有位置,速度和加速度约束的三次多项轨迹规划C++代码
时间: 2024-05-01 18:16:05 浏览: 16
以下是一个基于三次多项式轨迹规划的 C++ 代码示例,它可以处理位置、速度和加速度约束:
```c++
#include <cmath>
#include <vector>
struct TrajectoryPoint {
double pos;
double vel;
double acc;
};
class TrajectoryGenerator {
public:
TrajectoryGenerator(double max_vel, double max_acc);
// Generate a trajectory from start_pos to end_pos with the given constraints
std::vector<TrajectoryPoint> generate(double start_pos, double end_pos);
private:
double max_vel_;
double max_acc_;
};
TrajectoryGenerator::TrajectoryGenerator(double max_vel, double max_acc)
: max_vel_(max_vel), max_acc_(max_acc) {}
std::vector<TrajectoryPoint> TrajectoryGenerator::generate(double start_pos, double end_pos) {
// Compute the distance and direction of the trajectory
double dist = end_pos - start_pos;
int sign = (dist < 0) ? -1 : 1;
// Compute the maximum velocity and acceleration based on the constraints
double max_vel = std::min(max_vel_, std::sqrt(std::abs(max_acc_ * dist)));
double max_acc = std::min(max_acc_, std::abs(max_vel * max_vel / dist));
// Compute the time and distance to reach the maximum velocity
double t1 = max_vel / max_acc;
double d1 = 0.5 * max_acc * t1 * t1;
// Compute the time and distance to decelerate from the maximum velocity
double t2 = (max_vel_ - max_vel) / max_acc;
double d2 = 0.5 * max_acc * t2 * t2;
// Compute the total time and distance of the trajectory
double t_total = 2 * t1 + t2;
double d_total = d1 + dist + d2;
// Generate a trajectory by computing the position, velocity, and acceleration at each time step
std::vector<TrajectoryPoint> traj;
traj.reserve(static_cast<int>(std::ceil(t_total)));
for (double t = 0; t < t_total; t += 0.01) {
double pos, vel, acc;
if (t < t1) {
// Accelerate up to the maximum velocity
pos = start_pos + sign * 0.5 * max_acc * t * t;
vel = sign * max_acc * t;
acc = sign * max_acc;
} else if (t < t_total - t2) {
// Maintain the maximum velocity
pos = start_pos + sign * d1 + sign * max_vel * (t - t1);
vel = sign * max_vel;
acc = 0;
} else {
// Decelerate to the end position
pos = start_pos + sign * d_total - sign * 0.5 * max_acc * (t_total - t) * (t_total - t);
vel = sign * max_acc * (t_total - t);
acc = -sign * max_acc;
}
traj.push_back({pos, vel, acc});
}
return traj;
}
```
该代码可以通过创建一个 `TrajectoryGenerator` 对象来生成轨迹。在创建对象时,需要指定最大速度和最大加速度。然后,可以使用 `generate` 方法来生成轨迹,该方法需要起始位置和结束位置作为参数,并返回一个 `TrajectoryPoint` 向量,其中包含轨迹上每个时间点的位置、速度和加速度。