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Generate path point at exact locations of rotation targets #760

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Sep 28, 2024
Merged

Generate path point at exact locations of rotation targets #760

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31 changes: 24 additions & 7 deletions lib/path/pathplanner_path.dart
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Original file line number Diff line number Diff line change
Expand Up @@ -408,18 +408,35 @@ class PathPlannerPath {
}
}

// Add a rotation target to the previous point if it is closer to it than
// the current point
if (unaddedTargets.isNotEmpty) {
if ((unaddedTargets[0].waypointRelativePos - prevPos).abs() <=
(unaddedTargets[0].waypointRelativePos - pos).abs()) {
pathPoints.last.rotationTarget = unaddedTargets.removeAt(0);
// Add rotation targets
RotationTarget? target;
PathPoint prevPoint = pathPoints.last;

while (unaddedTargets.isNotEmpty &&
unaddedTargets[0].waypointRelativePos >= prevPos &&
unaddedTargets[0].waypointRelativePos <= pos) {
if ((unaddedTargets[0].waypointRelativePos - prevPos).abs() < 0.001) {
// Close enough to prev pos
prevPoint.rotationTarget = unaddedTargets.removeAt(0);
} else if ((unaddedTargets[0].waypointRelativePos - pos).abs() <
0.001) {
// Close enough to next pos
target = unaddedTargets.removeAt(0);
} else {
// We should insert a point at the exact position
RotationTarget t = unaddedTargets.removeAt(0);
pathPoints.add(PathPoint(
position: samplePath(t.waypointRelativePos),
rotationTarget: t,
constraints: _constraintsForPos(t.waypointRelativePos),
waypointPos: t.waypointRelativePos,
));
}
}

pathPoints.add(PathPoint(
position: position,
rotationTarget: null,
rotationTarget: target,
constraints: _constraintsForPos(pos),
waypointPos: pos,
));
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25 changes: 18 additions & 7 deletions pathplannerlib-python/pathplannerlib/path.py
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Original file line number Diff line number Diff line change
Expand Up @@ -773,14 +773,25 @@ def _createPath(self) -> List[PathPoint]:
pos = pos + (correctIncrement * 0.5)
position = self._samplePath(pos)

# Add a rotation target to the previous point if it is closer to it than
# the current point
if len(unaddedTargets) > 0:
if abs(unaddedTargets[0].waypointRelativePosition - prevWaypointPos) <= abs(
unaddedTargets[0].waypointRelativePosition - pos):
points[-1].rotationTarget = unaddedTargets.pop(0)
# Add rotation targets
target: Union[RotationTarget, None] = None
prevPoint = points[-1]

while len(unaddedTargets) > 0 and prevWaypointPos <= unaddedTargets[0].waypointRelativePosition <= pos:
if abs(unaddedTargets[0].waypointRelativePosition - prevWaypointPos) < 0.001:
# Close enough to prev pos
prevPoint.rotationTarget = unaddedTargets.pop(0)
elif abs(unaddedTargets[0].waypointRelativePosition - pos) < 0.001:
# Close enough to next pos
target = unaddedTargets.pop(0)
else:
# We should insert a point at the exact position
t = unaddedTargets.pop(0)
points.append(PathPoint(self._samplePath(t.waypointRelativePosition), t,
self._constraintsForWaypointPos(t.waypointRelativePosition)))
points[-1].waypointRelativePos = t.waypointRelativePosition

points.append(PathPoint(position, None, self._constraintsForWaypointPos(pos)))
points.append(PathPoint(position, target, self._constraintsForWaypointPos(pos)))
points[-1].waypointRelativePos = pos
pos = min(pos + targetIncrement, numSegments)

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3 changes: 2 additions & 1 deletion pathplannerlib/.vscode/settings.json
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Original file line number Diff line number Diff line change
Expand Up @@ -100,6 +100,7 @@
"xlocmes": "cpp",
"xlocmon": "cpp",
"xlocnum": "cpp",
"xloctime": "cpp"
"xloctime": "cpp",
"xtree": "cpp"
}
}
28 changes: 21 additions & 7 deletions pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
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Original file line number Diff line number Diff line change
Expand Up @@ -614,16 +614,30 @@ private List<PathPoint> createPath() {
}
}

// Add a rotation target to the previous point if it is closer to it than
// the current point
if (!unaddedTargets.isEmpty()) {
if (Math.abs(unaddedTargets.get(0).getPosition() - prevWaypointPos)
<= Math.abs(unaddedTargets.get(0).getPosition() - pos)) {
points.get(points.size() - 1).rotationTarget = unaddedTargets.remove(0);
// Add rotation targets
RotationTarget target = null;
PathPoint prevPoint = points.get(points.size() - 1);

while (!unaddedTargets.isEmpty()
&& unaddedTargets.get(0).getPosition() >= prevWaypointPos
&& unaddedTargets.get(0).getPosition() <= pos) {
if (Math.abs(unaddedTargets.get(0).getPosition() - prevWaypointPos) < 0.001) {
// Close enough to prev pos
prevPoint.rotationTarget = unaddedTargets.remove(0);
} else if (Math.abs(unaddedTargets.get(0).getPosition() - pos) < 0.001) {
// Close enough to next pos
target = unaddedTargets.remove(0);
} else {
// We should insert a point at the exact position
RotationTarget t = unaddedTargets.remove(0);
points.add(
new PathPoint(
samplePath(t.getPosition()), t, constraintsForWaypointPos(t.getPosition())));
points.get(points.size() - 1).waypointRelativePos = t.getPosition();
}
}

points.add(new PathPoint(position, null, constraintsForWaypointPos(pos)));
points.add(new PathPoint(position, target, constraintsForWaypointPos(pos)));
points.get(points.size() - 1).waypointRelativePos = pos;
pos = Math.min(pos + targetIncrement, numSegments);
}
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30 changes: 23 additions & 7 deletions pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -381,18 +381,34 @@ std::vector<PathPoint> PathPlannerPath::createPath() {
}
}

// Add a rotation target to the previous point if it is closer to it than
// the current point
if (!unaddedTargets.empty()) {
// Add rotation targets
std::optional < RotationTarget > target = std::nullopt;
PathPoint prevPoint = points[points.size() - 1];

while (!unaddedTargets.empty()
&& unaddedTargets[0].getPosition() >= prevWaypointPos
&& unaddedTargets[0].getPosition() <= pos) {
if (std::abs(unaddedTargets[0].getPosition() - prevWaypointPos)
<= std::abs(unaddedTargets[0].getPosition() - pos)) {
points[points.size() - 1].rotationTarget = unaddedTargets[0];
< 0.001) {
// Close enough to prev pos
prevPoint.rotationTarget = unaddedTargets[0];
unaddedTargets.erase(unaddedTargets.begin());
} else if (std::abs(unaddedTargets[0].getPosition() - pos)
< 0.001) {
// Close enough to next pos
target = unaddedTargets[0];
unaddedTargets.erase(unaddedTargets.begin());
} else {
// We should insert a point at the exact position
RotationTarget t = unaddedTargets[0];
unaddedTargets.erase(unaddedTargets.begin());
points.emplace_back(samplePath(t.getPosition()), t,
constraintsForWaypointPos(t.getPosition()));
points[points.size() - 1].waypointRelativePos = t.getPosition();
}
}

points.emplace_back(position, std::nullopt,
constraintsForWaypointPos(pos));
points.emplace_back(position, target, constraintsForWaypointPos(pos));
points[points.size() - 1].waypointRelativePos = pos;
pos = std::min(pos + targetIncrement, static_cast<double>(numSegments));
}
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