HiepLM/pnkx_nav_core
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update phan di thang

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HiepLM
2026-04-23 10:28:28 +07:00
parent a9c56261ea
commit 251c741dd9
4 changed files with 34 additions and 24 deletions
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2
src/Algorithms/Libraries/mkt_algorithm/include/mkt_algorithm/diff/diff_predictive_trajectory.h
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@@ -181,7 +181,7 @@ namespace mkt_algorithm
*/
robot_nav_2d_msgs::Path2D generateTrajectory(
const robot_nav_2d_msgs::Path2D &path, const robot_nav_2d_msgs::Twist2D &drive_target,
const robot_nav_2d_msgs::Twist2D &velocity, const double &sign_x, robot_nav_2d_msgs::Twist2D &drive_cmd);
const robot_nav_2d_msgs::Twist2D &velocity, const double &sign_x, robot_nav_2d_msgs::Twist2D &drive_cmd, const double &dt);
/**
* @brief Generate trajectory

2
src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_go_straight.cpp
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@@ -151,7 +151,7 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::GoStraight::calculator(
lookahead_dist = sqrt(carrot_pose.pose.y *carrot_pose.pose.y + lookahead_dist * lookahead_dist);
}
robot_nav_2d_msgs::Twist2D drive_target;
transformed_plan = this->generateTrajectory(transformed_plan, drive_cmd, velocity, sign_x, drive_target);
transformed_plan = this->generateTrajectory(transformed_plan, drive_cmd, velocity, sign_x, drive_target, dt);
carrot_pose = *getLookAheadPoint(velocity, lookahead_dist, transformed_plan);
// Normal Pure Pursuit

51
src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp
View File

@@ -519,7 +519,9 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
const double distance_allow_rotate = min_journey_squared_;
const double path_distance_to_rotate = journey(transformed_plan.poses, 0, transformed_plan.poses.size() - 1);
allow_rotate |= path_distance_to_rotate >= distance_allow_rotate;
allow_rotate &= std::hypot(compute_plan_.poses.front().pose.x - pose.pose.x, compute_plan_.poses.front().pose.y - pose.pose.y) <= 0.1;
// allow_rotate &= std::hypot(compute_plan_.poses.front().pose.x - pose.pose.x, compute_plan_.poses.front().pose.y - pose.pose.y) <= 0.1;
allow_rotate &= fabs(transformed_plan.poses.front().pose.y) <= 0.1;
robot::log_info("pose.y %f", fabs(transformed_plan.poses.front().pose.y));
double angle_to_heading;
if (allow_rotate && shouldRotateToPath(transformed_plan, carrot_pose, velocity, angle_to_heading, sign_x))
{
@@ -549,7 +551,7 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
// else
// {
robot_nav_2d_msgs::Twist2D drive_target = drive_cmd;
transformed_plan = this->generateTrajectory(transformed_plan, drive_cmd, velocity, sign_x, drive_target);
transformed_plan = this->generateTrajectory(transformed_plan, drive_cmd, velocity, sign_x, drive_target, dt);
carrot_pose = *getLookAheadPoint(velocity, lookahead_dist, transformed_plan);
// Normal Pure Pursuit
@@ -721,7 +723,6 @@ void mkt_algorithm::diff::PredictiveTrajectory::computePurePursuit(
drive_cmd.x = fabs(drive_cmd.x) >= v_min ? drive_cmd.x : std::copysign(v_min, sign_x);
if (kf_filter_angular_)
drive_cmd.theta = std::clamp(kf_->state()[3], -max_vel_theta_, max_vel_theta_);
// robot::log_info("%s", ss.str().c_str());
}
void mkt_algorithm::diff::PredictiveTrajectory::applyDistanceSpeedScaling(
@@ -745,8 +746,9 @@ void mkt_algorithm::diff::PredictiveTrajectory::applyDistanceSpeedScaling(
double cosine_factor = 0.5 * (1.0 + std::cos(M_PI * (1.0 - r)));
target_speed = max_speed * cosine_factor;
}
double reduce_speed = std::min(max_speed, min_speed_xy_);
const double v_limited = sign_x > 0 ? traj_->getTwistLinear(true).x : traj_->getTwistLinear(false).x;
const double v_min = std::min(fabs(v_limited), min_speed_xy_);
double reduce_speed = std::min(max_speed, v_min);
if (s < S_final)
{
double r = std::clamp(s / S_final, 0.0, 1.0);
@@ -818,12 +820,6 @@ bool mkt_algorithm::diff::PredictiveTrajectory::shouldRotateToPath(
#ifdef BUILD_WITH_ROS
if (result)
ROS_WARN_THROTTLE(0.1, "angle_to_path: %f, heading_rotate: %f, is_stopped: %x %x, sign_x: %f", angle_to_path, heading_rotate, is_stopped, sign(angle_to_path) * sign_x < 0, sign_x);
// else if(fabs(velocity.x) < min_speed_xy_)
// {
// ROS_INFO_THROTTLE(0.1, "velocity.x: %f, velocity.theta: %f, ", velocity.x, velocity.theta);
// ROS_INFO_THROTTLE(0.1, "angle_to_path: %f, heading_rotate: %f, is_stopped: %x %x, sign_x: %f", angle_to_path, heading_rotate, is_stopped, sign(angle_to_path) * sign_x < 0, sign_x);
// }
#else
if (result)
robot::log_info_throttle(0.1, "angle_to_path: %f, heading_rotate: %f, is_stopped: %x %x, sign_x: %f", angle_to_path, heading_rotate, is_stopped, sign(angle_to_path) * sign_x < 0, sign_x);
@@ -963,8 +959,10 @@ void mkt_algorithm::diff::PredictiveTrajectory::alignToFinalHeading(
// --- Linear velocity calculation ---
// Base velocity proportional to distance, with minimum for smooth motion
double v_base = std::sqrt(2.0 * std::fabs(decel_lim_x_) * xy_error);
const double v_limited = sign_x > 0 ? traj_->getTwistLinear(true).x : traj_->getTwistLinear(false).x;
const double v_min = std::min(fabs(v_limited), min_speed_xy_);
v_base = std::max(v_base, final_heading_min_velocity_);
v_base = std::min(v_base, min_speed_xy_);
v_base = std::min(v_base, v_min);
// Scale down when heading error is large (prioritize rotation)
double heading_scale = 1.0;
@@ -1036,7 +1034,7 @@ void mkt_algorithm::diff::PredictiveTrajectory::alignToFinalHeading(
cmd_vel.theta = omega_current + domega;
// --- Apply velocity limits ---
cmd_vel.x = std::clamp(cmd_vel.x, -min_speed_xy_, min_speed_xy_);
cmd_vel.x = std::clamp(cmd_vel.x, -v_min, v_min);
cmd_vel.theta = std::clamp(cmd_vel.theta, -max_vel_theta_, max_vel_theta_);
// --- Safety: ensure we can stop ---
@@ -1218,9 +1216,11 @@ double mkt_algorithm::diff::PredictiveTrajectory::adjustSpeedWithHermiteTrajecto
double v_limit = std::fabs(v_target);
double journey_distance = journey(trajectory.poses, 0, trajectory.poses.size() - 1);
const double v_limited = sign_x > 0 ? traj_->getTwistLinear(true).x : traj_->getTwistLinear(false).x;
const double v_min = std::min(fabs(v_limited), min_speed_xy_);
if (journey_distance < min_journey_squared_)
{
v_limit = std::clamp(sqrt(2.0 * fabs(decel_lim_x_) * journey_distance), min_approach_linear_velocity_, min_speed_xy_) * sign_x;
v_limit = std::clamp(sqrt(2.0 * fabs(decel_lim_x_) * journey_distance), min_approach_linear_velocity_, v_min) * sign_x;
}
if (max_kappa > 1e-6 && max_lateral_accel_ > 1e-6)
@@ -1230,7 +1230,7 @@ double mkt_algorithm::diff::PredictiveTrajectory::adjustSpeedWithHermiteTrajecto
}
if(trajectory.poses.size() > 2 && fabs(trajectory.poses.front().pose.theta) >= angle_threshold_)
v_limit = min_speed_xy_ * sign_x;
v_limit = v_min * sign_x;
if (fabs(decel_lim_x_) > 1e-6)
{
@@ -1248,7 +1248,8 @@ robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateTra
const robot_nav_2d_msgs::Twist2D &drive_target,
const robot_nav_2d_msgs::Twist2D &velocity,
const double &sign_x,
robot_nav_2d_msgs::Twist2D &drive_cmd)
robot_nav_2d_msgs::Twist2D &drive_cmd,
const double &dt)
{
if (path.poses.empty())
{
@@ -1261,9 +1262,10 @@ robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateTra
drive_cmd.x = this->adjustSpeedWithHermiteTrajectory(velocity, path, drive_target.x, sign_x);
drive_cmd.theta = max_vel_theta_;
if (max_kappa <= straight_threshold && fabs(path.poses.back().pose.x) < min_lookahead_dist_) // nếu đường thẳng
// nếu đường thẳng
if (max_kappa <= straight_threshold)
{
if(fabs(path.poses.front().pose.y) <= 0.03 && fabs(path.poses.back().pose.x) < min_lookahead_dist_ )
if(fabs(path.poses.back().pose.x) * 0.9 < min_lookahead_dist_)
{
return generateParallelPath(path, sign_x);
}
@@ -1271,8 +1273,17 @@ robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateTra
}
else // nếu đường cong
{
if(fabs(drive_cmd.x) < min_speed_xy_)
drive_cmd.x = std::copysign(min_speed_xy_, sign_x);
const double v_limited = sign_x > 0 ? traj_->getTwistLinear(true).x : traj_->getTwistLinear(false).x;
const double v_min = std::min(fabs(v_limited), min_speed_xy_);
if(fabs(drive_cmd.x) < v_min)
{
robot_nav_2d_msgs::Twist2D vel_in, v_out;
vel_in.x = v_min;
vel_in.y = 0.0;
vel_in.theta = drive_cmd.theta;
moveWithAccLimits(velocity, vel_in, v_out, dt);
drive_cmd.x = std::copysign(v_out.x, sign_x);
}
return generateHermiteQuadraticTrajectory(path, sign_x);
}
}