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FlightTasks: remove unused StraightLine library

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It was meant as an example for an easy to use interface of a
motion primitive with a minimal implementation. But the implementation
is much worse than the jerk optimized trajectory. We rather
work on making it easier to use. #18390 was a first step towards that.
This commit is contained in:
Matthias Grob
2021-11-16 21:58:06 +01:00
committed by Daniel Agar
parent e062f4fcf0
commit 2a5751233a
4 changed files with 0 additions and 173 deletions
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src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp
-1
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@@ -44,7 +44,6 @@
#include "FlightTaskManualAltitudeSmoothVel.hpp"
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/orbit_status.h>
#include "StraightLine.hpp"
#include <lib/slew_rate/SlewRateYaw.hpp>
#include <lib/motion_planning/PositionSmoothing.hpp>
#include <lib/motion_planning/VelocitySmoothing.hpp>
src/modules/flight_mode_manager/tasks/Utility/CMakeLists.txt
-1
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@@ -32,7 +32,6 @@
############################################################################
px4_add_library(FlightTaskUtility
StraightLine.cpp
Sticks.cpp
StickAccelerationXY.cpp
StickYaw.cpp
src/modules/flight_mode_manager/tasks/Utility/StraightLine.cpp
-90
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@@ -1,90 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2018-2019 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.
*
****************************************************************************/
/**
* @file StraightLine.cpp
*/
#include "StraightLine.hpp"
#include <mathlib/mathlib.h>
#include <px4_platform_common/defines.h>
using namespace matrix;
void StraightLine::generateSetpoints(matrix::Vector3f &position_setpoint, matrix::Vector3f &velocity_setpoint)
{
if (isEndReached()) {
// Vehicle has reached target, lock position
position_setpoint = _end;
velocity_setpoint.setNaN();
return;
}
Vector3f start_to_end = _end - _start;
float distance_start_to_end = start_to_end.norm();
// capture progress as ratio between 0 and 1 of entire distance
Vector3f vehicle_to_end = _end - _position;
float distance_vehicle_to_end = vehicle_to_end.norm();
float distance_from_start = Vector3f(_start - _position).norm();
float progress = distance_from_start / (distance_from_start + distance_vehicle_to_end);
float distance_from_boundary = 0.f;
// calculate the distance to the closer boundary
if (progress < 0.5f) {
distance_from_boundary = (2 * progress) * distance_start_to_end;
} else {
distance_from_boundary = (2 * (1 - progress)) * distance_start_to_end;
}
// ramp velocity based on the distance to the boundary
float velocity = 0.5f + (distance_from_boundary / 4.f);
velocity = math::min(velocity, _speed);
velocity_setpoint = vehicle_to_end.unit_or_zero() * velocity;
// check if we plan to go against the line direction which indicates we reached the goal
if (start_to_end * vehicle_to_end < 0) {
_end_reached = true;
}
}
void StraightLine::setLineFromTo(const Vector3f &start, const Vector3f &end)
{
if (PX4_ISFINITE(start.norm_squared()) && PX4_ISFINITE(end.norm_squared())) {
_start = start;
_end = end;
_end_reached = false;
}
}
src/modules/flight_mode_manager/tasks/Utility/StraightLine.hpp
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@@ -1,81 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2018-2019 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.
*
****************************************************************************/
/**
* @file StraightLine.hpp
*
* lib to return setpoints on a straight line
*
* @author Christoph Tobler <christoph@px4.io>
*/
#pragma once
#include <matrix/matrix/math.hpp>
class StraightLine
{
public:
StraightLine(const matrix::Vector3f &pos) : _position(pos) {};
~StraightLine() = default;
// setter functions
void setLineFromTo(const matrix::Vector3f &start, const matrix::Vector3f &end);
void setSpeed(const float &speed) { _speed = speed; };
/**
* Generate setpoints on a straight line according to parameters
*
* @param position_setpoint: reference to the 3D vector with the position setpoint to update
* @param velocity_setpoint: reference to the 3D vector with the velocity setpoint to update
*/
void generateSetpoints(matrix::Vector3f &position_setpoint, matrix::Vector3f &velocity_setpoint);
/**
* Check if the end was reached
*
* @return false when on the way from start to end, true when end was reached
*/
bool isEndReached() const { return _end_reached; }
void reset() { _end_reached = true; }
private:
const matrix::Vector3f &_position; /**< vehicle position (dependency injection) */
matrix::Vector3f _start; /**< Start point of the straight line */
matrix::Vector3f _end; /**< End point of the straight line */
float _speed = 1.f; /**< desired speed between accelerating and decelerating */
bool _end_reached = true; /**< Flag to lock further movement when end is reached */
};