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[trajoptlib] Rename functions and variables to snake case
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‎trajoptlib/examples/differential/src/main.cpp‎

Lines changed: 87 additions & 86 deletions
Original file line numberDiff line numberDiff line change
@@ -14,180 +14,181 @@
1414
// waypoints where constraints can also be applied.
1515

1616
int main() {
17-
trajopt::DifferentialDrivetrain differentialDrivetrain{
17+
trajopt::DifferentialDrivetrain differential_drivetrain{
1818
// kg
1919
.mass = 45,
2020
// kg-m²
2121
.moi = 6,
2222
// m
23-
.wheelRadius = 0.08,
23+
.wheel_radius = 0.08,
2424
// rad/s
25-
.wheelMaxAngularVelocity = 70,
25+
.wheel_max_angular_velocity = 70,
2626
// N-m
27-
.wheelMaxTorque = 5,
27+
.wheel_max_torque = 5,
2828
// unitless
29-
.wheelCoF = 1.5,
29+
.wheel_cof = 1.5,
3030
// m
3131
.trackwidth = 0.6};
3232

33-
trajopt::LinearVelocityMaxMagnitudeConstraint zeroLinearVelocity{0.0};
34-
trajopt::AngularVelocityMaxMagnitudeConstraint zeroAngularVelocity{0.0};
33+
trajopt::LinearVelocityMaxMagnitudeConstraint zero_linear_velocity{0.0};
34+
trajopt::AngularVelocityMaxMagnitudeConstraint zero_angular_velocity{0.0};
3535

3636
// Example 1: Differential, one meter forward motion profile
3737
{
3838
trajopt::DifferentialPathBuilder path;
39-
path.SetDrivetrain(differentialDrivetrain);
40-
path.PoseWpt(0, 0.0, 0.0, 0.0);
41-
path.PoseWpt(1, 1.0, 0.0, 0.0);
42-
path.WptConstraint(0, zeroLinearVelocity);
43-
path.WptConstraint(1, zeroLinearVelocity);
44-
path.SetControlIntervalCounts({40});
39+
path.set_drivetrain(differential_drivetrain);
40+
path.pose_wpt(0, 0.0, 0.0, 0.0);
41+
path.pose_wpt(1, 1.0, 0.0, 0.0);
42+
path.wpt_constraint(0, zero_linear_velocity);
43+
path.wpt_constraint(1, zero_linear_velocity);
44+
path.set_control_interval_counts({40});
4545

4646
trajopt::DifferentialTrajectoryGenerator generator{path};
4747
[[maybe_unused]]
48-
auto solution = generator.Generate(true);
48+
auto solution = generator.generate(true);
4949
}
5050

5151
// Example 2: Differential, basic curve
5252
{
5353
trajopt::DifferentialPathBuilder path;
54-
path.SetDrivetrain(differentialDrivetrain);
55-
path.PoseWpt(0, 1.0, 1.0, -std::numbers::pi / 2);
56-
path.PoseWpt(1, 2.0, 0.0, 0.0);
57-
path.WptConstraint(0, zeroLinearVelocity);
58-
path.WptConstraint(1, zeroLinearVelocity);
59-
path.SetControlIntervalCounts({40});
54+
path.set_drivetrain(differential_drivetrain);
55+
path.pose_wpt(0, 1.0, 1.0, -std::numbers::pi / 2);
56+
path.pose_wpt(1, 2.0, 0.0, 0.0);
57+
path.wpt_constraint(0, zero_linear_velocity);
58+
path.wpt_constraint(1, zero_linear_velocity);
59+
path.set_control_interval_counts({40});
6060

6161
trajopt::DifferentialTrajectoryGenerator generator{path};
6262
[[maybe_unused]]
63-
auto solution = generator.Generate(true);
63+
auto solution = generator.generate(true);
6464
}
6565

6666
// Example 3: Differential, three waypoints
6767
{
6868
trajopt::DifferentialPathBuilder path;
69-
path.SetDrivetrain(differentialDrivetrain);
70-
path.PoseWpt(0, 0.0, 0.0, std::numbers::pi / 2);
71-
path.PoseWpt(1, 1.0, 1.0, 0.0);
72-
path.PoseWpt(2, 2.0, 0.0, std::numbers::pi / 2);
73-
path.WptConstraint(0, zeroLinearVelocity);
74-
path.WptConstraint(1, zeroLinearVelocity);
75-
path.SetControlIntervalCounts({50, 50});
69+
path.set_drivetrain(differential_drivetrain);
70+
path.pose_wpt(0, 0.0, 0.0, std::numbers::pi / 2);
71+
path.pose_wpt(1, 1.0, 1.0, 0.0);
72+
path.pose_wpt(2, 2.0, 0.0, std::numbers::pi / 2);
73+
path.wpt_constraint(0, zero_linear_velocity);
74+
path.wpt_constraint(1, zero_linear_velocity);
75+
path.set_control_interval_counts({50, 50});
7676

7777
trajopt::DifferentialTrajectoryGenerator generator{path};
7878
[[maybe_unused]]
79-
auto solution = generator.Generate(true);
79+
auto solution = generator.generate(true);
8080
}
8181

8282
// Example 4: Differential, ending velocity
8383
{
8484
trajopt::DifferentialPathBuilder path;
85-
path.SetDrivetrain(differentialDrivetrain);
86-
path.PoseWpt(0, 0.0, 0.0, 0.0);
87-
path.PoseWpt(1, 0.0, 1.0, 0.0);
88-
path.WptConstraint(0, zeroLinearVelocity);
89-
path.SetControlIntervalCounts({40});
85+
path.set_drivetrain(differential_drivetrain);
86+
path.pose_wpt(0, 0.0, 0.0, 0.0);
87+
path.pose_wpt(1, 0.0, 1.0, 0.0);
88+
path.wpt_constraint(0, zero_linear_velocity);
89+
path.set_control_interval_counts({40});
9090

9191
trajopt::DifferentialTrajectoryGenerator generator{path};
9292
[[maybe_unused]]
93-
auto solution = generator.Generate(true);
93+
auto solution = generator.generate(true);
9494
}
9595

9696
// Example 5: Differential, keep-out circle
9797
{
9898
trajopt::DifferentialPathBuilder path;
99-
path.SetDrivetrain(differentialDrivetrain);
100-
path.PoseWpt(0, 0.0, 0.0, 0.0);
101-
trajopt::KeepOutRegion keepOut{// Radius of 0.1
102-
.safetyDistance = 0.1,
103-
.points = {{0.5, 0.5}}};
104-
for (size_t i = 0; i < path.GetBumpers().at(0).points.size(); i++) {
105-
path.SgmtConstraint(0, 1,
106-
trajopt::PointPointMinConstraint{
107-
path.GetBumpers().at(0).points.at(i),
108-
keepOut.points.at(0), keepOut.safetyDistance});
109-
path.SgmtConstraint(
99+
path.set_drivetrain(differential_drivetrain);
100+
path.pose_wpt(0, 0.0, 0.0, 0.0);
101+
trajopt::KeepOutRegion keep_out{// Radius of 0.1
102+
.safety_distance = 0.1,
103+
.points = {{0.5, 0.5}}};
104+
for (size_t i = 0; i < path.get_bumpers().at(0).points.size(); i++) {
105+
path.sgmt_constraint(
106+
0, 1,
107+
trajopt::PointPointMinConstraint{
108+
path.get_bumpers().at(0).points.at(i), keep_out.points.at(0),
109+
keep_out.safety_distance});
110+
path.sgmt_constraint(
110111
0, 1,
111112
trajopt::LinePointConstraint{
112-
path.GetBumpers().at(0).points.at(i),
113-
path.GetBumpers().at(0).points.at(
114-
(i + 1) % path.GetBumpers().at(0).points.size()),
115-
keepOut.points.at(0), keepOut.safetyDistance});
113+
path.get_bumpers().at(0).points.at(i),
114+
path.get_bumpers().at(0).points.at(
115+
(i + 1) % path.get_bumpers().at(0).points.size()),
116+
keep_out.points.at(0), keep_out.safety_distance});
116117
}
117-
path.PoseWpt(1, 1.0, 0.0, 0.0);
118-
path.WptConstraint(0, zeroLinearVelocity);
119-
path.WptConstraint(1, zeroLinearVelocity);
120-
path.SetControlIntervalCounts({40});
118+
path.pose_wpt(1, 1.0, 0.0, 0.0);
119+
path.wpt_constraint(0, zero_linear_velocity);
120+
path.wpt_constraint(1, zero_linear_velocity);
121+
path.set_control_interval_counts({40});
121122

122123
trajopt::DifferentialTrajectoryGenerator generator{path};
123124
[[maybe_unused]]
124-
auto solution = generator.Generate(true);
125+
auto solution = generator.generate(true);
125126
}
126127

127128
// Example 6: Approach a pick up station at a certain direction
128129
{
129130
trajopt::DifferentialPathBuilder path;
130-
path.SetDrivetrain(differentialDrivetrain);
131+
path.set_drivetrain(differential_drivetrain);
131132

132133
// Starting position
133-
path.PoseWpt(0, 0.0, 0.0, 0.0);
134+
path.pose_wpt(0, 0.0, 0.0, 0.0);
134135

135136
// Align towards the station one meter behind
136-
path.PoseWpt(1, 1.0, 1.0, std::numbers::pi / 2);
137-
path.WptConstraint(1, zeroAngularVelocity);
138-
path.WptConstraint(
137+
path.pose_wpt(1, 1.0, 1.0, std::numbers::pi / 2);
138+
path.wpt_constraint(1, zero_angular_velocity);
139+
path.wpt_constraint(
139140
1, trajopt::LinearVelocityDirectionConstraint{std::numbers::pi / 2});
140141

141142
// Go up to the station. In practice, the optimizer will still end up
142143
// aligning the heading without the pose constraint since it's most optimal.
143-
path.TranslationWpt(2, 1.0, 2.0);
144+
path.translation_wpt(2, 1.0, 2.0);
144145

145146
// Realign behind the station
146-
path.PoseWpt(3, 1.0, 1.0, std::numbers::pi / 2);
147-
path.WptConstraint(3, zeroAngularVelocity);
148-
path.WptConstraint(
147+
path.pose_wpt(3, 1.0, 1.0, std::numbers::pi / 2);
148+
path.wpt_constraint(3, zero_angular_velocity);
149+
path.wpt_constraint(
149150
3, trajopt::LinearVelocityDirectionConstraint{std::numbers::pi / 2});
150151

151152
// Ending position
152-
path.PoseWpt(4, 2.0, 0.0, std::numbers::pi);
153+
path.pose_wpt(4, 2.0, 0.0, std::numbers::pi);
153154

154-
path.WptConstraint(0, zeroLinearVelocity);
155-
path.WptConstraint(4, zeroLinearVelocity);
156-
path.SetControlIntervalCounts({40, 30, 30, 40});
155+
path.wpt_constraint(0, zero_linear_velocity);
156+
path.wpt_constraint(4, zero_linear_velocity);
157+
path.set_control_interval_counts({40, 30, 30, 40});
157158

158159
trajopt::DifferentialTrajectoryGenerator generator{path};
159160
[[maybe_unused]]
160-
auto solution = generator.Generate(true);
161+
auto solution = generator.generate(true);
161162
}
162163

163164
// Example 7: Circular path with a point-point constraint
164165
{
165166
// Note that forcing a circular path is not a common problem in FRC. This
166167
// example is only here to demonstrate how various constraints work.
167168
trajopt::DifferentialPathBuilder path;
168-
path.SetDrivetrain(differentialDrivetrain);
169-
170-
path.PoseWpt(0, 0.0, 0.0, 0.0);
171-
path.SgmtConstraint(0, 1,
172-
trajopt::PointPointMinConstraint{
173-
// Robot point -- center of robot
174-
{0.0, 0.0},
175-
// Field point around which to orbit
176-
{1.0, 0.0},
177-
// Stay 1 m away to force circular motion
178-
1.0});
169+
path.set_drivetrain(differential_drivetrain);
170+
171+
path.pose_wpt(0, 0.0, 0.0, 0.0);
172+
path.sgmt_constraint(0, 1,
173+
trajopt::PointPointMinConstraint{
174+
// Robot point -- center of robot
175+
{0.0, 0.0},
176+
// Field point around which to orbit
177+
{1.0, 0.0},
178+
// Stay 1 m away to force circular motion
179+
1.0});
179180

180181
// Tell optimizer to go in +y direction rather than -y
181-
path.WptInitialGuessPoint(0, {0.0, 0.0, 0.0});
182+
path.wpt_initial_guess_point(0, {0.0, 0.0, 0.0});
182183

183-
path.PoseWpt(1, 2.0, 0.0, 0.0);
184+
path.pose_wpt(1, 2.0, 0.0, 0.0);
184185

185-
path.WptConstraint(0, zeroLinearVelocity);
186-
path.WptConstraint(1, zeroLinearVelocity);
187-
path.SetControlIntervalCounts({50});
186+
path.wpt_constraint(0, zero_linear_velocity);
187+
path.wpt_constraint(1, zero_linear_velocity);
188+
path.set_control_interval_counts({50});
188189

189190
trajopt::DifferentialTrajectoryGenerator generator{path};
190191
[[maybe_unused]]
191-
auto solution = generator.Generate(true);
192+
auto solution = generator.generate(true);
192193
}
193194
}

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