public override Dictionary <string, PathSegment[]> ModifyPath(RobotParams robot, RobotPath path, PathSegment[] segs, double rotvel)
{
Dictionary <string, PathSegment[]> result = new Dictionary <string, PathSegment[]>();
if (segs == null)
{
return(null);
}
double lvel, lacc, ljerk, lpos = 0.0;
double rvel, racc, rjerk, rpos = 0.0;
double plx = 0.0, ply = 0.0;
double prx = 0.0, pry = 0.0;
double plvel = 0.0, prvel = 0.0;
double placc = 0.0, pracc = 0.0;
PathSegment[] lsegs = new PathSegment[segs.Length];
PathSegment[] rsegs = new PathSegment[segs.Length];
result["left"] = lsegs;
result["right"] = rsegs;
for (int i = 0; i < segs.Length; i++)
{
double time = segs[i].GetValue("time");
double heading = XeroUtils.DegreesToRadians(segs[i].GetValue("heading"));
double ca = Math.Cos(heading);
double sa = Math.Sin(heading);
double px = segs[i].GetValue("x");
double py = segs[i].GetValue("y");
double lx = px - robot.Width * sa / 2.0;
double ly = py + robot.Width * ca / 2.0;
double rx = px + robot.Width * sa / 2.0;
double ry = py - robot.Width * ca / 2.0;
if (i == 0)
{
lvel = 0.0;
lacc = 0.0;
lpos = 0.0;
ljerk = 0.0;
rvel = 0.0;
racc = 0.0;
rpos = 0.0;
rjerk = 0.0;
}
else
{
double dt = segs[i].GetValue("time") - segs[i - 1].GetValue("time");
double ldist = Math.Sqrt((lx - plx) * (lx - plx) + (ly - ply) * (ly - ply));
double rdist = Math.Sqrt((rx - prx) * (rx - prx) + (ry - pry) * (ry - pry));
lvel = ldist / dt;
rvel = rdist / dt;
lacc = (lvel - plvel) / dt;
racc = (rvel - prvel) / dt;
ljerk = (lacc - placc) / dt;
rjerk = (racc - pracc) / dt;
lpos += ldist;
rpos += rdist;
}
PathSegment left = new PathSegment();
left.SetValue("time", time);
left.SetValue("x", lx);
left.SetValue("y", ly);
left.SetValue("heading", segs[i].GetValue("heading"));
left.SetValue("position", lpos);
left.SetValue("velocity", lvel);
left.SetValue("acceleration", lacc);
left.SetValue("jerk", ljerk);
lsegs[i] = left;
PathSegment right = new PathSegment();
right.SetValue("time", segs[i].GetValue("time"));
right.SetValue("x", rx);
right.SetValue("y", ry);
right.SetValue("heading", segs[i].GetValue("heading"));
right.SetValue("position", rpos);
right.SetValue("velocity", rvel);
right.SetValue("acceleration", racc);
right.SetValue("jerk", rjerk);
rsegs[i] = right;
plx = lx;
ply = ly;
prx = rx;
pry = ry;
plvel = lvel;
prvel = rvel;
placc = lacc;
pracc = racc;
}
return(result);
}
