-
Notifications
You must be signed in to change notification settings - Fork 1.3k
/
bspline_trajectory.cc
251 lines (227 loc) · 9.51 KB
/
bspline_trajectory.cc
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
#include "drake/common/trajectories/bspline_trajectory.h"
#include <algorithm>
#include <functional>
#include <utility>
#include <fmt/format.h>
#include "drake/common/default_scalars.h"
#include "drake/common/extract_double.h"
#include "drake/common/text_logging.h"
using drake::symbolic::Expression;
using drake::symbolic::Variable;
using drake::trajectories::Trajectory;
namespace drake {
namespace trajectories {
using math::BsplineBasis;
template <typename T>
BsplineTrajectory<T>::BsplineTrajectory(BsplineBasis<T> basis,
std::vector<MatrixX<T>> control_points)
: basis_(std::move(basis)), control_points_(std::move(control_points)) {
CheckInvariants();
}
template <typename T>
std::unique_ptr<Trajectory<T>> BsplineTrajectory<T>::Clone() const {
return std::make_unique<BsplineTrajectory<T>>(*this);
}
template <typename T>
MatrixX<T> BsplineTrajectory<T>::value(const T& time) const {
using std::clamp;
return basis().EvaluateCurve(control_points(),
clamp(time, start_time(), end_time()));
}
template <typename T>
bool BsplineTrajectory<T>::do_has_derivative() const {
return true;
}
template <typename T>
MatrixX<T> BsplineTrajectory<T>::DoEvalDerivative(const T& time,
int derivative_order) const {
if (derivative_order == 0) {
return this->value(time);
} else if (derivative_order >= basis_.order()) {
return MatrixX<T>::Zero(rows(), cols());
} else if (derivative_order >= 1) {
using std::clamp;
T clamped_time = clamp(time, start_time(), end_time());
// For a bspline trajectory of order n, the evaluation of k th derivative
// should take O(k^2) time by leveraging the sparsity of basis value.
// This differs from DoMakeDerivative, which takes O(nk) time.
std::vector<T> derivative_knots(basis_.knots().begin() + derivative_order,
basis_.knots().end() - derivative_order);
BsplineBasis<T> lower_order_basis =
BsplineBasis<T>(basis_.order() - derivative_order, derivative_knots);
std::vector<MatrixX<T>> coefficients(control_points());
std::vector<int> base_indices =
basis_.ComputeActiveBasisFunctionIndices(clamped_time);
for (int j = 1; j <= derivative_order; ++j) {
for (int i = base_indices.front(); i <= base_indices.back() - j; ++i) {
coefficients.at(i) =
(basis_.order() - j) /
(basis_.knots()[i + basis_.order()] - basis_.knots()[i + j]) *
(coefficients[i + 1] - coefficients[i]);
}
}
std::vector<MatrixX<T>> derivative_control_points(
num_control_points() - derivative_order,
MatrixX<T>::Zero(rows(), cols()));
for (int i :
lower_order_basis.ComputeActiveBasisFunctionIndices(clamped_time)) {
derivative_control_points.at(i) = coefficients.at(i);
}
return lower_order_basis.EvaluateCurve(derivative_control_points,
clamped_time);
} else {
throw std::invalid_argument(
fmt::format("Invalid derivative order ({}). The derivative order must "
"be greater than or equal to 0.",
derivative_order));
}
}
template <typename T>
std::unique_ptr<Trajectory<T>> BsplineTrajectory<T>::DoMakeDerivative(
int derivative_order) const {
if (derivative_order == 0) {
return this->Clone();
} else if (derivative_order > basis_.degree()) {
std::vector<T> derivative_knots;
derivative_knots.push_back(basis_.knots().front());
derivative_knots.push_back(basis_.knots().back());
std::vector<MatrixX<T>> control_points(1, MatrixX<T>::Zero(rows(), cols()));
return std::make_unique<BsplineTrajectory<T>>(
BsplineBasis<T>(1, derivative_knots), control_points);
} else if (derivative_order > 1) {
return this->MakeDerivative(1)->MakeDerivative(derivative_order - 1);
} else if (derivative_order == 1) {
std::vector<T> derivative_knots;
const int num_derivative_knots = basis_.knots().size() - 2;
derivative_knots.reserve(num_derivative_knots);
for (int i = 1; i <= num_derivative_knots; ++i) {
derivative_knots.push_back(basis_.knots()[i]);
}
std::vector<MatrixX<T>> derivative_control_points;
derivative_control_points.reserve(num_control_points() - 1);
for (int i = 0; i < num_control_points() - 1; ++i) {
derivative_control_points.push_back(
basis_.degree() /
(basis_.knots()[i + basis_.order()] - basis_.knots()[i + 1]) *
(control_points()[i + 1] - control_points()[i]));
}
return std::make_unique<BsplineTrajectory<T>>(
BsplineBasis<T>(basis_.order() - 1, derivative_knots),
derivative_control_points);
} else {
throw std::invalid_argument(
fmt::format("Invalid derivative order ({}). The derivative order must "
"be greater than or equal to 0.",
derivative_order));
}
}
template <typename T>
MatrixX<T> BsplineTrajectory<T>::InitialValue() const {
return value(start_time());
}
template <typename T>
MatrixX<T> BsplineTrajectory<T>::FinalValue() const {
return value(end_time());
}
template <typename T>
void BsplineTrajectory<T>::InsertKnots(const std::vector<T>& additional_knots) {
if (additional_knots.size() != 1) {
for (const auto& time : additional_knots) {
InsertKnots(std::vector<T>{time});
}
} else {
// Implements Boehm's Algorithm for knot insertion as described in by
// Patrikalakis et al. [1], with a typo corrected in equation 1.76.
//
// [1] http://web.mit.edu/hyperbook/Patrikalakis-Maekawa-Cho/node18.html
// Define short-hand references to match Patrikalakis et al.:
const std::vector<T>& t = basis_.knots();
const T& t_bar = additional_knots.front();
const int k = basis_.order();
DRAKE_DEMAND(start_time() <= t_bar && t_bar <= end_time());
/* Find the index, 𝑙, of the greatest knot that is less than or equal to
t_bar and strictly less than end_time(). */
const int ell = basis().FindContainingInterval(t_bar);
std::vector<T> new_knots = t;
new_knots.insert(std::next(new_knots.begin(), ell + 1), t_bar);
std::vector<MatrixX<T>> new_control_points{this->control_points().front()};
for (int i = 1; i < this->num_control_points(); ++i) {
T a{0};
if (i < ell - k + 2) {
a = 1;
} else if (i <= ell) {
// Patrikalakis et al. have t[l + k - 1] in the denominator here ([1],
// equation 1.76). This is contradicted by other references (e.g. [2]),
// and does not yield the desired result (that the addition of the knot
// leaves the values of the original trajectory unchanged). We use
// t[i + k - 1], which agrees with [2] (modulo changes in notation)
// and produces the desired results.
//
// [2] Prautzsch, Hartmut, Wolfgang Boehm, and Marco Paluszny. Bézier
// and B-spline techniques. Springer Science & Business Media, 2013.
a = (t_bar - t[i]) / (t[i + k - 1] - t[i]);
}
new_control_points.push_back((1 - a) * control_points()[i - 1] +
a * control_points()[i]);
}
// Note that since a == 0 for i > ell in the loop above, the final control
// point from the original trajectory is never pushed back into
// new_control_points. Do that now.
new_control_points.push_back(this->control_points().back());
control_points_.swap(new_control_points);
basis_ = BsplineBasis<T>(basis_.order(), new_knots);
}
}
template <typename T>
BsplineTrajectory<T> BsplineTrajectory<T>::CopyWithSelector(
const std::function<MatrixX<T>(const MatrixX<T>&)>& select) const {
std::vector<MatrixX<T>> new_control_points{};
new_control_points.reserve(num_control_points());
for (const MatrixX<T>& control_point : control_points_) {
new_control_points.push_back(select(control_point));
}
return {basis(), new_control_points};
}
template <typename T>
BsplineTrajectory<T> BsplineTrajectory<T>::CopyBlock(int start_row,
int start_col,
int block_rows,
int block_cols) const {
return CopyWithSelector([&start_row, &start_col, &block_rows,
&block_cols](const MatrixX<T>& full) {
return full.block(start_row, start_col, block_rows, block_cols);
});
}
template <typename T>
BsplineTrajectory<T> BsplineTrajectory<T>::CopyHead(int n) const {
DRAKE_DEMAND(cols() == 1);
DRAKE_DEMAND(n > 0);
return CopyBlock(0, 0, n, 1);
}
template <typename T>
boolean<T> BsplineTrajectory<T>::operator==(
const BsplineTrajectory<T>& other) const {
if (this->basis() == other.basis() && this->rows() == other.rows() &&
this->cols() == other.cols()) {
boolean<T> result{true};
for (int i = 0; i < this->num_control_points(); ++i) {
result = result && drake::all(this->control_points()[i].array() ==
other.control_points()[i].array());
if (std::equal_to<boolean<T>>{}(result, boolean<T>{false})) {
break;
}
}
return result;
} else {
return boolean<T>{false};
}
}
template <typename T>
void BsplineTrajectory<T>::CheckInvariants() const {
DRAKE_THROW_UNLESS(static_cast<int>(control_points_.size()) ==
basis_.num_basis_functions());
}
DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS(
class BsplineTrajectory);
} // namespace trajectories
} // namespace drake