拆分MultiWheelC并新增轨迹投影、Detour状态估计与Stanley跟踪控制
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Cursor
@@ -0,0 +1,635 @@
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using System;
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using System.Collections.Generic;
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using System.Numerics;
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using System.Threading;
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using ClumsyCore;
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using ClumsyCore.Interfaces;
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using ClumsyCore.Pilot;
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using FundamentalLib;
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using MDCSToolBox.Clumsy.Movements;
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using MDCSToolBox.Clumsy.Pilot;
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using MDCSToolBox.Clumsy.Tracks;
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using MyParking.Shared;
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namespace MultiWheelC
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{
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[MovementTest(name = "SendMotion：连续前进4m")]
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public class TestForward4m : MovementTest
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{
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public float DistanceMillimeters = 4000f; // 测试距离，单位mm。
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public float CruiseSpeed = 0.3f; // 巡航速度上限，单位m/s。
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public int TrialNumber = 1; // 重复实验编号。
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private DriveTask _task;
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private TrackingExperimentRecorder _recorder;
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// 从当前Detour位置沿车头方向生成4m连续直线并记录测试数据。
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public override void Test()
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{
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if (!MovementTestPreparation.AreWheelsForward())
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{
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return;
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}
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var location = DetourInterface.getCartLocation();
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if (double.IsNaN(location.x) ||
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double.IsInfinity(location.x) ||
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double.IsNaN(location.y) ||
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double.IsInfinity(location.y) ||
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double.IsNaN(location.th) ||
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double.IsInfinity(location.th))
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{
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Console.WriteLine(
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"Detour当前位姿无效，取消连续前进4m测试。");
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return;
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}
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var source = new Vector2((float)location.x, (float)location.y);
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// Detour航向单位是度，三角函数需要弧度。
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var headingRadians =
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AngleMath.DegreesToRadians(location.th);
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var destination = new Vector2(
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source.X + DistanceMillimeters * (float)Math.Cos(headingRadians),
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source.Y + DistanceMillimeters * (float)Math.Sin(headingRadians));
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_recorder =
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new TrackingExperimentRecorder(
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controllerName: "LegacyGeometricController",
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trajectoryName: "LegacyStraight4m",
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trialNumber: TrialNumber,
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referenceStart: source,
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referenceEnd: destination,
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referenceSpeed: CruiseSpeed);
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_recorder.Start();
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try
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{
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_task = new DriveTask(
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new DstTracker
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{
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Src = source,
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Dst = destination,
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CarDirectionBias = 0f,
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MaxSpeed = CruiseSpeed
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}.Get());
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_task.Wait();
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// 保留少量停车后数据，便于观察速度是否回到零。
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Thread.Sleep(300);
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}
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finally
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{
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_task?.Stop();
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_recorder?.UpdateCommand(0f, 0f);
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_recorder?.StopAndSave();
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_task = null;
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_recorder = null;
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}
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}
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public override void TestStop()
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{
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_task?.Stop();
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_recorder?.UpdateCommand(0f, 0f);
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_recorder?.StopAndSave();
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}
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}
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[MovementTest(name = "SendMotion：左转90°半径2m圆弧")]
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public class TestArcMovement : MovementTest
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{
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public float RadiusMillimeters = 2000f; // 左转圆的半径，单位mm。
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public float CruiseSpeed = 0.3f; // 圆周运动速度上限，单位m/s。
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public int TrialNumber = 1; // 重复实验编号。
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private DriveTask _task;
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private TrackingExperimentRecorder _recorder;
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// 从当前位姿开始，沿半径2m的圆弧向左转弯90°。
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public override void Test()
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{
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if (float.IsNaN(RadiusMillimeters) ||
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float.IsInfinity(RadiusMillimeters) ||
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RadiusMillimeters <= 0f ||
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float.IsNaN(CruiseSpeed) ||
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float.IsInfinity(CruiseSpeed) ||
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CruiseSpeed <= 0f)
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{
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Console.WriteLine("圆弧运动测试参数无效。");
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return;
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}
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if (!MovementTestPreparation.AreWheelsForward())
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{
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return;
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}
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var location = DetourInterface.getCartLocation();
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if (double.IsNaN(location.x) ||
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double.IsInfinity(location.x) ||
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double.IsNaN(location.y) ||
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double.IsInfinity(location.y) ||
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double.IsNaN(location.th) ||
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double.IsInfinity(location.th))
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{
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Console.WriteLine(
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"Detour当前位姿无效，取消圆弧运动测试。");
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return;
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}
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var source =
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new Vector2((float)location.x, (float)location.y);
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var headingRadians =
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AngleMath.DegreesToRadians(location.th);
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// 根据世界航向求车体左法向，左转圆心位于车辆左侧。
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var center = new Vector2(
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source.X -
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RadiusMillimeters *
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(float)Math.Sin(headingRadians),
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source.Y +
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RadiusMillimeters *
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(float)Math.Cos(headingRadians));
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// 从圆心指向车辆起点的极角，比车辆切线航向小90°。
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var startRadialAngleDegrees =
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(float)location.th - 90f;
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var controller = new ChassisController
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{
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BaseSpeed = CruiseSpeed
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}.Get();
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controller.FinishSpeed = 0f;
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var arc = new CircularArcTrack(
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center,
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RadiusMillimeters,
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startRadialAngleDegrees,
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startRadialAngleDegrees + 90f,
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direction: 1)
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{
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Speed = CruiseSpeed,
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CarDirectionBias = 0f
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};
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// 左转90°后，圆心到终点的径向方向等于起始车头方向。
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var destination = center + new Vector2(
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RadiusMillimeters *
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(float)Math.Cos(headingRadians),
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RadiusMillimeters *
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(float)Math.Sin(headingRadians));
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if (!controller.AddTrack(arc, "LeftArc90Degrees"))
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{
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Console.WriteLine(
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"左转90°圆弧轨迹添加失败，取消测试。");
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return;
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}
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_recorder = new TrackingExperimentRecorder(
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controllerName: "LegacyGeometricController",
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trajectoryName:
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$"LegacyLeftArc90_R{RadiusMillimeters:0}mm",
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trialNumber: TrialNumber,
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referenceStart: source,
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referenceEnd: destination,
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referenceSpeed: CruiseSpeed);
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_recorder.Start();
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try
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{
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_task = new DriveTask(controller.Track());
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_task.Wait();
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// 保留少量停车后的样本，用于观察速度是否回到零。
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Thread.Sleep(300);
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}
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finally
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{
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_task?.Stop();
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_recorder?.UpdateCommand(0f, 0f);
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_recorder?.StopAndSave();
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_task = null;
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_recorder = null;
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}
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}
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// 停止圆弧运动并保存当前已经采集的实验数据。
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public override void TestStop()
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{
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_task?.Stop();
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_recorder?.UpdateCommand(0f, 0f);
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_recorder?.StopAndSave();
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}
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}
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[MovementTest(name = "SendMotion：蟹行直线4m")]
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public class TestCrabForward4m : MovementTest
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{
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public float DistanceMillimeters = 4000f;
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public float CruiseSpeed = 0.2f;
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public int TrialNumber = 1;
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private DriveTask _task;
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private TrackingExperimentRecorder _recorder;
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// 将车体左侧作为运动前向，沿直线蟹行4m并记录Detour实验数据。
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public override void Test()
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{
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if (!TryReadStartPose(
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out var source,
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out var bodyYawRadians))
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return;
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var motionYaw =
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bodyYawRadians + Math.PI / 2.0;
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var destination = new Vector2(
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source.X +
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DistanceMillimeters *
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(float)Math.Cos(motionYaw),
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source.Y +
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DistanceMillimeters *
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(float)Math.Sin(motionYaw));
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var tracker = new CrabMotionFrameTracker
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{
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CommandBackend =
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CrabMotionFrameTracker
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.ChassisCommandBackend
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.SendMotion,
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PathKind =
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CrabMotionFrameTracker
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.ReferencePathKind.Straight,
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StartPosition = source,
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InitialBodyYawRadians =
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bodyYawRadians,
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LengthMillimeters =
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DistanceMillimeters,
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CruiseSpeed = CruiseSpeed
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};
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_recorder = new TrackingExperimentRecorder(
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controllerName:
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"CrabSendMotionTracker",
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trajectoryName:
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"CrabStraight4m",
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trialNumber: TrialNumber,
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referenceStart: source,
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referenceEnd: destination,
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referenceSpeed: CruiseSpeed,
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referenceMotionFrameYawDegrees: 90f);
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tracker.CommandObserver =
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(vx, vy, omega) =>
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_recorder?.UpdateBodyCommand(
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vx,
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vy,
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omega);
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_recorder.Start();
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try
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{
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_task = new DriveTask(tracker.Get());
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_task.Wait();
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Thread.Sleep(300);
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}
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finally
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{
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_task?.Stop();
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_recorder?.UpdateBodyCommand(
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0f,
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0f,
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0f);
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_recorder?.StopAndSave();
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_task = null;
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_recorder = null;
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}
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}
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public override void TestStop()
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{
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_task?.Stop();
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_recorder?.UpdateBodyCommand(
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0f,
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0f,
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0f);
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_recorder?.StopAndSave();
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}
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// 读取并校验测试开始时的Detour世界位姿。
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private static bool TryReadStartPose(
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out Vector2 source,
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out double bodyYawRadians)
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{
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var location =
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DetourInterface.getCartLocation();
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if (double.IsNaN(location.x) ||
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double.IsInfinity(location.x) ||
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double.IsNaN(location.y) ||
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double.IsInfinity(location.y) ||
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double.IsNaN(location.th) ||
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double.IsInfinity(location.th))
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{
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Console.WriteLine(
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"Detour当前位姿无效，取消蟹行直线测试。");
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source = Vector2.Zero;
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bodyYawRadians = 0.0;
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return false;
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}
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source = new Vector2(
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(float)location.x,
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(float)location.y);
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bodyYawRadians =
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AngleMath.DegreesToRadians(location.th);
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return true;
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}
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}
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[MovementTest(name = "SendMotion：蟹行左转90°半径2m圆弧")]
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public class TestCrabLeftArc90 : MovementTest
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{
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public float RadiusMillimeters = 2000f;
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public float CruiseSpeed = 0.2f;
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public int TrialNumber = 1;
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private DriveTask _task;
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private TrackingExperimentRecorder _recorder;
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// 将车体左侧作为运动前向，沿半径2m的左转圆弧运动90°。
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public override void Test()
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{
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var location =
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DetourInterface.getCartLocation();
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if (double.IsNaN(location.x) ||
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double.IsInfinity(location.x) ||
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double.IsNaN(location.y) ||
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double.IsInfinity(location.y) ||
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double.IsNaN(location.th) ||
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double.IsInfinity(location.th))
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{
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Console.WriteLine(
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"Detour当前位姿无效，取消蟹行圆弧测试。");
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return;
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}
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var source = new Vector2(
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(float)location.x,
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(float)location.y);
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var bodyYawRadians =
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AngleMath.DegreesToRadians(location.th);
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var tracker = new CrabMotionFrameTracker
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{
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CommandBackend =
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CrabMotionFrameTracker
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.ChassisCommandBackend
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.SendMotion,
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PathKind =
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CrabMotionFrameTracker
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.ReferencePathKind.LeftArc,
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StartPosition = source,
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InitialBodyYawRadians =
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bodyYawRadians,
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RadiusMillimeters =
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RadiusMillimeters,
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ArcSweepRadians = Math.PI / 2.0,
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CruiseSpeed = CruiseSpeed
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};
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var destination =
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tracker.GetArcDestination();
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_recorder = new TrackingExperimentRecorder(
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controllerName:
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"CrabSendMotionTracker",
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trajectoryName:
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$"CrabLeftArc90_R{RadiusMillimeters:0}mm",
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trialNumber: TrialNumber,
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referenceStart: source,
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referenceEnd: destination,
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referenceSpeed: CruiseSpeed,
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referenceMotionFrameYawDegrees: 90f);
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tracker.CommandObserver =
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(vx, vy, omega) =>
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_recorder?.UpdateBodyCommand(
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vx,
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vy,
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omega);
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_recorder.Start();
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try
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{
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_task = new DriveTask(tracker.Get());
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_task.Wait();
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Thread.Sleep(300);
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}
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finally
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{
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_task?.Stop();
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_recorder?.UpdateBodyCommand(
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0f,
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0f,
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0f);
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_recorder?.StopAndSave();
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_task = null;
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_recorder = null;
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}
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}
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public override void TestStop()
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{
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_task?.Stop();
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_recorder?.UpdateBodyCommand(
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0f,
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0f,
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0f);
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_recorder?.StopAndSave();
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}
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}
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[MovementTest(name = "SendMotion：4m S型曲线")]
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public class TestSCurve4m : MovementTest
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{
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public float LengthMillimeters = 4000f; // S型曲线纵向长度，单位mm。
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public float LateralOffsetMillimeters = 400f; // S型曲线左右两侧的最大偏移，单位mm。
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public float CruiseSpeed = 0.3f; // 首次实车测试建议使用0.3m/s。
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public int TrialNumber = 1; // 重复实验编号。
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|
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private DriveTask _task;
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private TrackingExperimentRecorder _recorder;
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||||
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// 从当前Detour位姿开始，沿车头方向跟踪先左偏、再右偏并最终回中的完整S型曲线。
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public override void Test()
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{
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if (float.IsNaN(LengthMillimeters) ||
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float.IsInfinity(LengthMillimeters) ||
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LengthMillimeters <= 0f ||
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float.IsNaN(LateralOffsetMillimeters) ||
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float.IsInfinity(LateralOffsetMillimeters) ||
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LateralOffsetMillimeters <= 0f ||
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float.IsNaN(CruiseSpeed) ||
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float.IsInfinity(CruiseSpeed) ||
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CruiseSpeed <= 0f)
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{
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Console.WriteLine("S型曲线测试参数无效。");
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return;
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}
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if (!MovementTestPreparation.AreWheelsForward())
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return;
|
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var location = DetourInterface.getCartLocation();
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if (double.IsNaN(location.x) ||
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double.IsInfinity(location.x) ||
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double.IsNaN(location.y) ||
|
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double.IsInfinity(location.y) ||
|
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double.IsNaN(location.th) ||
|
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double.IsInfinity(location.th))
|
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{
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Console.WriteLine(
|
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"Detour当前位姿无效，取消4m S型曲线测试。");
|
||||
return;
|
||||
}
|
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|
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var source =
|
||||
new Vector2((float)location.x, (float)location.y);
|
||||
var headingRadians =
|
||||
AngleMath.DegreesToRadians(location.th);
|
||||
var length = LengthMillimeters;
|
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var offset = LateralOffsetMillimeters;
|
||||
|
||||
// 三段三次贝塞尔依次经过左侧峰值、中心线和右侧峰值，
|
||||
// 起点、两个峰值和终点的切线均沿初始前向，连接处没有折角。
|
||||
var firstControlPoints = new List<Vector2>
|
||||
{
|
||||
LocalToWorld(source, headingRadians, 0f, 0f),
|
||||
LocalToWorld(
|
||||
source, headingRadians,
|
||||
length / 12f, 0f),
|
||||
LocalToWorld(
|
||||
source, headingRadians,
|
||||
length / 6f, offset),
|
||||
LocalToWorld(
|
||||
source, headingRadians,
|
||||
length * 0.25f, offset)
|
||||
};
|
||||
var secondControlPoints = new List<Vector2>
|
||||
{
|
||||
LocalToWorld(
|
||||
source, headingRadians,
|
||||
length * 0.25f, offset),
|
||||
LocalToWorld(
|
||||
source, headingRadians,
|
||||
length / 3f, offset),
|
||||
LocalToWorld(
|
||||
source, headingRadians,
|
||||
length * 2f / 3f, -offset),
|
||||
LocalToWorld(
|
||||
source, headingRadians,
|
||||
length * 0.75f, -offset)
|
||||
};
|
||||
var thirdControlPoints = new List<Vector2>
|
||||
{
|
||||
LocalToWorld(
|
||||
source, headingRadians,
|
||||
length * 0.75f, -offset),
|
||||
LocalToWorld(
|
||||
source, headingRadians,
|
||||
length * 5f / 6f, -offset),
|
||||
LocalToWorld(
|
||||
source, headingRadians,
|
||||
length * 11f / 12f, 0f),
|
||||
LocalToWorld(
|
||||
source, headingRadians,
|
||||
length, 0f)
|
||||
};
|
||||
|
||||
var firstTrack = new BezierTrack(firstControlPoints)
|
||||
{
|
||||
Speed = CruiseSpeed,
|
||||
CarDirectionBias = 0f
|
||||
};
|
||||
var secondTrack = new BezierTrack(secondControlPoints)
|
||||
{
|
||||
Speed = CruiseSpeed,
|
||||
CarDirectionBias = 0f
|
||||
};
|
||||
var thirdTrack = new BezierTrack(thirdControlPoints)
|
||||
{
|
||||
Speed = CruiseSpeed,
|
||||
CarDirectionBias = 0f
|
||||
};
|
||||
|
||||
var controller = new ChassisController
|
||||
{
|
||||
BaseSpeed = CruiseSpeed
|
||||
}.Get();
|
||||
controller.FinishSpeed = 0f;
|
||||
|
||||
if (!controller.AddTrack(
|
||||
firstTrack,
|
||||
"SCurve4m-Part1") ||
|
||||
!controller.AddTrack(
|
||||
secondTrack,
|
||||
"SCurve4m-Part2") ||
|
||||
!controller.AddTrack(
|
||||
thirdTrack,
|
||||
"SCurve4m-Part3"))
|
||||
{
|
||||
Console.WriteLine(
|
||||
"4m S型曲线轨迹添加失败，取消测试。");
|
||||
return;
|
||||
}
|
||||
|
||||
var destination =
|
||||
LocalToWorld(
|
||||
source,
|
||||
headingRadians,
|
||||
length,
|
||||
0f);
|
||||
_recorder = new TrackingExperimentRecorder(
|
||||
controllerName: "LegacyGeometricController",
|
||||
trajectoryName:
|
||||
$"LegacySCurve4m_A{LateralOffsetMillimeters:0}mm",
|
||||
trialNumber: TrialNumber,
|
||||
referenceStart: source,
|
||||
referenceEnd: destination,
|
||||
referenceSpeed: CruiseSpeed);
|
||||
_recorder.Start();
|
||||
|
||||
try
|
||||
{
|
||||
_task = new DriveTask(controller.Track());
|
||||
_task.Wait();
|
||||
|
||||
// 保留少量停止后的数据，用于观察速度是否回到零。
|
||||
Thread.Sleep(300);
|
||||
}
|
||||
finally
|
||||
{
|
||||
_task?.Stop();
|
||||
_recorder?.UpdateCommand(0f, 0f);
|
||||
_recorder?.StopAndSave();
|
||||
_task = null;
|
||||
_recorder = null;
|
||||
}
|
||||
}
|
||||
|
||||
// 停止S型曲线测试并保存当前已经采集的数据。
|
||||
public override void TestStop()
|
||||
{
|
||||
_task?.Stop();
|
||||
_recorder?.UpdateCommand(0f, 0f);
|
||||
_recorder?.StopAndSave();
|
||||
}
|
||||
|
||||
// 将车体起点局部坐标转换为Detour世界坐标，X向前、Y向左。
|
||||
private static Vector2 LocalToWorld(
|
||||
Vector2 origin,
|
||||
double headingRadians,
|
||||
float localX,
|
||||
float localY)
|
||||
{
|
||||
var cos = (float)Math.Cos(headingRadians);
|
||||
var sin = (float)Math.Sin(headingRadians);
|
||||
|
||||
return new Vector2(
|
||||
origin.X + localX * cos - localY * sin,
|
||||
origin.Y + localX * sin + localY * cos);
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user