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[wpimath] Add Exponential motion profile (#5720)
This commit is contained in:
Jordan McMichael
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.math.trajectory;
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import static org.junit.jupiter.api.Assertions.assertAll;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import static org.junit.jupiter.api.Assertions.assertNotEquals;
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import static org.junit.jupiter.api.Assertions.assertTrue;
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import edu.wpi.first.math.controller.SimpleMotorFeedforward;
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import java.util.List;
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import org.junit.jupiter.api.Test;
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class ExponentialProfileTest {
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private static final double kDt = 0.01;
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private static final SimpleMotorFeedforward feedforward =
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new SimpleMotorFeedforward(0, 2.5629, 0.43277);
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private static final ExponentialProfile.Constraints constraints =
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ExponentialProfile.Constraints.fromCharacteristics(12, 2.5629, 0.43277);
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/**
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* Asserts "val1" is within "eps" of "val2".
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*
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* @param val1 First operand in comparison.
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* @param val2 Second operand in comparison.
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* @param eps Tolerance for whether values are near to each other.
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*/
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private static void assertNear(double val1, double val2, double eps) {
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assertTrue(
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Math.abs(val1 - val2) <= eps,
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"Difference between " + val1 + " and " + val2 + " is greater than " + eps);
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}
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private static void assertNear(
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ExponentialProfile.State val1, ExponentialProfile.State val2, double eps) {
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assertAll(
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() -> assertNear(val1.position, val2.position, eps),
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() -> assertNear(val1.position, val2.position, eps));
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}
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private static ExponentialProfile.State checkDynamics(
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ExponentialProfile profile, ExponentialProfile.State current, ExponentialProfile.State goal) {
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var next = profile.calculate(kDt, current, goal);
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var signal = feedforward.calculate(current.velocity, next.velocity, kDt);
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assertTrue(Math.abs(signal) < constraints.maxInput + 1e-9);
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return next;
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}
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@Test
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void reachesGoal() {
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ExponentialProfile profile = new ExponentialProfile(constraints);
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ExponentialProfile.State goal = new ExponentialProfile.State(10, 0);
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ExponentialProfile.State state = new ExponentialProfile.State(0, 0);
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for (int i = 0; i < 450; ++i) {
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state = checkDynamics(profile, state, goal);
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}
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assertEquals(state, goal);
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}
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// Tests that decreasing the maximum velocity in the middle when it is already
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// moving faster than the new max is handled correctly
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@Test
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void posContinuousUnderVelChange() {
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ExponentialProfile profile = new ExponentialProfile(constraints);
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ExponentialProfile.State goal = new ExponentialProfile.State(10, 0);
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ExponentialProfile.State state = new ExponentialProfile.State(0, 0);
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for (int i = 0; i < 300; ++i) {
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if (i == 150) {
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profile =
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new ExponentialProfile(
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ExponentialProfile.Constraints.fromStateSpace(9, constraints.A, constraints.B));
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}
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state = checkDynamics(profile, state, goal);
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}
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assertEquals(state, goal);
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}
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// Tests that decreasing the maximum velocity in the middle when it is already
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// moving faster than the new max is handled correctly
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@Test
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void posContinuousUnderVelChangeBackward() {
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ExponentialProfile profile = new ExponentialProfile(constraints);
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ExponentialProfile.State goal = new ExponentialProfile.State(-10, 0);
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ExponentialProfile.State state = new ExponentialProfile.State(0, 0);
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for (int i = 0; i < 300; ++i) {
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if (i == 150) {
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profile =
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new ExponentialProfile(
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ExponentialProfile.Constraints.fromStateSpace(9, constraints.A, constraints.B));
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}
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state = checkDynamics(profile, state, goal);
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}
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assertEquals(state, goal);
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}
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// There is some somewhat tricky code for dealing with going backwards
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@Test
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void backwards() {
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ExponentialProfile.State goal = new ExponentialProfile.State(-10, 0);
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ExponentialProfile.State state = new ExponentialProfile.State(0, 0);
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ExponentialProfile profile = new ExponentialProfile(constraints);
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for (int i = 0; i < 400; ++i) {
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state = checkDynamics(profile, state, goal);
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}
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assertEquals(state, goal);
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}
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@Test
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void switchGoalInMiddle() {
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ExponentialProfile.State goal = new ExponentialProfile.State(-10, 0);
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ExponentialProfile.State state = new ExponentialProfile.State(0, 0);
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ExponentialProfile profile = new ExponentialProfile(constraints);
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for (int i = 0; i < 50; ++i) {
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state = checkDynamics(profile, state, goal);
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}
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assertNotEquals(state, goal);
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goal = new ExponentialProfile.State(0.0, 0.0);
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for (int i = 0; i < 100; ++i) {
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state = checkDynamics(profile, state, goal);
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}
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assertEquals(state, goal);
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}
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// Checks to make sure that it hits top speed
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@Test
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void topSpeed() {
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ExponentialProfile.State goal = new ExponentialProfile.State(40, 0);
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ExponentialProfile.State state = new ExponentialProfile.State(0, 0);
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ExponentialProfile profile = new ExponentialProfile(constraints);
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double maxSpeed = 0;
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for (int i = 0; i < 900; ++i) {
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state = checkDynamics(profile, state, goal);
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maxSpeed = Math.max(maxSpeed, state.velocity);
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}
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assertNear(constraints.maxVelocity(), maxSpeed, 10e-5);
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assertEquals(state, goal);
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}
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@Test
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void topSpeedBackward() {
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ExponentialProfile.State goal = new ExponentialProfile.State(-40, 0);
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ExponentialProfile.State state = new ExponentialProfile.State(0, 0);
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ExponentialProfile profile = new ExponentialProfile(constraints);
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double maxSpeed = 0;
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for (int i = 0; i < 900; ++i) {
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state = checkDynamics(profile, state, goal);
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maxSpeed = Math.min(maxSpeed, state.velocity);
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}
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assertNear(-constraints.maxVelocity(), maxSpeed, 10e-5);
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assertEquals(state, goal);
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}
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@Test
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void largeInitialVelocity() {
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ExponentialProfile.State goal = new ExponentialProfile.State(40, 0);
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ExponentialProfile.State state = new ExponentialProfile.State(0, 8);
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ExponentialProfile profile = new ExponentialProfile(constraints);
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for (int i = 0; i < 900; ++i) {
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state = checkDynamics(profile, state, goal);
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}
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assertEquals(state, goal);
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}
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@Test
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void largeNegativeInitialVelocity() {
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ExponentialProfile.State goal = new ExponentialProfile.State(-40, 0);
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ExponentialProfile.State state = new ExponentialProfile.State(0, -8);
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ExponentialProfile profile = new ExponentialProfile(constraints);
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for (int i = 0; i < 900; ++i) {
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state = checkDynamics(profile, state, goal);
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}
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assertEquals(state, goal);
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}
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@SuppressWarnings("PMD.TestClassWithoutTestCases")
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static class TestCase {
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public final ExponentialProfile.State initial;
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public final ExponentialProfile.State goal;
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public final ExponentialProfile.State inflectionPoint;
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TestCase(
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ExponentialProfile.State initial,
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ExponentialProfile.State goal,
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ExponentialProfile.State inflectionPoint) {
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this.initial = initial;
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this.goal = goal;
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this.inflectionPoint = inflectionPoint;
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}
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}
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@Test
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void testHeuristic() {
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List<TestCase> testCases =
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List.of(
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new TestCase(
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new ExponentialProfile.State(0.0, -4),
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new ExponentialProfile.State(0.75, -4),
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new ExponentialProfile.State(1.3758, 4.4304)),
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new TestCase(
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new ExponentialProfile.State(0.0, -4),
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new ExponentialProfile.State(1.4103, 4),
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new ExponentialProfile.State(1.3758, 4.4304)),
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new TestCase(
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new ExponentialProfile.State(0.6603, 4),
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new ExponentialProfile.State(0.75, -4),
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new ExponentialProfile.State(1.3758, 4.4304)),
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new TestCase(
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new ExponentialProfile.State(0.6603, 4),
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new ExponentialProfile.State(1.4103, 4),
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new ExponentialProfile.State(1.3758, 4.4304)),
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new TestCase(
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new ExponentialProfile.State(0.0, -4),
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new ExponentialProfile.State(0.5, -2),
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new ExponentialProfile.State(0.4367, 3.7217)),
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new TestCase(
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new ExponentialProfile.State(0.0, -4),
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new ExponentialProfile.State(0.546, 2),
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new ExponentialProfile.State(0.4367, 3.7217)),
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new TestCase(
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new ExponentialProfile.State(0.6603, 4),
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new ExponentialProfile.State(0.5, -2),
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new ExponentialProfile.State(0.5560, -2.9616)),
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new TestCase(
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new ExponentialProfile.State(0.6603, 4),
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new ExponentialProfile.State(0.546, 2),
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new ExponentialProfile.State(0.5560, -2.9616)),
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new TestCase(
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new ExponentialProfile.State(0.0, -4),
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new ExponentialProfile.State(-0.75, -4),
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new ExponentialProfile.State(-0.7156, -4.4304)),
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new TestCase(
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new ExponentialProfile.State(0.0, -4),
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new ExponentialProfile.State(-0.0897, 4),
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new ExponentialProfile.State(-0.7156, -4.4304)),
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new TestCase(
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new ExponentialProfile.State(0.6603, 4),
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new ExponentialProfile.State(-0.75, -4),
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new ExponentialProfile.State(-0.7156, -4.4304)),
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new TestCase(
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new ExponentialProfile.State(0.6603, 4),
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new ExponentialProfile.State(-0.0897, 4),
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new ExponentialProfile.State(-0.7156, -4.4304)),
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new TestCase(
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new ExponentialProfile.State(0.0, -4),
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new ExponentialProfile.State(-0.5, -4.5),
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new ExponentialProfile.State(1.095, 4.314)),
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new TestCase(
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new ExponentialProfile.State(0.0, -4),
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new ExponentialProfile.State(1.0795, 4.5),
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new ExponentialProfile.State(-0.5122, -4.351)),
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new TestCase(
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new ExponentialProfile.State(0.6603, 4),
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new ExponentialProfile.State(-0.5, -4.5),
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new ExponentialProfile.State(1.095, 4.314)),
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new TestCase(
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new ExponentialProfile.State(0.6603, 4),
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new ExponentialProfile.State(1.0795, 4.5),
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new ExponentialProfile.State(-0.5122, -4.351)),
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new TestCase(
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new ExponentialProfile.State(0.0, -8),
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new ExponentialProfile.State(0, 0),
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new ExponentialProfile.State(-0.1384, 3.342)),
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new TestCase(
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new ExponentialProfile.State(0.0, -8),
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new ExponentialProfile.State(-1, 0),
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new ExponentialProfile.State(-0.562, -6.792)),
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new TestCase(
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new ExponentialProfile.State(0.0, 8),
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new ExponentialProfile.State(1, 0),
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new ExponentialProfile.State(0.562, 6.792)),
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new TestCase(
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new ExponentialProfile.State(0.0, 8),
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new ExponentialProfile.State(-1, 0),
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new ExponentialProfile.State(-0.785, -4.346)));
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var profile = new ExponentialProfile(constraints);
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for (var testCase : testCases) {
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var state = profile.calculateInflectionPoint(testCase.initial, testCase.goal);
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assertNear(testCase.inflectionPoint, state, 1e-3);
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}
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}
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@Test
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void timingToCurrent() {
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ExponentialProfile.State goal = new ExponentialProfile.State(2, 0);
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ExponentialProfile.State state = new ExponentialProfile.State(0, 0);
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ExponentialProfile profile = new ExponentialProfile(constraints);
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for (int i = 0; i < 400; i++) {
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state = checkDynamics(profile, state, goal);
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assertNear(profile.timeLeftUntil(state, state), 0, 2e-2);
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}
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}
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@Test
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void timingToGoal() {
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ExponentialProfile profile = new ExponentialProfile(constraints);
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ExponentialProfile.State goal = new ExponentialProfile.State(2, 0);
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ExponentialProfile.State state = new ExponentialProfile.State(0, 0);
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double predictedTimeLeft = profile.timeLeftUntil(state, goal);
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boolean reachedGoal = false;
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for (int i = 0; i < 400; i++) {
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state = checkDynamics(profile, state, goal);
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if (!reachedGoal && state.equals(goal)) {
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// Expected value using for loop index is just an approximation since
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// the time left in the profile doesn't increase linearly at the
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// endpoints
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assertNear(predictedTimeLeft, i / 100.0, 0.25);
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reachedGoal = true;
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}
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}
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}
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@Test
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void timingToNegativeGoal() {
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ExponentialProfile profile = new ExponentialProfile(constraints);
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ExponentialProfile.State goal = new ExponentialProfile.State(-2, 0);
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ExponentialProfile.State state = new ExponentialProfile.State(0, 0);
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double predictedTimeLeft = profile.timeLeftUntil(state, goal);
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boolean reachedGoal = false;
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for (int i = 0; i < 400; i++) {
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state = checkDynamics(profile, state, goal);
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if (!reachedGoal && state.equals(goal)) {
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// Expected value using for loop index is just an approximation since
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// the time left in the profile doesn't increase linearly at the
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// endpoints
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assertNear(predictedTimeLeft, i / 100.0, 0.25);
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reachedGoal = true;
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}
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}
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}
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}
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