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109 lines
4.6 KiB
C++
109 lines
4.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file StraightLine.hpp
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*
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* lib to return setpoints on a straight line
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*
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* @author Christoph Tobler <christoph@px4.io>
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*/
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#pragma once
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#include <px4_module_params.h>
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#include <matrix/matrix/math.hpp>
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class StraightLine : public ModuleParams
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{
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public:
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StraightLine(ModuleParams *parent, const float &deltatime, const matrix::Vector3f &pos);
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~StraightLine() = default;
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// setter functions
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void setLineFromTo(const matrix::Vector3f &origin, const matrix::Vector3f &target);
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void setSpeed(const float &speed);
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void setSpeedAtTarget(const float &speed_at_target);
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void setAcceleration(const float &acc);
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void setDeceleration(const float &dec);
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/**
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* Set all parameters to their default value depending on the direction of the line
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*/
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void setAllDefaults();
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/**
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* Get the maximum possible acceleration depending on the direction of the line
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* Respects horizontal and vertical limits
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*/
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float getMaxAcc();
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/**
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* Get the maximum possible velocity depending on the direction of the line
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* Respects horizontal and vertical limits
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*/
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float getMaxVel();
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/**
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* Generate setpoints on a straight line according to parameters
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*
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* @param position_setpoint: 3D vector with the previous position setpoint
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* @param velocity_setpoint: 3D vector with the previous velocity setpoint
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*/
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void generateSetpoints(matrix::Vector3f &position_setpoint, matrix::Vector3f &velocity_setpoint);
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private:
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const float &_deltatime; /**< delta time between last update (dependency injection) */
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const matrix::Vector3f &_pos; /**< vehicle position (dependency injection) */
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float _desired_acceleration{0.0f}; /**< acceleration along the straight line */
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float _desired_deceleration{0.0f}; /**< deceleration along the straight line */
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float _desired_speed{0.0f}; /**< desired maximum velocity */
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float _desired_speed_at_target{0.0f}; /**< desired velocity at target point */
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matrix::Vector3f _target{}; /**< End point of the straight line */
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matrix::Vector3f _origin{}; /**< Start point of the straight line */
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// parameters for default values
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) MPC_ACC_HOR_MAX, /**< maximum horizontal acceleration */
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(ParamFloat<px4::params::MPC_ACC_UP_MAX>) MPC_ACC_UP_MAX, /**< maximum vertical acceleration upwards */
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(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) MPC_ACC_DOWN_MAX, /**< maximum vertical acceleration downwards*/
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(ParamFloat<px4::params::MPC_XY_VEL_MAX>) MPC_XY_VEL_MAX, /**< maximum horizontal velocity */
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(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) MPC_Z_VEL_MAX_UP, /**< maximum vertical velocity upwards */
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(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) MPC_Z_VEL_MAX_DN, /**< maximum vertical velocity downwards */
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(ParamFloat<px4::params::NAV_ACC_RAD>) NAV_ACC_RAD /**< acceptance radius if a waypoint is reached */
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)
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};
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