BezierN.hpp
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/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file BerzierN.hpp
*
* @author Julian Kent <julian@auterion.com>
*
* N-order Bezier library designed for time-aware trajectory tracking
*/
#pragma once
#include <matrix/math.hpp>
namespace bezier
{
/*
* Calculates the location and velocity with respect to T on a given bezier curve of any order.
*
*/
bool calculateBezierPosVel(const matrix::Vector3f *positions, int N, float t,
matrix::Vector3f &position, matrix::Vector3f &velocity);
/*
* Calculates the position, velocity and acceleration with respect to T on a given bezier curve of any order.
*
*/
bool calculateBezierPosVelAcc(const matrix::Vector3f *positions, int N, float t,
matrix::Vector3f &position, matrix::Vector3f &velocity, matrix::Vector3f &acceleration);
/*
* Calculates the position and velocity of yaw with respect to t on a bezier curve.
* All yaw setpoints are wrapped relative to the starting yaw.
*
*/
bool calculateBezierYaw(const float *setpoints, int N, float t, float &yaw_setpoint, float &yaw_vel_setpoint);
/*
* Calculates the fraction between the begin and end time which can be used for fast bezier curve lookups
*/
bool calculateT(int64_t start_time, int64_t end_time, int64_t now, float &T);
}