CVehicleVelCmd_DiffDriven.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "kinematics-precomp.h"  // Precompiled header

#include <mrpt/kinematics/CVehicleVelCmd_DiffDriven.h>
#include <mrpt/serialization/CArchive.h>

using namespace mrpt::kinematics;

IMPLEMENTS_SERIALIZABLE(
    CVehicleVelCmd_DiffDriven, CVehicleVelCmd, mrpt::kinematics)

CVehicleVelCmd_DiffDriven::~CVehicleVelCmd_DiffDriven() = default;
size_t CVehicleVelCmd_DiffDriven::getVelCmdLength() const { return 2; }
std::string CVehicleVelCmd_DiffDriven::getVelCmdDescription(
    const int index) const
{
    switch (index)
    {
        case 0:
            return "lin_vel";
            break;
        case 1:
            return "ang_vel";
            break;
        default:
            THROW_EXCEPTION_FMT("index out of bounds: %i", index);
    };
}

double CVehicleVelCmd_DiffDriven::getVelCmdElement(const int index) const
{
    switch (index)
    {
        case 0:
            return lin_vel;
            break;
        case 1:
            return ang_vel;
            break;
        default:
            THROW_EXCEPTION_FMT("index out of bounds: %i", index);
    };
}

void CVehicleVelCmd_DiffDriven::setVelCmdElement(
    const int index, const double val)
{
    switch (index)
    {
        case 0:
            lin_vel = val;
            break;
        case 1:
            ang_vel = val;
            break;
        default:
            THROW_EXCEPTION_FMT("index out of bounds: %i", index);
    };
}

bool CVehicleVelCmd_DiffDriven::isStopCmd() const
{
    return lin_vel == .0 && ang_vel == .0;
}

void CVehicleVelCmd_DiffDriven::setToStop() { lin_vel = ang_vel = .0; }
void CVehicleVelCmd_DiffDriven::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
            in >> lin_vel >> ang_vel;
            break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

uint8_t CVehicleVelCmd_DiffDriven::serializeGetVersion() const { return 0; }
void CVehicleVelCmd_DiffDriven::serializeTo(
    mrpt::serialization::CArchive& out) const
{
    out << lin_vel << ang_vel;
}

void CVehicleVelCmd_DiffDriven::cmdVel_scale(double vel_scale)
{
    lin_vel *= vel_scale;
    ang_vel *= vel_scale;
}

double CVehicleVelCmd_DiffDriven::cmdVel_limits(
    const mrpt::kinematics::CVehicleVelCmd& prev_vel_cmd, const double beta,
    const TVelCmdParams& params)
{
    ASSERT_(params.robotMax_V_mps > 0);
    ASSERT_(params.robotMax_W_radps > 0);
    const auto* prevcmd =
        dynamic_cast<const mrpt::kinematics::CVehicleVelCmd_DiffDriven*>(
            &prev_vel_cmd);
    ASSERTMSG_(prevcmd, "Expected prevcmd of type `CVehicleVelCmd_DiffDriven`");

    double speed_scale = filter_max_vw(lin_vel, ang_vel, params);

    // i.e. new behavior is nearly a pure rotation
    if (std::abs(lin_vel) < 0.01)
    {  // thus, it's OK to blend the rotational component
        ang_vel = beta * ang_vel + (1 - beta) * prevcmd->ang_vel;
    }
    else  // there is a non-zero translational component
    {
        // must maintain the ratio of w to v (while filtering v)
        double ratio = ang_vel / lin_vel;
        // blend new v value
        lin_vel = beta * lin_vel + (1 - beta) * prevcmd->lin_vel;
        // ensure new w implements expected path curvature
        ang_vel = ratio * lin_vel;

        speed_scale *= filter_max_vw(lin_vel, ang_vel, params);
    }

    return speed_scale;
}

double CVehicleVelCmd_DiffDriven::filter_max_vw(
    double& v, double& w, const TVelCmdParams& p)
{
    double speed_scale = 1.0;
    // Ensure maximum speeds:
    if (std::abs(v) > p.robotMax_V_mps)
    {
        // Scale:
        const double F = std::abs(p.robotMax_V_mps / v);
        v *= F;
        w *= F;
        speed_scale *= F;
    }

    if (std::abs(w) > p.robotMax_W_radps)
    {
        // Scale:
        const double F = std::abs(p.robotMax_W_radps / w);
        v *= F;
        w *= F;
        speed_scale *= F;
    }
    return speed_scale;
}