restore first circle algo + hostsim work

[aversive.git] / modules / devices / robot / trajectory_manager / trajectory_manager_core.c

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
index f5e0add..caa986c 100644 (file)
--- a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
@@ -479,43 +479,18 @@ void trajectory_manager_xy_event(struct trajectory *traj)
 /* XXX static */
 void trajectory_manager_circle_event(struct trajectory *traj)
 {
-       double coef = 1.0;
+       double radius;
        double x = position_get_x_double(traj->position);
        double y = position_get_y_double(traj->position);
        double a = position_get_a_rad_double(traj->position);
        int32_t d_consign = 0, a_consign = 0;
        double angle_to_center_rad;
-       static int32_t d_prev, a_prev;
-       int32_t d_speed, a_speed;
-       int32_t d_pos, a_pos;
-
-       d_pos = rs_get_distance(traj->robot);
-       a_pos = rs_get_angle(traj->robot);
-       d_speed = d_pos - d_prev;
-       a_speed = a_pos - a_prev;
-       d_prev = d_pos;
-       a_prev = a_pos;
 
        /* These vectors contain target position of the robot in
         * its own coordinates */
        vect2_cart v2cart_pos;
        vect2_pol v2pol_target;
 
-       int32_t delta_d, delta_a;
-       double coef_deriv = traj->circle_coef;
-       double new_radius;
-       double new_angle;
-       struct  quadramp_filter * q_d, * q_a;
-
-       q_d = traj->csm_distance->consign_filter_params;
-       q_a = traj->csm_angle->consign_filter_params;
-       /*
-       delta_a = a_speed;//q_a->previous_var;
-       delta_d = d_speed;//q_d->previous_var;
-       */
-       delta_a = q_a->previous_var;
-       delta_d = q_d->previous_var;
-
        /* step 1 : process new commands to quadramps */
 
        /* process the command vector from current position to the
@@ -525,32 +500,18 @@ void trajectory_manager_circle_event(struct trajectory *traj)
        vect2_cart2pol(&v2cart_pos, &v2pol_target);
        v2pol_target.theta = simple_modulo_2pi(v2pol_target.theta - a);
 
-#if 0
-       /* pas trop mal, mais oscille */
-       //new_radius = traj->target.circle.radius - delta_a * delta_d * coef_deriv;
-       if (v2pol_target.r > traj->target.circle.radius/2)
-               new_radius = traj->target.circle.radius - delta_a * delta_d * coef_deriv * traj->target.circle.radius / v2pol_target.r;
-       else
-               new_radius = traj->target.circle.radius - delta_a * delta_d * coef_deriv ;
-
-       /* oscille a mort */
-       //new_radius = traj->target.circle.radius - traj->target.circle.radius   * delta_a * delta_a * coef_deriv;
-
-       /* ? */
-       //new_radius = traj->target.circle.radius - traj->target.circle.radius   * delta_a * coef_deriv;
-
-
        /* wanted direction of center of circle:
         * if we are far, go in the center direction,
         * if we are at radius, we want to see the center at 90°
         * if we are nearer than radius, angle to center is > 90° */
-       if (v2pol_target.r > new_radius) {
-               angle_to_center_rad = new_radius / v2pol_target.r;
+       radius = traj->target.circle.radius;
+       if (v2pol_target.r > radius) {
+               angle_to_center_rad = radius / v2pol_target.r;
                angle_to_center_rad *= (M_PI / 2);
        }
        else {
                angle_to_center_rad = 1. - (v2pol_target.r /
-                                           (2 * new_radius));
+                                           (2 * radius));
                angle_to_center_rad *= M_PI;
        }
 
@@ -562,8 +523,7 @@ void trajectory_manager_circle_event(struct trajectory *traj)
        if (ABS(v2pol_target.theta) > traj->a_start_rad)
                set_quadramp_speed(traj, 0, traj->a_speed);
        else {
-               coef = (traj->a_start_rad - ABS(v2pol_target.theta)) / traj->a_start_rad;
-               set_quadramp_speed(traj, traj->d_speed * coef, traj->a_speed);
+               set_quadramp_speed(traj, traj->d_speed, traj->a_speed);
        }
 
        /* XXX check flags */
@@ -575,53 +535,6 @@ void trajectory_manager_circle_event(struct trajectory *traj)
                              (traj->position->phys.track_mm) / 2.0);
        a_consign += rs_get_angle(traj->robot);
 
-#endif
-
-       d_speed/=100;
-       if (d_speed > v2pol_target.r)
-               d_speed = v2pol_target.r/2;
-       if (d_speed == 0)
-               d_speed = v2pol_target.r/2;
-       new_angle = (d_speed * d_speed);
-       new_angle += (v2pol_target.r * v2pol_target.r);
-       new_angle -= (traj->target.circle.radius * traj->target.circle.radius);
-       new_angle /= 2 * d_speed * v2pol_target.r;
-
-       printf("robot %f %f dspeed %d polr %f pola %f cnewa %f\n",
-              x, y,
-              d_speed,
-              v2pol_target.r, v2pol_target.theta * 180 / M_PI,
-              new_angle);
-
-       if (new_angle < -1)
-               new_angle = -1;
-
-       if (new_angle > 1)
-               new_angle = 1;
-
-
-       new_angle = acos(new_angle);
-       printf("new_a: %f\n", new_angle*180/M_PI);
-
-       new_angle = v2pol_target.theta - new_angle;
-       a_consign = (int32_t)(new_angle *
-                             (traj->position->phys.distance_imp_per_mm) *
-                             (traj->position->phys.track_mm) / 2.0);
-       a_consign += rs_get_angle(traj->robot);
-
-
-       /* XXX check flags */
-       d_consign = 40000 + rs_get_distance(traj->robot);
-
-
-
-
-
-
-
-
-
-
        /* step 2 : update state, or delete event if we reached the
         * destination */
 
@@ -638,7 +551,7 @@ void trajectory_manager_circle_event(struct trajectory *traj)
                  ", a_speed=%" PRIi32 "radius = %f",
                  rs_get_distance(traj->robot), d_consign, get_quadramp_distance_speed(traj),
                  rs_get_angle(traj->robot), a_consign, get_quadramp_angle_speed(traj),
-                 new_radius);
+                 radius);
 
        cs_set_consign(traj->csm_angle, a_consign);
        cs_set_consign(traj->csm_distance, d_consign);