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Feature/0 ang velo endpts #186

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Merged
shueja merged 2 commits into from
Dec 4, 2023
Merged

Feature/0 ang velo endpts #186

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bcb7aac
start and end default paths with 0 lin/ang velo
shueja Dec 3, 2023
615503c
format
shueja Dec 4, 2023
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7 changes: 7 additions & 0 deletions src-tauri/src/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,7 @@ enum ChoreoConstraintScope {
enum Constraints {
WptVelocityDirection{scope: ChoreoConstraintScope, direction:f64},
WptZeroVelocity{scope: ChoreoConstraintScope},
StopPoint{scope: ChoreoConstraintScope},
MaxVelocity{scope: ChoreoConstraintScope, velocity:f64},
ZeroAngularVelocity{scope: ChoreoConstraintScope},
StraightLine{scope:ChoreoConstraintScope}
Expand Down Expand Up @@ -139,6 +140,12 @@ async fn generate_trajectory(path: Vec<ChoreoWaypoint>, config: ChoreoRobotConfi
path_builder.wpt_linear_velocity_max_magnitude(fix_scope(idx[0], &rm), 0.0f64);
},_=>{}}
},
Constraints::StopPoint { scope } => {
match scope { ChoreoConstraintScope::Waypoint(idx) => {
path_builder.wpt_linear_velocity_max_magnitude(fix_scope(idx[0], &rm), 0.0f64);
path_builder.wpt_angular_velocity(fix_scope(idx[0], &rm), 0.0);
},_=>{}}
},
Constraints::MaxVelocity { scope , velocity} => {
match scope { ChoreoConstraintScope::Waypoint(idx) => {
path_builder.wpt_linear_velocity_max_magnitude(fix_scope(idx[0], &rm), *velocity)
Expand Down
10 changes: 10 additions & 0 deletions src/document/ConstraintStore.tsx
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Expand Up @@ -7,6 +7,7 @@ import {
KeyboardDoubleArrowRight,
PriorityHigh,
Stop,
StopCircleOutlined,
SyncDisabledOutlined,
Timeline,
} from "@mui/icons-material";
Expand Down Expand Up @@ -94,6 +95,15 @@ export const constraints = {
wptScope: true,
sgmtScope: false,
},
StopPoint: {
name: "Stop Point",
shortName: "Stop Point",
description: "Zero linear and angular velocity at waypoint",
icon: <StopCircleOutlined></StopCircleOutlined>,
properties: {},
wptScope: true,
sgmtScope: false,
},
MaxVelocity: {
name: "Max Velocity",
shortName: "Max Velo",
Expand Down
8 changes: 2 additions & 6 deletions src/document/PathListStore.ts
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Expand Up @@ -62,12 +62,8 @@ export const PathListStore = types
name: usedName,
waypoints: [],
});
path
.addConstraint(ConstraintStores.WptZeroVelocity)
?.setScope(["first"]);
path
.addConstraint(ConstraintStores.WptZeroVelocity)
?.setScope(["last"]);
path.addConstraint(ConstraintStores.StopPoint)?.setScope(["first"]);
path.addConstraint(ConstraintStores.StopPoint)?.setScope(["last"]);
self.paths.put(path);
if (self.paths.size === 1 || select) {
self.activePathUUID = newUUID;
Expand Down