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[Navigation][Trajectory] solve the discontinued problem of yaw rotation #634

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Nov 27, 2024
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[Navigation][Trajectory] solve the discontinued problem of yaw rotation #634

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1 change: 1 addition & 0 deletions ...ol/include/aerial_robot_control/trajectory/trajectory_reference/polynomial_trajectory.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,7 @@ class PolynomialTrajectory : public ReferenceBase {
PolyType y_;
PolyType z_;
PolyType yaw_;
QuadState prev_constraint_;

std::vector<QuadState> states_;

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5 changes: 4 additions & 1 deletion aerial_robot_control/src/flight_navigation.cpp
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Expand Up @@ -1002,7 +1002,10 @@ void BaseNavigator::generateNewTrajectory(geometry_msgs::PoseStamped pose)
}

double du_tran = (end_state.p - start_state.p).norm() / trajectory_mean_vel_;
double du_rot = fabs(end_state.getYaw() - start_state.getYaw()) / trajectory_mean_yaw_rate_;
double delta_yaw = end_state.getYaw() - start_state.getYaw();
if (delta_yaw > M_PI) delta_yaw -= 2 * M_PI;
if (delta_yaw < -M_PI) delta_yaw += 2 * M_PI;
double du_rot = fabs(delta_yaw) / trajectory_mean_yaw_rate_;
double du = std::max(du_tran, trajectory_min_du_);
if (!enable_latch_yaw_trajectory_)
{
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20 changes: 15 additions & 5 deletions aerial_robot_control/src/trajectory/trajectory_reference/polynomial_trajectory.cpp
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Expand Up @@ -75,12 +75,10 @@ PolynomialTrajectory<PolyType>::PolynomialTrajectory(
yaw_.scale(start_state_.t, duration_);

addStateConstraint(start_state_);
addStateConstraint(end_state_);

for (size_t i = 1; i < states_.size() - 1; i++) {
addStateConstraint(states_.at(i), 0); // only consider the position constraints for the intermediate points
}

addStateConstraint(end_state_);

if (!x_.solve()) std::cout << "Could not solve x-axis!" << std::endl;
if (!y_.solve()) std::cout << "Could not solve y-axis!" << std::endl;
Expand Down Expand Up @@ -116,9 +114,21 @@ bool PolynomialTrajectory<PolyType>::addStateConstraint(const QuadState& state,
z_.addConstraint(state.t, constraints.row(2).transpose());

// ToDo: Yaw relative to initial yaw.
const Scalar yaw_angle = state.getYaw();
Scalar yaw_angle = state.getYaw();
if (std::isfinite(yaw_angle))
yaw_.addConstraint(state.t, Vector<3>(yaw_angle, state.w.z(), 0));
{
if (std::isfinite(prev_constraint_.t))
{
Scalar prev_yaw_angle = prev_constraint_.getYaw();
Scalar diff = yaw_angle - prev_yaw_angle;
if (diff > M_PI) yaw_angle -= 2 * M_PI;
if (diff < -M_PI) yaw_angle += 2 * M_PI;
}
yaw_.addConstraint(state.t, Vector<3>(yaw_angle, state.w.z(), 0));
}


prev_constraint_ = state;

return true;
}
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