Bradley Perry
This is the quartic polynomial gait.
Diff: Brad_poly_gait.cpp
- Revision:
- 1:59243225dcd5
- Parent:
- 0:a5986ef182dc
- Child:
- 2:40f8f3a8e878
--- a/Brad_poly_gait.cpp Wed Jun 24 00:24:14 2015 +0000
+++ b/Brad_poly_gait.cpp Sun Jun 28 02:25:24 2015 +0000
@@ -1,17 +1,17 @@
#include "Brad_poly_gait.h"
#include "math.h"
-//TODO: Add a calculation of max flexion angle for FS _params.max_fs_angle
+//TODO: Add a calculation of max flexion angle for FS _params->max_fs_angle
const float PI =3.141592653589793;
/** Swing trajectory generation
*/
-BradPolySwing::BradPolySwing(Brad_poly_gait_t p):_params(p),_blend(), _blend_steps(0), _current_poly(0), _tau(0), TrajectoryGenerator()
+BradPolySwing::BradPolySwing(Brad_poly_gait_t& p):_params(&p),_blend(), _blend_steps(0), _current_poly(0), _tau(0), TrajectoryGenerator()
{
//_phi{{0, 1, 2, 3, 4}, {0, 1, 2, 3, 4}},
- _phi[0][0]=-22;
+ /*_phi[0][0]=-22;
_phi[0][1]=0;
_phi[0][2]=232.1405;
_phi[0][3]=-256.2810;
@@ -24,7 +24,25 @@
//_times{0, 1, 2},
_times[0]=0;
_times[1]=378;
- _times[2]=900;
+ _times[2]=900;*/
+ float del_t[]= {_params->peak_time,_params->time_steps,2*_params->time_steps};
+ _times[0]=0;
+ _times[1]=_params->peak_time;
+ _times[2]=_params->time_steps;
+
+ //calculate the phi's based on the parameters
+ float phi22=(_params->stance_end-_params->stance_start)/3; //phi22 assuming all node velocities are 0
+ _phi[0][1]=_params->max_angle;
+ _phi[1][1]=0; //assume 0 velocity at peak hip; ensures maximum
+ _phi[2][1]= 6*_params->stance_start - 3*phi[1][1] - 6*phi[0][1] + (del_t[1]*del_t[1]*phi22)/(2*del_t[2]*del_t[2]);//assuming velocities 0
+ _phi[3][1]= -(4*_phi[2][1])/3 - _phi[1][1] - (del_t[1]*del_t[1]*phi22)/(3*del_t[2]*del_t[2]);//asuming velocities=0
+ _phi[4][1]= (del_t[1]*del_t[1]*phi22)/(12*del_t[2]*del_t[2]) - _phi[3][1]/2 - _phi[2][1]/6;
+
+ _phi[0][0]=_params->max_angle;
+ _phi[1][0]=0; //assume 0 velocity at peak hip; ensures maximum
+ _phi[2][0]= 6*_params->stance_start - 3*phi[1][0] - 6*phi[0][0] + (del_t[0]*del_t[0]*phi22)/(2*del_t[1]*del_t[1]);//assuming velocities 0
+ _phi[3][0]= -(4*_phi[2][0])/3 - _phi[1][0] - (del_t[0]*del_t[0]*_phi[2][1])/(3*del_t[1]*del_t[1]);//asuming velocities=0
+ _phi[4][0]= (del_t[0]*del_t[0]*_phi[2][1])/(12*del_t[1]*del_t[1]) - _phi[3][0]/2 - _phi[2][0]/6;
};
BradPolySwing::BradPolySwing():_blend(), _blend_steps(0), _current_poly(0), _tau(0), TrajectoryGenerator()
@@ -55,7 +73,7 @@
value=_phi[_current_poly][0]+_phi[_current_poly][1]*tau+_phi[_current_poly][2]*tau*tau+_phi[_current_poly][3]*tau*tau*tau+_phi[_current_poly][4]*tau*tau*tau*tau;
}
- if(time>_params.time_steps) {
+ if(time>_params->time_steps) {
return 1;
} else {
return 0;
@@ -64,7 +82,26 @@
void BradPolySwing::set(Brad_poly_gait_t& p)
{
- this->_params=p;
+ this->_params=&p;
+
+ float del_t[]= {_params->peak_time,_params->time_steps,2*_params->time_steps};
+ _times[0]=0;
+ _times[1]=_params->peak_time;
+ _times[2]=_params->time_steps;
+
+ //calculate the phi's based on the parameters
+ float phi22=(_params->stance_end-_params->stance_start)/3; //phi22 assuming all node velocities are 0
+ _phi[0][1]=_params->max_angle;
+ _phi[1][1]=0; //assume 0 velocity at peak hip; ensures maximum
+ _phi[2][1]= -(3*_phi[1][1])/4 - (del_t[1]*del_t[1]*phi22)/(4*del_t[2]*del_t[2]);//assuming velocities 0
+ _phi[3][1]= -(4*_phi[2][1])/3 - _phi[1][1] - (del_t[1]*del_t[1]*phi22)/(3*del_t[2]*del_t[2]);//asuming velocities=0
+ _phi[4][1]= (del_t[1]*del_t[1]*phi22)/(12*del_t[2]*del_t[2]) - _phi[3][1]/2 - _phi[2][1]/6;
+
+ _phi[0][0]=_params->max_angle;
+ _phi[1][0]=0; //assume 0 velocity at peak hip; ensures maximum
+ _phi[2][0]= -(3*_phi[1][0])/4 - (del_t[0]*del_t[0]*_phi[2][1])/(4*del_t[1]*del_t[1]);//assuming velocities 0
+ _phi[3][0]= -(4*_phi[2][0])/3 - _phi[1][0] - (del_t[0]*del_t[0]*_phi[2][1])/(3*del_t[1]*del_t[1]);//asuming velocities=0
+ _phi[4][0]= (del_t[0]*del_t[0]*_phi[2][1])/(12*del_t[1]*del_t[1]) - _phi[3][0]/2 - _phi[2][0]/6;
};
void BradPolySwing::init(float start, float end, int time_steps)
@@ -90,15 +127,25 @@
/** Stance trajectory generation
*/
-BradPolyStance::BradPolyStance(Brad_poly_gait_t p):_params(p),_blend(), _blend_steps(0), _current_poly(0), _tau(0), TrajectoryGenerator()
+BradPolyStance::BradPolyStance(Brad_poly_gait_t& p):_params(&p),_blend(), _blend_steps(0), _current_poly(0), _tau(0), TrajectoryGenerator()
{
- _phi[0][0]=10;
+ /*_phi[0][0]=10;
_phi[0][1]=0;
_phi[0][2]=-96;
_phi[0][3]=64;
_phi[0][4]=0;
_times[0]=0;
- _times[1]=900;
+ _times[1]=900;*/
+ float del_t[]= {_params->time_steps};
+ _times[0]=0;
+ _times[1]=_params->time_steps;
+
+ //calculate the phi's based on the parameters
+ _phi[0][0]=_params->stance_start;
+ _phi[1][0]=0; //assume 0 velocity at peak hip; ensures maximum
+ _phi[2][0]=(_params->stance_end-_params->stance_start)/3; //phi22 assuming all node velocities are 0
+ _phi[3][0]= -2/3*_phi[2][0];//asuming velocities=0
+ _phi[4][0]= 0;
};
BradPolyStance::BradPolyStance():_blend(), _blend_steps(0), _current_poly(0), _tau(0), TrajectoryGenerator()
@@ -120,7 +167,7 @@
float tau=convert_to_tau(time);
value=_phi[_current_poly][0]+_phi[_current_poly][1]*tau+_phi[_current_poly][2]*tau*tau+_phi[_current_poly][3]*tau*tau*tau+_phi[_current_poly][4]*tau*tau*tau*tau;
}
- if(time>_params.time_steps) {
+ if(time>_params->time_steps) {
return 1;
} else {
return 0;
@@ -130,7 +177,18 @@
void BradPolyStance::set(Brad_poly_gait_t& p)
{
- this->_params=p;
+ this->_params=&p;
+
+ float del_t[]= {_params->time_steps};
+ _times[0]=0;
+ _times[1]=_params->time_steps;
+
+ //calculate the phi's based on the parameters
+ _phi[0][0]=_params->stance_start;
+ _phi[1][0]=0; //assume 0 velocity at peak hip; ensures maximum
+ _phi[2][0]=(_params->stance_end-_params->stance_start)/3; //phi22 assuming all node velocities are 0
+ _phi[3][0]= -2/3*_phi[2][0];//asuming velocities=0
+ _phi[4][0]= 0;
};
void BradPolyStance::init(float start, float end, int time_steps)
@@ -156,7 +214,7 @@
/** FS Swing trajectory generation
*/
-BradPolyFSSwing::BradPolyFSSwing(Brad_poly_gait_t p):_params(p),_blend(), _blend_steps(0), TrajectoryGenerator() {};
+BradPolyFSSwing::BradPolyFSSwing(Brad_poly_gait_t& p):_params(&p),_blend(), _blend_steps(0), TrajectoryGenerator() {};
BradPolyFSSwing::BradPolyFSSwing():_blend(), _blend_steps(0), TrajectoryGenerator() {};
@@ -166,9 +224,9 @@
_blend.increment(value);
} else {
//This equation is specific to the trajectory
- value = sin(PI/_params.time_steps*time)*_params.max_fs_angle;
+ value = sin(PI/_params->time_steps*time)*_params->max_fs_angle;
}
- if(time>_params.time_steps) {
+ if(time>_params->time_steps) {
return 1;
} else {
return 0;
@@ -178,7 +236,7 @@
void BradPolyFSSwing::set(Brad_poly_gait_t& p)
{
- this->_params=p;
+ this->_params=&p;
};
void BradPolyFSSwing::init(float start, float end, int time_steps)
@@ -191,7 +249,7 @@
/** FS Stance trajectory generation
*/
-BradPolyFSStance::BradPolyFSStance(Brad_poly_gait_t p):_params(p),_blend(), _blend_steps(0), TrajectoryGenerator() {};
+BradPolyFSStance::BradPolyFSStance(Brad_poly_gait_t& p):_params(&p),_blend(), _blend_steps(0), TrajectoryGenerator() {};
BradPolyFSStance::BradPolyFSStance():_blend(), _blend_steps(0), TrajectoryGenerator() {};
@@ -201,9 +259,9 @@
_blend.increment(value);
} else {
//This equation is specific to the trajectory
- value = (_params.standing_angle)/_params.time_steps*time;
+ value = (_params->standing_angle)/_params->time_steps*time;
}
- if(time>_params.time_steps) {
+ if(time>_params->time_steps) {
return 1;
} else {
return 0;
@@ -213,7 +271,7 @@
void BradPolyFSStance::set(Brad_poly_gait_t& p)
{
- this->_params=p;
+ this->_params=&p;
};
void BradPolyFSStance::init(float start, float end, int time_steps)