HeadingSmoothing: rename, simplify, add cpp

src/lib/motion_planning/HeadingSmoothing.cpp

@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+#include "HeadingSmoothing.hpp"
+
+void HeadingSmoothing::reset(const float heading, const float heading_rate)
+{
+	const float wrapped_heading = matrix::wrap_pi(heading);
+	_velocity_smoothing.setCurrentVelocity(wrapped_heading);
+	_velocity_smoothing.setCurrentAcceleration(heading_rate);
+}
+
+void HeadingSmoothing::update(const float heading_setpoint, const float time_elapsed)
+{
+	const float delta_heading_wrapped = matrix::wrap_pi(heading_setpoint - getSmoothedHeading());
+	const float unwrapped_heading_setpoint = delta_heading_wrapped + getSmoothedHeading();
+
+	_velocity_smoothing.updateDurations(unwrapped_heading_setpoint);
+	_velocity_smoothing.updateTraj(time_elapsed);
+
+	const float wrapped_current_heading = matrix::wrap_pi(getSmoothedHeading());
+	_velocity_smoothing.setCurrentVelocity(wrapped_current_heading);
+}

src/lib/motion_planning/HeadingSmoothing.hpp

@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <float.h>
+#include <matrix/matrix/helper_functions.hpp>
+#include "VelocitySmoothing.hpp"
+
+/**
+ * @brief Wrapper class for smoothing heading via maximum angular acceleration limited trajectories.
+ *
+ * Make sure to properly initialize the smoother on the first pass with:
+ *
+ * reset(initial heading, initial heading rate);
+ * setMaxHeadingRate(max heading rate);
+ * setMaxHeadingAccel(max heading accel);
+ *
+ * At the desired time interval, call the update method to update the smoother:
+ * update(heading setpoint, time elapsed)
+ *
+ * Use the getters to retrieve the current smoothed setpoints.
+ */
+class HeadingSmoothing
+{
+public:
+	HeadingSmoothing() = default;
+	~HeadingSmoothing() = default;
+
+	/** @param max_heading_rate [rad/s] */
+	void setMaxHeadingRate(const float max_heading_rate) { _velocity_smoothing.setMaxAccel(max_heading_rate); }
+
+	/** @param max_heading_accel [rad/s^2] */
+	void setMaxHeadingAccel(const float max_heading_accel) { _velocity_smoothing.setMaxJerk(max_heading_accel); }
+
+	/**
+	 * @brief resets internal trajectory states, handles heading wrap
+	 *
+	 * @param heading [rad] [-pi,pi]
+	 * @param heading_rate [rad/s]
+	 */
+	void reset(const float heading, const float heading_rate);
+
+	/**
+	 * @brief updates the heading setpoint, re-calculates trajectory, and takes an integration step
+	 *
+	 * @param heading_setpoint [rad]
+	 * @param time_elapsed [s]
+	 */
+	void update(const float heading_setpoint, const float time_elapsed);
+
+	/** @return [rad] [-pi,pi] smoothed heading setpoint to retreive after update */
+	float getSmoothedHeading() const { return _velocity_smoothing.getCurrentVelocity(); }
+
+	/** @return [rad/s] smoothed heading rate setpoint to retreive after update */
+	float getSmoothedHeadingRate() const { return _velocity_smoothing.getCurrentAcceleration(); }
+
+private:
+	VelocitySmoothing _velocity_smoothing;
+};