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k-sheridan · May 9, 2018 · 4d42eb6 · 4d42eb6
1 parent 0730a15
commit 4d42eb6
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Showing 6 changed files with 47 additions and 23 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -49,23 +49,25 @@ catkin_package(
    DEPENDS eigen
 )
 
-add_library(polynomial include/pauvsi_trajectory/Polynomial.hpp)
-set_target_properties(polynomial PROPERTIES LINKER_LANGUAGE CXX)
-target_link_libraries(polynomial ${Eigen_LIBRARIES} ${catkin_LIBRARIES})
+add_library(multirotor_trajectory_polynomial include/multirotor_trajectory/Polynomial.hpp)
+set_target_properties(multirotor_trajectory_polynomial PROPERTIES LINKER_LANGUAGE CXX)
+target_link_libraries(multirotor_trajectory_polynomial ${Eigen_LIBRARIES} ${catkin_LIBRARIES})
 
-add_library(types include/pauvsi_trajectory/Types.h)
-set_target_properties(types PROPERTIES LINKER_LANGUAGE CXX)
-target_link_libraries(types ${Eigen_LIBRARIES} ${catkin_LIBRARIES})
+add_library(multirotor_trajectory_types include/multirotor_trajectory/Types.h)
+set_target_properties(multirotor_trajectory_types PROPERTIES LINKER_LANGUAGE CXX)
+target_link_libraries(multirotor_trajectory_types ${Eigen_LIBRARIES} ${catkin_LIBRARIES})
 
-add_library(trajGen include/pauvsi_trajectory/TrajectoryGenerator.cpp)
-target_link_libraries(trajGen ${Eigen_LIBRARIES} ${catkin_LIBRARIES} polynomial types)
+add_library(multirotor_trajectory_generator include/multirotor_trajectory/TrajectoryGenerator.cpp)
+target_link_libraries(multirotor_trajectory_generator ${Eigen_LIBRARIES} ${catkin_LIBRARIES} multirotor_trajectory_polynomial multirotor_trajectory_types)
 
 add_executable(trajectory_server src/trajectory_server.cpp)
-target_link_libraries(trajectory_server ${catkin_LIBRARIES} ${Eigen_LIBRARIES} trajGen)
+target_link_libraries(trajectory_server ${catkin_LIBRARIES} ${Eigen_LIBRARIES} multirotor_trajectory_generator)
 add_dependencies(trajectory_server ${PROJECT_NAME}_generate_messages_cpp)
 
-add_executable(unit_test test/unit_test.cpp)
-target_link_libraries(unit_test ${catkin_LIBRARIES} ${Eigen_LIBRARIES} trajGen polynomial)
+add_executable(traj_test test/traj_test.cpp)
+target_link_libraries(traj_test ${catkin_LIBRARIES} ${Eigen_LIBRARIES} multirotor_trajectory_generator multirotor_trajectory_polynomial)
 
-add_executable(virtual_flight_controller src/virtual-flight-controller.cpp)
-target_link_libraries(virtual_flight_controller ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${Boost_LIBRARIES} trajGen polynomial)
+
+#OBSOLETE
+#add_executable(virtual_flight_controller src/virtual-flight-controller.cpp)
+#target_link_libraries(virtual_flight_controller ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${Boost_LIBRARIES} trajGen polynomial)
diff --git a/include/multirotor_trajectory/Polynomial.hpp b/include/multirotor_trajectory/Polynomial.hpp
@@ -138,6 +138,18 @@ void polyRoot(Polynomial in, double t0, double tf){
 
 }
 
+DesiredState polyVal(EfficientTrajectorySegment ets, double t)
+{
+	DesiredState ds;
+	ds.pos = polyVal(ets.pos, t);
+	ds.vel = polyVal(ets.vel, t);
+	ds.accel = polyVal(ets.accel, t);
+	ds.jerk = polyVal(ets.jerk, t);
+	ds.snap = polyVal(ets.snap, t);
+
+	return ds;
+}
+
 
 
 #endif /* PAUVSI_M7_PAUVSI_TRAJECTORY_INCLUDE_PAUVSI_TRAJECTORY_POLYNOMIAL_HPP_ */
diff --git a/include/multirotor_trajectory/Types.h b/include/multirotor_trajectory/Types.h
@@ -178,5 +178,10 @@ struct PhysicalCharacterisics{
 	Eigen::Matrix4d torqueTransition_inv; // maps total force and moments to motor forces
 };
 
+struct DesiredState{
+	Eigen::Vector3d pos, vel, accel, snap, jerk;
+};
+
+
 
 #endif /* PAUVSI_TRAJECTORY_INCLUDE_PAUVSI_TRAJECTORY_TYPES_H_ */
diff --git a/src/trajectory_server.cpp b/src/trajectory_server.cpp
@@ -1,18 +1,18 @@
 #include "ros/ros.h"
-#include <pauvsi_trajectory/trajectoryGeneration.h>
+#include <multirotor_trajectory/trajectoryGeneration.h>
 #include <nav_msgs/Path.h>
 
-#include "../include/pauvsi_trajectory/Config.h"
-#include "../include/pauvsi_trajectory/Polynomial.hpp"
-#include "../include/pauvsi_trajectory/Physics.h"
+#include "../include/multirotor_trajectory/Config.h"
+#include "../include/multirotor_trajectory/Polynomial.hpp"
+#include "../include/multirotor_trajectory/Physics.h"
 
-#include "../include/pauvsi_trajectory/TrajectoryGenerator.h"
+#include "../include/multirotor_trajectory/TrajectoryGenerator.h"
 
 #include <eigen3/Eigen/Geometry>
 
 PhysicalCharacterisics phys;
 
-bool generateTrajectory(pauvsi_trajectory::trajectoryGeneration::Request &req, pauvsi_trajectory::trajectoryGeneration::Response &res);
+bool generateTrajectory(multirotor_trajectory::trajectoryGeneration::Request &req, multirotor_trajectory::trajectoryGeneration::Response &res);
 
 ros::Publisher path_pub;
 
@@ -37,7 +37,7 @@ int main(int argc, char **argv)
 	return 0;
 }
 
-bool generateTrajectory(pauvsi_trajectory::trajectoryGeneration::Request &req, pauvsi_trajectory::trajectoryGeneration::Response &res)
+bool generateTrajectory(multirotor_trajectory::trajectoryGeneration::Request &req, multirotor_trajectory::trajectoryGeneration::Response &res)
 {
 	//ROS_INFO("Starting trajectory generation from <%f, %f, %f> to <%f, %f, %f>", req.quadPosition.x, req.quadPosition.y, req.quadPosition.z, req.goalPosition.x, req.goalPosition.y, req.goalPosition.z);
 	TrajectoryGenerator tg;

diff --git a/src/virtual-flight-controller.cpp b/src/virtual-flight-controller.cpp
@@ -26,6 +26,11 @@
 
 #include <eigen3/Eigen/Geometry>
 
+/*
+ * NOTE: OBSOLETE Use rotors simulator: https://github.com/ethz-asl/rotors_simulator
+ */
+
+
 #define USE_GAZEBO true
 
 void updateForces(const std_msgs::Float64MultiArrayConstPtr msg);

diff --git a/test/unit_test.cpp → test/traj_test.cpp b/test/unit_test.cpp → test/traj_test.cpp
@@ -6,10 +6,10 @@
  */
 #include "ros/ros.h"
 
-#include "../include/pauvsi_trajectory/Polynomial.hpp"
-#include "../include/pauvsi_trajectory/TrajectoryGenerator.h"
+#include "../include/multirotor_trajectory/Polynomial.hpp"
+#include "../include/multirotor_trajectory/TrajectoryGenerator.h"
 
-#include "../include/pauvsi_trajectory/Physics.h"
+#include "../include/multirotor_trajectory/Physics.h"
 
 #include <std_msgs/Float64MultiArray.h>