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Merged
mjansen4857 merged 8 commits into from
Nov 25, 2024
Merged

Add Empty Translation Checks #911

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cfb9af6
Added empty translation check for forceVec
PickleFace5 Nov 18, 2024
4543986
Merge branch 'mjansen4857:main' into main
PickleFace5 Nov 22, 2024
5f99ef7
Add python norm checks
PickleFace5 Nov 22, 2024
f3385fc
Add java norm checks
PickleFace5 Nov 22, 2024
ea29c01
Add cpp norm checks
PickleFace5 Nov 22, 2024
202d7d8
Formatting
PickleFace5 Nov 25, 2024
d4b40cb
Changed new Rotation2ds to kZero
PickleFace5 Nov 25, 2024
bbd8afe
Fix c++ syntax
PickleFace5 Nov 25, 2024
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23 changes: 18 additions & 5 deletions pathplannerlib-python/pathplannerlib/trajectory.py
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Original file line number Diff line number Diff line change
Expand Up @@ -435,7 +435,11 @@ def _generateStates(states: List[PathPlannerTrajectoryState], path: PathPlannerP

# Calculate robot heading
if i != path.numPoints() - 1:
state.heading = (path.getPoint(i + 1).position - state.pose.translation()).angle()
headingTranslation = path.getPoint(i + 1).position - state.pose.translation()
if headingTranslation.norm() <= 1e-6:
state.heading = Rotation2d()
else:
state.heading = headingTranslation.angle()
else:
state.heading = states[i - 1].heading

Expand All @@ -462,8 +466,11 @@ def _generateStates(states: List[PathPlannerTrajectoryState], path: PathPlannerP
for i in range(len(states)):
for m in range(config.numModules):
if i != len(states) - 1:
states[i].moduleStates[m].fieldAngle = (
states[i + 1].moduleStates[m].fieldPos - states[i].moduleStates[m].fieldPos).angle()
fieldTranslation = states[i + 1].moduleStates[m].fieldPos - states[i].moduleStates[m].fieldPos
if fieldTranslation.norm() <= 1e-6:
states[i].moduleStates[m].fieldAngle = Rotation2d()
else:
states[i].moduleStates[m].fieldAngle = fieldTranslation.angle()
states[i].moduleStates[m].angle = states[i].moduleStates[m].fieldAngle - states[i].pose.rotation()
else:
states[i].moduleStates[m].fieldAngle = states[i - 1].moduleStates[m].fieldAngle
Expand Down Expand Up @@ -497,7 +504,10 @@ def _forwardAccelPass(states: List[PathPlannerTrajectoryState], config: RobotCon

# Calculate the torque this module will apply to the robot
angleToModule = (state.moduleStates[m].fieldPos - state.pose.translation()).angle()
theta = forceVec.angle() - angleToModule
if forceVec.norm() <= 1e-6:
theta = Rotation2d() - angleToModule
else:
theta = forceVec.angle() - angleToModule
totalTorque += forceAtCarpet * config.modulePivotDistance[m] * theta.sin()

# Use the robot accelerations to calculate how each module should accelerate
Expand Down Expand Up @@ -596,7 +606,10 @@ def _reverseAccelPass(states: List[PathPlannerTrajectoryState], config: RobotCon

# Calculate the torque this module will apply to the robot
angleToModule = (state.moduleStates[m].fieldPos - state.pose.translation()).angle()
theta = forceVec.angle() - angleToModule
if forceVec.norm() <= 1e-6:
theta = Rotation2d() - angleToModule
else:
theta = forceVec.angle() - angleToModule
totalTorque += forceAtCarpet * config.modulePivotDistance[m] * theta.sin()

# Use the robot accelerations to calculate how each module should accelerate
Expand Down
32 changes: 26 additions & 6 deletions pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
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Original file line number Diff line number Diff line change
Expand Up @@ -243,7 +243,13 @@ private static void generateStates(

// Calculate robot heading
if (i != path.numPoints() - 1) {
state.heading = path.getPoint(i + 1).position.minus(state.pose.getTranslation()).getAngle();
Translation2d headingTranslation =
path.getPoint(i + 1).position.minus(state.pose.getTranslation());
if (headingTranslation.getNorm() <= 1e-6) {
state.heading = Rotation2d.kZero;
} else {
state.heading = headingTranslation.getAngle();
}
} else {
state.heading = states.get(i - 1).heading;
}
Expand Down Expand Up @@ -284,13 +290,17 @@ private static void generateStates(
for (int i = 0; i < states.size(); i++) {
for (int m = 0; m < config.numModules; m++) {
if (i != states.size() - 1) {
states.get(i).moduleStates[m].fieldAngle =
Translation2d fieldTranslation =
states
.get(i + 1)
.moduleStates[m]
.fieldPos
.minus(states.get(i).moduleStates[m].fieldPos)
.getAngle();
.minus(states.get(i).moduleStates[m].fieldPos);
if (fieldTranslation.getNorm() <= 1e-6) {
states.get(i).moduleStates[m].fieldAngle = Rotation2d.kZero;
} else {
states.get(i).moduleStates[m].fieldAngle = fieldTranslation.getAngle();
}
states.get(i).moduleStates[m].angle =
states.get(i).moduleStates[m].fieldAngle.minus(states.get(i).pose.getRotation());
} else {
Expand Down Expand Up @@ -335,7 +345,12 @@ private static void forwardAccelPass(
// Calculate the torque this module will apply to the robot
Rotation2d angleToModule =
state.moduleStates[m].fieldPos.minus(state.pose.getTranslation()).getAngle();
Rotation2d theta = forceVec.getAngle().minus(angleToModule);
Rotation2d theta;
if (forceVec.getNorm() <= 1e-6) {
theta = Rotation2d.kZero.minus(angleToModule);
} else {
theta = forceVec.getAngle().minus(angleToModule);
}
totalTorque += forceAtCarpet * config.modulePivotDistance[m] * theta.getSin();
}

Expand Down Expand Up @@ -472,7 +487,12 @@ private static void reverseAccelPass(
// Calculate the torque this module will apply to the robot
Rotation2d angleToModule =
state.moduleStates[m].fieldPos.minus(state.pose.getTranslation()).getAngle();
Rotation2d theta = forceVec.getAngle().minus(angleToModule);
Rotation2d theta;
if (forceVec.getNorm() <= 1e-6) {
theta = Rotation2d.kZero.minus(angleToModule);
} else {
theta = forceVec.getAngle().minus(angleToModule);
}
totalTorque += forceAtCarpet * config.modulePivotDistance[m] * theta.getSin();
}

Expand Down
32 changes: 28 additions & 4 deletions pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -262,8 +262,13 @@ void PathPlannerTrajectory::generateStates(

// Calculate robot heading
if (i != path->numPoints() - 1) {
state.heading = (path->getPoint(i + 1).position
- state.pose.Translation()).Angle();
frc::Translation2d headingTranslation =
path->getPoint(i + 1).position - state.pose.Translation();
if (headingTranslation.Norm()() <= 1e-6) {
state.heading = frc::Rotation2d();
} else {
state.heading = headingTranslation.Angle();
}
} else {
state.heading = states[i - 1].heading;
}
Expand Down Expand Up @@ -305,6 +310,15 @@ void PathPlannerTrajectory::generateStates(
states[i].moduleStates[m].fieldAngle =
(states[i + 1].moduleStates[m].fieldPos
- states[i].moduleStates[m].fieldPos).Angle();
frc::Translation2d fieldTranslation =
states[i + 1].moduleStates[m].fieldPos
- states[i].moduleStates[m].fieldPos;
if (fieldTranslation.Norm()() <= 1e-6) {
states[i].moduleStates[m].fieldAngle = frc::Rotation2d();
} else {
states[i].moduleStates[m].fieldAngle =
fieldTranslation.Angle();
}
states[i].moduleStates[m].angle =
states[i].moduleStates[m].fieldAngle
- states[i].pose.Rotation();
Expand Down Expand Up @@ -357,7 +371,12 @@ void PathPlannerTrajectory::forwardAccelPass(
// Calculate the torque this module will apply to the robot
frc::Rotation2d angleToModule = (state.moduleStates[m].fieldPos
- state.pose.Translation()).Angle();
frc::Rotation2d theta = forceVec.Angle() - angleToModule;
frc::Rotation2d theta;
if (forceVec.Norm()() <= 1e-6) {
theta = frc::Rotation2d() - angleToModule;
} else {
theta = forceVec.Angle() - angleToModule;
}
totalTorque += forceAtCarpet * config.modulePivotDistance[m]
* theta.Sin();
}
Expand Down Expand Up @@ -510,7 +529,12 @@ void PathPlannerTrajectory::reverseAccelPass(
// Calculate the torque this module will apply to the robot
frc::Rotation2d angleToModule = (state.moduleStates[m].fieldPos
- state.pose.Translation()).Angle();
frc::Rotation2d theta = forceVec.Angle() - angleToModule;
frc::Rotation2d theta;
if (forceVec.Norm()() <= 1e-6) {
theta = frc::Rotation2d() - angleToModule;
} else {
theta = forceVec.Angle() - angleToModule;
}
totalTorque += forceAtCarpet * config.modulePivotDistance[m]
* theta.Sin();
}
Expand Down
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