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| /********************************************************************* | ||
| * | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2016, | ||
| * TU Dortmund - Institute of Control Theory and Systems Engineering. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the institute nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| * | ||
| * Author: Christoph Rösmann | ||
| *********************************************************************/ | ||
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| #ifndef OMNI_HELPER_H_ | ||
| #define OMNI_HELPER_H_ | ||
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| #include <cmath> | ||
| #include <algorithm> | ||
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| namespace teb_local_planner | ||
| { | ||
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| // error | ||
| // a1: vel_x, a2: vel_y, a3: omega_z | ||
| inline double error_0_1(const double& a1, const double& a2, const double a3) { return std::hypot(std::hypot(a1, a2), a3); } | ||
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| inline double error_1_1(const double& a1, const double& a2, const double a3) { return a3 - a1 + a2; } | ||
| inline double error_1_2(const double& a1, const double& a2, const double a3) { return a3 - a1 - a2; } | ||
| inline double error_1_3(const double& a1, const double& a2, const double a3) { return a3 + a1 - a2; } | ||
| inline double error_1_4(const double& a1, const double& a2, const double a3) { return a3 + a1 + a2; } | ||
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| inline double error_2_1(const double& a1, const double& a2, const double a3) { return a3 + a2; } | ||
| inline double error_2_2(const double& a1, const double& a2, const double a3) { return a3 - a1; } | ||
| inline double error_2_3(const double& a1, const double& a2, const double a3) { return a3 - a2; } | ||
| inline double error_2_4(const double& a1, const double& a2, const double a3) { return a3 + a1; } | ||
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| inline double error_3_1(const double& a1, const double& a2, const double a3) { return a3 + a2; } | ||
| inline double error_3_2(const double& a1, const double& a2, const double a3) { return a3 - a1 - a2 * 0.5; } | ||
| inline double error_3_3(const double& a1, const double& a2, const double a3) { return a3 + a1 - a2 * 0.5; } | ||
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| inline double error_4_1(const double& a1, const double& a2, const double a3) { return a3 + a1; } | ||
| inline double error_4_2(const double& a1, const double& a2, const double a3) { return a3 - a1 * 0.5 + a2; } | ||
| inline double error_4_3(const double& a1, const double& a2, const double a3) { return a3 - a1 * 0.5 - a2; } | ||
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| inline double error_5_1(const double& a1, const double& a2, const double a3) { return a3 - a2; } | ||
| inline double error_5_2(const double& a1, const double& a2, const double a3) { return a3 + a1 + a2 * 0.5; } | ||
| inline double error_5_3(const double& a1, const double& a2, const double a3) { return a3 - a1 + a2 * 0.5; } | ||
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| inline double error_6_1(const double& a1, const double& a2, const double a3) { return a3 - a1; } | ||
| inline double error_6_2(const double& a1, const double& a2, const double a3) { return a3 + a1 * 0.5 - a2; } | ||
| inline double error_6_3(const double& a1, const double& a2, const double a3) { return a3 + a1 * 0.5 + a2; } | ||
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| // weight | ||
| // a1: vel_x, a2: vel_y, a3: omega_z | ||
| inline double weight_0_1(const double& a1, const double& a2, const double a3) { return std::hypot(std::hypot(a1, a2), a3); } | ||
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| inline double weight_1_1(const double& a1, const double& a2, const double a3) { return a3 + a1 + a2; } | ||
| inline double weight_1_2(const double& a1, const double& a2, const double a3) { return a3 + a1 + a2; } | ||
| inline double weight_1_3(const double& a1, const double& a2, const double a3) { return a3 + a1 + a2; } | ||
| inline double weight_1_4(const double& a1, const double& a2, const double a3) { return a3 + a1 + a2; } | ||
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| inline double weight_2_1(const double& a1, const double& a2, const double a3) { return a3 + a2; } | ||
| inline double weight_2_2(const double& a1, const double& a2, const double a3) { return a3 + a1; } | ||
| inline double weight_2_3(const double& a1, const double& a2, const double a3) { return a3 + a2; } | ||
| inline double weight_2_4(const double& a1, const double& a2, const double a3) { return a3 + a1; } | ||
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| inline double weight_3_1(const double& a1, const double& a2, const double a3) { return a3 + a2; } | ||
| inline double weight_3_2(const double& a1, const double& a2, const double a3) { return a3 + a1 + a2 * 0.5; } | ||
| inline double weight_3_3(const double& a1, const double& a2, const double a3) { return a3 + a1 + a2 * 0.5; } | ||
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| inline double weight_4_1(const double& a1, const double& a2, const double a3) { return a3 + a1; } | ||
| inline double weight_4_2(const double& a1, const double& a2, const double a3) { return a3 + a1 * 0.5 + a2; } | ||
| inline double weight_4_3(const double& a1, const double& a2, const double a3) { return a3 + a1 * 0.5 + a2; } | ||
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| inline double weight_5_1(const double& a1, const double& a2, const double a3) { return a3 + a2; } | ||
| inline double weight_5_2(const double& a1, const double& a2, const double a3) { return a3 + a1 + a2 * 0.5; } | ||
| inline double weight_5_3(const double& a1, const double& a2, const double a3) { return a3 + a1 + a2 * 0.5; } | ||
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| inline double weight_6_1(const double& a1, const double& a2, const double a3) { return a3 + a1; } | ||
| inline double weight_6_2(const double& a1, const double& a2, const double a3) { return a3 + a1 * 0.5 + a2; } | ||
| inline double weight_6_3(const double& a1, const double& a2, const double a3) { return a3 + a1 * 0.5 + a2; } | ||
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| // limit | ||
| // a1: vel_x, a2: vel_y, a3: omega_z | ||
| inline double limit_0(const double& a1, const double& a2, const double a3) { return std::hypot(std::hypot(a1, a2), a3); } | ||
| inline double limit_1(const double& a1, const double& a2, const double a3) { return std::fabs(a1) + std::fabs(a2) + std::fabs(a3); } | ||
| inline double limit_2(const double& a1, const double& a2, const double a3) { return std::max(std::fabs(a1), std::fabs(a2)) + std::fabs(a3); } | ||
| inline double limit_3(const double& a1, const double& a2, const double a3) { return std::max(std::fabs(a3 + a2), std::max(std::fabs(a3 - a1 - a2 * 0.5), std::fabs(a3 + a1 - a2 * 0.5))); } | ||
| inline double limit_4(const double& a1, const double& a2, const double a3) { return std::max(std::fabs(a3 + a1), std::max(std::fabs(a3 - a1 * 0.5 + a2), std::fabs(a3 - a1 * 0.5 - a2))); } | ||
| inline double limit_5(const double& a1, const double& a2, const double a3) { return std::max(std::fabs(a3 - a2), std::max(std::fabs(a3 + a1 + a2 * 0.5), std::fabs(a3 - a1 + a2 * 0.5))); } | ||
| inline double limit_6(const double& a1, const double& a2, const double a3) { return std::max(std::fabs(a3 - a1), std::max(std::fabs(a3 + a1 * 0.5 - a2), std::fabs(a3 + a1 * 0.5 + a2))); } | ||
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| } // namespace teb_local_planner | ||
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| #endif |
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