File content as of revision 0:a5986ef182dc:

#include "Brad_poly_gait.h"
#include "math.h"

//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()
{
    //_phi{{0, 1, 2, 3, 4}, {0, 1, 2, 3, 4}},
    _phi[0][0]=-22;
    _phi[0][1]=0;
    _phi[0][2]=232.1405;
    _phi[0][3]=-256.2810;
    _phi[0][4]=76.1405;
    _phi[1][0]=30.0000;
    _phi[1][1]=0;
    _phi[1][2]=-152.2944;
    _phi[1][3]=224.5888;
    _phi[1][4]=-92.2944;
    //_times{0, 1, 2},
    _times[0]=0;
    _times[1]=378;
    _times[2]=900;
};

BradPolySwing::BradPolySwing():_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][1]=0;
    _phi[0][2]=232.1405;
    _phi[0][3]=-256.2810;
    _phi[0][4]=76.1405;
    _phi[1][0]=30.0000;
    _phi[1][1]=0;
    _phi[1][2]=-152.2944;
    _phi[1][3]=224.5888;
    _phi[1][4]=-92.2944;
    //_times{0, 1, 2},
    _times[0]=0;
    _times[1]=378;
    _times[2]=900;
};

bool BradPolySwing::calculate(int time, float &value)
{
    if (time<=_blend_steps) {
        _blend.increment(value);
    } else {
        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) {
        return 1;
    } else {
        return 0;
    }
};

void BradPolySwing::set(Brad_poly_gait_t& p)
{
    this->_params=p;
};

void BradPolySwing::init(float start, float end, int time_steps)
{
    _blend.init(start,end,time_steps);
    _blend_steps=time_steps;
    _blend.restart();
};

float BradPolySwing::convert_to_tau(int time)
{
    if (time>_times[_current_poly+1]) {
        _current_poly++;
    }
    return (float)(time-_times[_current_poly])/(_times[_current_poly+1]-_times[_current_poly]);
}

void BradPolySwing::restart()
{
    TrajectoryGenerator::restart();
    _current_poly=0;
};

/** Stance trajectory generation
*/
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][1]=0;
    _phi[0][2]=-96;
    _phi[0][3]=64;
    _phi[0][4]=0;
    _times[0]=0;
    _times[1]=900;
};

BradPolyStance::BradPolyStance():_blend(), _blend_steps(0), _current_poly(0), _tau(0), TrajectoryGenerator()
{
    _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;
};

bool BradPolyStance::calculate(int time, float &value)
{
    if (time<=_blend_steps) {
        _blend.increment(value);
    } else {
        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) {
        return 1;
    } else {
        return 0;
    }

};

void BradPolyStance::set(Brad_poly_gait_t& p)
{
    this->_params=p;
};

void BradPolyStance::init(float start, float end, int time_steps)
{
    _blend.init(start,end,time_steps);
    _blend_steps=time_steps;
    _blend.restart();
};

float BradPolyStance::convert_to_tau(int time)
{
    if (time>_times[_current_poly+1]) {
        _current_poly++;
    }
    return (float)(time-_times[_current_poly])/(_times[_current_poly+1]-_times[_current_poly]);
}

void BradPolyStance::restart()
{
    TrajectoryGenerator::restart();
    _current_poly=0;
};

/** FS Swing trajectory generation
*/
BradPolyFSSwing::BradPolyFSSwing(Brad_poly_gait_t p):_params(p),_blend(), _blend_steps(0), TrajectoryGenerator() {};

BradPolyFSSwing::BradPolyFSSwing():_blend(), _blend_steps(0), TrajectoryGenerator() {};

bool BradPolyFSSwing::calculate(int time, float &value)
{
    if (time<=_blend_steps) {
        _blend.increment(value);
    } else {
        //This equation is specific to the trajectory
        value = sin(PI/_params.time_steps*time)*_params.max_fs_angle;
    }
    if(time>_params.time_steps) {
        return 1;
    } else {
        return 0;
    }

};

void BradPolyFSSwing::set(Brad_poly_gait_t& p)
{
    this->_params=p;
};

void BradPolyFSSwing::init(float start, float end, int time_steps)
{
    _blend.init(start,end,time_steps);
    _blend_steps=time_steps;
    _blend.restart();
};

/** FS Stance trajectory generation
*/

BradPolyFSStance::BradPolyFSStance(Brad_poly_gait_t p):_params(p),_blend(), _blend_steps(0), TrajectoryGenerator() {};

BradPolyFSStance::BradPolyFSStance():_blend(), _blend_steps(0), TrajectoryGenerator() {};

bool BradPolyFSStance::calculate(int time, float &value)
{
    if (time<=_blend_steps) {
        _blend.increment(value);
    } else {
        //This equation is specific to the trajectory
        value = (_params.standing_angle)/_params.time_steps*time;
    }
    if(time>_params.time_steps) {
        return 1;
    } else {
        return 0;
    }

};

void BradPolyFSStance::set(Brad_poly_gait_t& p)
{
    this->_params=p;
};

void BradPolyFSStance::init(float start, float end, int time_steps)
{
    _blend.init(start,end,time_steps);
    _blend_steps=time_steps;
    _blend.restart();
};