal) const;
|
||||
|
||||
private:
|
||||
/**
|
||||
* Calculate the point after which the fastest way to reach the goal state is
|
||||
* to apply input in the opposite direction.
|
||||
*/
|
||||
State CalculateInflectionPoint(const State& current, const State& goal,
|
||||
const Input_t& input) const;
|
||||
|
||||
/**
|
||||
* Calculate the time it will take for this profile to reach the inflection
|
||||
* point, and the time it will take for this profile to reach the goal state.
|
||||
*/
|
||||
ProfileTiming CalculateProfileTiming(const State& current,
|
||||
const State& inflectionPoint,
|
||||
const State& goal,
|
||||
const Input_t& input) const;
|
||||
|
||||
/**
|
||||
* Calculate the velocity reached after t seconds when applying an input from
|
||||
* the initial state.
|
||||
*/
|
||||
Velocity_t ComputeVelocityFromTime(const units::second_t& time,
|
||||
const Input_t& input,
|
||||
const State& initial) const;
|
||||
|
||||
/**
|
||||
* Calculate the position reached after t seconds when applying an input from
|
||||
* the initial state.
|
||||
*/
|
||||
Distance_t ComputeDistanceFromTime(const units::second_t& time,
|
||||
const Input_t& input,
|
||||
const State& initial) const;
|
||||
|
||||
/**
|
||||
* Calculate the distance reached at the same time as the given velocity when
|
||||
* applying the given input from the initial state.
|
||||
*/
|
||||
Distance_t ComputeDistanceFromVelocity(const Velocity_t& velocity,
|
||||
const Input_t& input,
|
||||
const State& initial) const;
|
||||
|
||||
/**
|
||||
* Calculate the time required to reach a specified velocity given the initial
|
||||
* velocity.
|
||||
*/
|
||||
units::second_t ComputeTimeFromVelocity(const Velocity_t& velocity,
|
||||
const Input_t& input,
|
||||
const Velocity_t& initial) const;
|
||||
|
||||
/**
|
||||
* Calculate the velocity at which input should be reversed in order to reach
|
||||
* the goal state from the current state.
|
||||
*/
|
||||
Velocity_t SolveForInflectionVelocity(const Input_t& input,
|
||||
const State& current,
|
||||
const State& goal) const;
|
||||
|
||||
/**
|
||||
* Returns true if the profile should be inverted.
|
||||
*
|
||||
* <p>The profile is inverted if we should first apply negative input in order
|
||||
* to reach the goal state.
|
||||
*/
|
||||
bool ShouldFlipInput(const State& current, const State& goal) const;
|
||||
|
||||
Constraints m_constraints;
|
||||
};
|
||||
} // namespace frc
|
||||
|
||||
#include "ExponentialProfile.inc"
|
||||
@@ -0,0 +1,253 @@
|
||||
// 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.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <algorithm>
|
||||
|
||||
#include <fmt/core.h>
|
||||
|
||||
#include "frc/trajectory/ExponentialProfile.h"
|
||||
#include "units/math.h"
|
||||
|
||||
namespace frc {
|
||||
template <class Distance, class Input>
|
||||
ExponentialProfile<Distance, Input>::ExponentialProfile(Constraints constraints)
|
||||
: m_constraints(constraints) {}
|
||||
|
||||
template <class Distance, class Input>
|
||||
typename ExponentialProfile<Distance, Input>::State
|
||||
ExponentialProfile<Distance, Input>::Calculate(const units::second_t& t,
|
||||
const State& current,
|
||||
const State& goal) const {
|
||||
auto direction = ShouldFlipInput(current, goal) ? -1 : 1;
|
||||
auto u = direction * m_constraints.maxInput;
|
||||
|
||||
auto inflectionPoint = CalculateInflectionPoint(current, goal, u);
|
||||
auto timing = CalculateProfileTiming(current, inflectionPoint, goal, u);
|
||||
|
||||
if (t < 0_s) {
|
||||
return current;
|
||||
} else if (t < timing.inflectionTime) {
|
||||
return {ComputeDistanceFromTime(t, u, current),
|
||||
ComputeVelocityFromTime(t, u, current)};
|
||||
} else if (t < timing.totalTime) {
|
||||
return {ComputeDistanceFromTime(t - timing.totalTime, -u, goal),
|
||||
ComputeVelocityFromTime(t - timing.totalTime, -u, goal)};
|
||||
} else {
|
||||
return goal;
|
||||
}
|
||||
}
|
||||
|
||||
template <class Distance, class Input>
|
||||
typename ExponentialProfile<Distance, Input>::State
|
||||
ExponentialProfile<Distance, Input>::CalculateInflectionPoint(
|
||||
const State& current, const State& goal) const {
|
||||
auto direction = ShouldFlipInput(current, goal) ? -1 : 1;
|
||||
auto u = direction * m_constraints.maxInput;
|
||||
|
||||
return CalculateInflectionPoint(current, goal, u);
|
||||
}
|
||||
|
||||
template <class Distance, class Input>
|
||||
typename ExponentialProfile<Distance, Input>::State
|
||||
ExponentialProfile<Distance, Input>::CalculateInflectionPoint(
|
||||
const State& current, const State& goal, const Input_t& input) const {
|
||||
auto u = input;
|
||||
|
||||
if (current == goal) {
|
||||
return current;
|
||||
}
|
||||
|
||||
auto inflectionVelocity = SolveForInflectionVelocity(u, current, goal);
|
||||
auto inflectionPosition =
|
||||
ComputeDistanceFromVelocity(inflectionVelocity, -u, goal);
|
||||
|
||||
return {inflectionPosition, inflectionVelocity};
|
||||
}
|
||||
|
||||
template <class Distance, class Input>
|
||||
units::second_t ExponentialProfile<Distance, Input>::TimeLeftUntil(
|
||||
const State& current, const State& goal) const {
|
||||
auto timing = CalculateProfileTiming(current, goal);
|
||||
|
||||
return timing.totalTime;
|
||||
}
|
||||
|
||||
template <class Distance, class Input>
|
||||
typename ExponentialProfile<Distance, Input>::ProfileTiming
|
||||
ExponentialProfile<Distance, Input>::CalculateProfileTiming(
|
||||
const State& current, const State& goal) const {
|
||||
auto direction = ShouldFlipInput(current, goal) ? -1 : 1;
|
||||
auto u = direction * m_constraints.maxInput;
|
||||
|
||||
auto inflectionPoint = CalculateInflectionPoint(current, goal, u);
|
||||
return CalculateProfileTiming(current, inflectionPoint, goal, u);
|
||||
}
|
||||
|
||||
template <class Distance, class Input>
|
||||
typename ExponentialProfile<Distance, Input>::ProfileTiming
|
||||
ExponentialProfile<Distance, Input>::CalculateProfileTiming(
|
||||
const State& current, const State& inflectionPoint, const State& goal,
|
||||
const Input_t& input) const {
|
||||
auto u = input;
|
||||
auto u_dir = units::math::abs(u) / u;
|
||||
|
||||
units::second_t inflectionT_forward;
|
||||
|
||||
// We need to handle 5 cases here:
|
||||
//
|
||||
// - Approaching -maxVelocity from below
|
||||
// - Approaching -maxVelocity from above
|
||||
// - Approaching maxVelocity from below
|
||||
// - Approaching maxVelocity from above
|
||||
// - At +-maxVelocity
|
||||
//
|
||||
// For cases 1 and 3, we want to subtract epsilon from the inflection point
|
||||
// velocity For cases 2 and 4, we want to add epsilon to the inflection point
|
||||
// velocity. For case 5, we have reached inflection point velocity.
|
||||
auto epsilon = Velocity_t(1e-9);
|
||||
if (units::math::abs(u_dir * m_constraints.MaxVelocity() -
|
||||
inflectionPoint.velocity) < epsilon) {
|
||||
auto solvableV = inflectionPoint.velocity;
|
||||
units::second_t t_to_solvable_v;
|
||||
Distance_t x_at_solvable_v;
|
||||
if (units::math::abs(current.velocity - inflectionPoint.velocity) <
|
||||
epsilon) {
|
||||
t_to_solvable_v = 0_s;
|
||||
x_at_solvable_v = current.position;
|
||||
} else {
|
||||
if (units::math::abs(current.velocity) > m_constraints.MaxVelocity()) {
|
||||
solvableV += u_dir * epsilon;
|
||||
} else {
|
||||
solvableV -= u_dir * epsilon;
|
||||
}
|
||||
|
||||
t_to_solvable_v = ComputeTimeFromVelocity(solvableV, u, current.velocity);
|
||||
x_at_solvable_v = ComputeDistanceFromVelocity(solvableV, u, current);
|
||||
}
|
||||
|
||||
inflectionT_forward =
|
||||
t_to_solvable_v + u_dir * (inflectionPoint.position - x_at_solvable_v) /
|
||||
m_constraints.MaxVelocity();
|
||||
} else {
|
||||
inflectionT_forward =
|
||||
ComputeTimeFromVelocity(inflectionPoint.velocity, u, current.velocity);
|
||||
}
|
||||
|
||||
auto inflectionT_backward =
|
||||
ComputeTimeFromVelocity(inflectionPoint.velocity, -u, goal.velocity);
|
||||
|
||||
return {inflectionT_forward, inflectionT_forward - inflectionT_backward};
|
||||
}
|
||||
|
||||
template <class Distance, class Input>
|
||||
typename ExponentialProfile<Distance, Input>::Distance_t
|
||||
ExponentialProfile<Distance, Input>::ComputeDistanceFromTime(
|
||||
const units::second_t& time, const Input_t& input,
|
||||
const State& initial) const {
|
||||
auto A = m_constraints.A;
|
||||
auto B = m_constraints.B;
|
||||
auto u = input;
|
||||
|
||||
return initial.position +
|
||||
(-B * u * time +
|
||||
(initial.velocity + B * u / A) * (units::math::exp(A * time) - 1)) /
|
||||
A;
|
||||
}
|
||||
|
||||
template <class Distance, class Input>
|
||||
typename ExponentialProfile<Distance, Input>::Velocity_t
|
||||
ExponentialProfile<Distance, Input>::ComputeVelocityFromTime(
|
||||
const units::second_t& time, const Input_t& input,
|
||||
const State& initial) const {
|
||||
auto A = m_constraints.A;
|
||||
auto B = m_constraints.B;
|
||||
auto u = input;
|
||||
|
||||
return (initial.velocity + B * u / A) * units::math::exp(A * time) -
|
||||
B * u / A;
|
||||
}
|
||||
|
||||
template <class Distance, class Input>
|
||||
units::second_t ExponentialProfile<Distance, Input>::ComputeTimeFromVelocity(
|
||||
const Velocity_t& velocity, const Input_t& input,
|
||||
const Velocity_t& initial) const {
|
||||
auto A = m_constraints.A;
|
||||
auto B = m_constraints.B;
|
||||
auto u = input;
|
||||
|
||||
return units::math::log((A * velocity + B * u) / (A * initial + B * u)) / A;
|
||||
}
|
||||
|
||||
template <class Distance, class Input>
|
||||
typename ExponentialProfile<Distance, Input>::Distance_t
|
||||
ExponentialProfile<Distance, Input>::ComputeDistanceFromVelocity(
|
||||
const Velocity_t& velocity, const Input_t& input,
|
||||
const State& initial) const {
|
||||
auto A = m_constraints.A;
|
||||
auto B = m_constraints.B;
|
||||
auto u = input;
|
||||
|
||||
return initial.position + (velocity - initial.velocity) / A -
|
||||
B * u / (A * A) *
|
||||
units::math::log((A * velocity + B * u) /
|
||||
(A * initial.velocity + B * u));
|
||||
}
|
||||
|
||||
template <class Distance, class Input>
|
||||
typename ExponentialProfile<Distance, Input>::Velocity_t
|
||||
ExponentialProfile<Distance, Input>::SolveForInflectionVelocity(
|
||||
const Input_t& input, const State& current, const State& goal) const {
|
||||
auto A = m_constraints.A;
|
||||
auto B = m_constraints.B;
|
||||
auto u = input;
|
||||
|
||||
auto u_dir = u / units::math::abs(u);
|
||||
|
||||
auto position_delta = goal.position - current.position;
|
||||
auto velocity_delta = goal.velocity - current.velocity;
|
||||
|
||||
auto scalar = (A * current.velocity + B * u) * (A * goal.velocity - B * u);
|
||||
auto power = -A / B / u * (A * position_delta - velocity_delta);
|
||||
|
||||
auto a = -A * A;
|
||||
auto c = B * B * u * u + scalar * units::math::exp(power);
|
||||
|
||||
if (-1e-9 < c.value() && c.value() < 0) {
|
||||
// numeric instability - the heuristic gets it right but c is around -1e-13
|
||||
return Velocity_t(0);
|
||||
}
|
||||
|
||||
return u_dir * units::math::sqrt(-c / a);
|
||||
}
|
||||
|
||||
template <class Distance, class Input>
|
||||
bool ExponentialProfile<Distance, Input>::ShouldFlipInput(
|
||||
const State& current, const State& goal) const {
|
||||
auto u = m_constraints.maxInput;
|
||||
|
||||
auto v0 = current.velocity;
|
||||
auto xf = goal.position;
|
||||
auto vf = goal.velocity;
|
||||
|
||||
auto x_forward = ComputeDistanceFromVelocity(vf, u, current);
|
||||
auto x_reverse = ComputeDistanceFromVelocity(vf, -u, current);
|
||||
|
||||
if (v0 >= m_constraints.MaxVelocity()) {
|
||||
return xf < x_reverse;
|
||||
}
|
||||
|
||||
if (v0 <= -m_constraints.MaxVelocity()) {
|
||||
return xf < x_forward;
|
||||
}
|
||||
|
||||
auto a = v0 >= Velocity_t(0);
|
||||
auto b = vf >= Velocity_t(0);
|
||||
auto c = xf >= x_forward;
|
||||
auto d = xf >= x_reverse;
|
||||
|
||||
return (a && !d) || (b && !c) || (!c && !d);
|
||||
}
|
||||
} // namespace frc
|
||||
Reference in New Issue
Block a user