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elvout / cs393r

CS 393R Graduate Autonomous Robots, Fall 2021 | Autobots
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Implement 1-D TOC on a straight line path. #12

Closed elvout closed 3 years ago

elvout commented 3 years ago

In simulation for now. We will add latency compensation for the real robot later.

elvout commented 3 years ago

The code right now is a bit messy: at every time step, it recomputes all the necessary parameters for the 1D TOC.

I'm thinking we can create a struct called Plan or something with precomputed values for target displacement, peak velocity, and trapezoid case type (enum?) and storing it in the navigation object. This way, the update loop does not need to perform all of these computations.

elvout commented 3 years ago

The code right now is a bit messy: at every time step, it recomputes all the necessary parameters for the 1D TOC.

I'm thinking we can create a struct called Plan or something with precomputed values for target displacement, peak velocity, and trapezoid case type (enum?) and storing it in the navigation object. This way, the update loop does not need to perform all of these computations.

Created namespace navigation::toc and class Plan_1D. The trapezoid case type enum was not necessary – the plan is generalizable.

elvout commented 3 years ago

Closed by branch 12-1d-toc. This branch will probably be deleted sometime soon.