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trajectory-planner.go
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trajectory-planner.go
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package champ
import (
math "github.com/chewxy/math32"
"github.com/r4stl1n/micro-hal/code/pkg/champ/cbase"
"github.com/r4stl1n/micro-hal/code/pkg/champ/cstructs"
)
type TrajectoryPlanner struct {
leg *cbase.QuadLeg
previousFootPosition cstructs.Transformation
totalControlPoints int
factorial [13]float32
refControlPointsX [12]float32
refControlPointsY [12]float32
controlPointsX [12]float32
controlPointsY [12]float32
heightRatio float32
lengthRatio float32
runOnce bool
}
func (trajectoryPlanner *TrajectoryPlanner) Init(leg *cbase.QuadLeg) *TrajectoryPlanner {
*trajectoryPlanner = TrajectoryPlanner{
leg: leg,
previousFootPosition: cstructs.Transformation{},
totalControlPoints: 12,
factorial: [13]float32{
1.0, 1.0, 2.0, 6.0, 24.0,
120.0, 720.0, 5040.0, 40320.0,
362880.0, 3628800.0,
39916800.0, 479001600.0},
refControlPointsX: [12]float32{-0.15, -0.2805, -0.3, -0.3, -0.3, 0.0, 0.0, 0.0, 0.3032, 0.3032, 0.2826, 0.15},
refControlPointsY: [12]float32{-0.5, -0.5, -0.3611, -0.3611, -0.3611, -0.3611, -0.3611, -0.3214, -0.3214,
-0.3214, -0.5, -0.5},
controlPointsX: [12]float32{},
controlPointsY: [12]float32{},
heightRatio: 0,
lengthRatio: 0,
runOnce: false,
}
return trajectoryPlanner
}
func (trajectoryPlanner *TrajectoryPlanner) UpdateControlPointsHeight(swingHeight float32) {
newHeightRatio := swingHeight / 0.15
if trajectoryPlanner.heightRatio != newHeightRatio {
trajectoryPlanner.heightRatio = newHeightRatio
for i := 0; i < 12; i++ {
trajectoryPlanner.controlPointsY[i] = -((trajectoryPlanner.refControlPointsY[i] * trajectoryPlanner.heightRatio) + (0.5 * trajectoryPlanner.heightRatio))
}
}
}
func (trajectoryPlanner *TrajectoryPlanner) UpdateControlPointsLength(stepLength float32) {
newLengthRatio := stepLength / 0.4
if trajectoryPlanner.lengthRatio != newLengthRatio {
trajectoryPlanner.lengthRatio = newLengthRatio
for i := 0; i < 12; i++ {
if i == 0 {
trajectoryPlanner.controlPointsX[i] = -stepLength / 2.0
} else if i == 11 {
trajectoryPlanner.controlPointsX[i] = stepLength / 2.0
} else {
trajectoryPlanner.controlPointsX[i] = trajectoryPlanner.refControlPointsX[i] * trajectoryPlanner.lengthRatio
}
}
}
}
func (trajectoryPlanner *TrajectoryPlanner) Generate(footPosition cstructs.Transformation, stepLength float32,
rotation float32, swingPhaseSignal float32, stancePhaseSignal float32) cstructs.Transformation {
trajectoryPlanner.UpdateControlPointsHeight(trajectoryPlanner.leg.GaitConfig().SwingHeight)
if !trajectoryPlanner.runOnce {
trajectoryPlanner.runOnce = true
trajectoryPlanner.previousFootPosition = footPosition
}
if stepLength == 0 {
trajectoryPlanner.previousFootPosition = footPosition
trajectoryPlanner.leg.SetGaitPhase(true)
return footPosition
}
trajectoryPlanner.UpdateControlPointsLength(stepLength)
n := trajectoryPlanner.totalControlPoints - 1
var x float32
var y float32
if stancePhaseSignal > swingPhaseSignal {
trajectoryPlanner.leg.SetGaitPhase(true)
x = (stepLength / 2) * (1 - (2 * stancePhaseSignal))
y = -trajectoryPlanner.leg.GaitConfig().StanceDepth * math.Cos((math.Pi*x)/stepLength)
} else if stancePhaseSignal < swingPhaseSignal {
trajectoryPlanner.leg.SetGaitPhase(false)
for i := 0; i < trajectoryPlanner.totalControlPoints; i++ {
coeff := trajectoryPlanner.factorial[n] / (trajectoryPlanner.factorial[i] * trajectoryPlanner.factorial[n-i])
x = x + coeff*math.Pow(swingPhaseSignal, float32(i))*math.Pow(1-swingPhaseSignal, float32(n-i))*trajectoryPlanner.controlPointsX[i]
y = y - coeff*math.Pow(swingPhaseSignal, float32(i))*math.Pow(1-swingPhaseSignal, float32(n-i))*trajectoryPlanner.controlPointsY[i]
}
}
footPosition.SetX(footPosition.X() + (x * math.Cos(rotation)))
footPosition.SetY(footPosition.Y() + (x * math.Sin(rotation)))
footPosition.SetZ(footPosition.Z() + y)
if (swingPhaseSignal == 0.0 && stancePhaseSignal == 0.0) && stepLength > 0.0 {
footPosition = trajectoryPlanner.previousFootPosition
}
trajectoryPlanner.previousFootPosition = footPosition
return footPosition
}