C++ (Cpp) Trajectory::append Examples

Example #1

File: Trajectory.cpp Project: humm/dovecot

Trajectory Trajectory::generatePolynomialTrajectoryThroughViapoint(const VectorXd& ts, const VectorXd& y_from, const VectorXd& y_yd_ydd_viapoint, double viapoint_time, const VectorXd& y_to)
{

    int n_dims = y_from.size();
    assert(n_dims==y_to.size());
    assert(3*n_dims==y_yd_ydd_viapoint.size()); // Contains y, yd and ydd, so *3

    int n_time_steps = ts.size();

    int viapoint_time_step = 0;
    while (viapoint_time_step<n_time_steps && ts[viapoint_time_step]<viapoint_time)
        viapoint_time_step++;

    if (viapoint_time_step>=n_time_steps)
    {
        cerr << __FILE__ << ":" << __LINE__ << ":";
        cerr << "ERROR: the time vector does not contain any time smaller than " << viapoint_time << ". Returning min-jerk trajectory WITHOUT viapoint." <<  endl;
        return Trajectory();
    }

    VectorXd yd_from        = VectorXd::Zero(n_dims);
    VectorXd ydd_from       = VectorXd::Zero(n_dims);

    VectorXd y_viapoint     = y_yd_ydd_viapoint.segment(0*n_dims,n_dims);
    VectorXd yd_viapoint    = y_yd_ydd_viapoint.segment(1*n_dims,n_dims);
    VectorXd ydd_viapoint   = y_yd_ydd_viapoint.segment(2*n_dims,n_dims);

    VectorXd yd_to          = VectorXd::Zero(n_dims);
    VectorXd ydd_to         = VectorXd::Zero(n_dims);

    Trajectory traj = Trajectory::generatePolynomialTrajectory(ts.segment(0, viapoint_time_step + 1), y_from, yd_from, ydd_from, y_viapoint, yd_viapoint, ydd_viapoint);
    traj.append(Trajectory::generatePolynomialTrajectory(ts.segment(viapoint_time_step, n_time_steps - viapoint_time_step), y_viapoint, yd_viapoint, ydd_viapoint, y_to, yd_to, ydd_to));

    return traj;
}