From 7e05ff098e34d47e777a6809a99952fdb24bf5a2 Mon Sep 17 00:00:00 2001 From: shenyuxiang Date: Wed, 29 Jul 2026 18:21:29 +0800 Subject: [PATCH] =?UTF-8?q?=E5=AE=9E=E7=8E=B0=E8=9F=B9=E8=A1=8C=E8=BD=A8?= =?UTF-8?q?=E8=BF=B9=E8=B7=9F=E8=B8=AA=E6=B5=8B=E8=AF=95=E5=B9=B6=E4=BC=98?= =?UTF-8?q?=E5=8C=96=E5=BA=95=E7=9B=98XYTh=E4=B8=8E=E5=8E=9F=E5=9C=B0?= =?UTF-8?q?=E6=97=8B=E8=BD=AC=E8=88=B5=E8=A7=92=E6=8E=A7=E5=88=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Cursor --- .gitignore | 3 +- ClumsyPilot/CrabMotionFrameTracker.cs | 667 ++++++++++++++++ ClumsyPilot/MovementTests.cs | 748 +++++++++++++++++- ClumsyPilot/Movements.cs | 11 +- ClumsyPilot/PilotConfig.cs | 2 + ClumsyPilot/TrackingExperimentRecorder.cs | 30 +- ClumsyPilot/build/Clumsy/ClumsyPilot.dll | Bin 52736 -> 70144 bytes ClumsyPilot/build/Clumsy/ClumsyPilot.pdb | Bin 21032 -> 27308 bytes ClumsyPilot/build/Clumsy/CommonUsage.dll | Bin 140288 -> 142336 bytes .../obj/Debug/ClumsyPilot.AssemblyInfo.cs | 7 +- ...ClumsyPilot.csproj.AssemblyReference.cache | Bin 58857 -> 73075 bytes ...ClumsyPilot.csproj.CoreCompileInputs.cache | 2 +- ClumsyPilot/obj/Debug/ClumsyPilot.dll | Bin 52736 -> 70144 bytes ClumsyPilot/obj/Debug/ClumsyPilot.pdb | Bin 21032 -> 27308 bytes .../commonusage/Chassis/MultiWheelChassis.cs | 200 ++++- MedullaAdapter/DiverCartDefinition.cs | 55 +- .../build/Medulla/plugins/CommonUsage.dll | Bin 140288 -> 142336 bytes .../build/Medulla/plugins/MedullaAdapter.dll | Bin 60416 -> 61440 bytes .../build/Medulla/plugins/MedullaAdapter.pdb | Bin 30152 -> 30472 bytes .../MedullaAdapter.csproj.nuget.dgspec.json | 2 +- .../obj/MedullaAdapter.csproj.nuget.g.props | 6 +- MedullaAdapter/obj/project.assets.json | 4 +- MedullaAdapter/obj/project.nuget.cache | 2 +- Shared/MultiWheelChassisAdapter.cs | 65 +- .../plot_angular_command.cpython-312.pyc | Bin 4033 -> 4113 bytes .../plot_speed_response.cpython-312.pyc | Bin 5912 -> 6255 bytes .../plot_tracking_errors.cpython-312.pyc | Bin 5944 -> 6722 bytes ...plot_trajectory_comparison.cpython-312.pyc | Bin 26038 -> 32476 bytes .../__pycache__/run_all_plots.cpython-312.pyc | Bin 0 -> 6132 bytes data_process/plot_angular_command.py | 6 +- data_process/plot_trajectory_comparison.py | 242 +++++- ref/CommonUsage.dll | Bin 140288 -> 142336 bytes 测试方案.txt | 2 +- 33 files changed, 1956 insertions(+), 98 deletions(-) create mode 100644 ClumsyPilot/CrabMotionFrameTracker.cs create mode 100644 data_process/__pycache__/run_all_plots.cpython-312.pyc diff --git a/.gitignore b/.gitignore index c44c282..556a47c 100644 --- a/.gitignore +++ b/.gitignore @@ -89,4 +89,5 @@ _ReSharper*/ *.sqlite *.sqlite3 -*.csv \ No newline at end of file +*.csv +*.png \ No newline at end of file diff --git a/ClumsyPilot/CrabMotionFrameTracker.cs b/ClumsyPilot/CrabMotionFrameTracker.cs new file mode 100644 index 0000000..be4408b --- /dev/null +++ b/ClumsyPilot/CrabMotionFrameTracker.cs @@ -0,0 +1,667 @@ +using ClumsyCore; +using ClumsyCore.DTools; +using ClumsyCore.Interfaces; +using ClumsyCore.Pilot; +using CommonUsage.Chassis; +using MyParking.Shared; +using System; +using System.Collections.Generic; +using System.Numerics; + +namespace MultiWheelC +{ + // C层单车测试:在可配置的运动坐标系中统一跟踪直线、圆弧或S型曲线。 + public sealed class CrabMotionFrameTracker : MovementDefinition + { + public enum ReferencePathKind + { + Straight = 0, + LeftArc = 1, + SCurve = 2 + } + + public ReferencePathKind PathKind; + public Vector2 StartPosition; + public double InitialBodyYawRadians; + public float LengthMillimeters = 4000f; + public float RadiusMillimeters = 2000f; + public float SCurveLateralOffsetMillimeters = 400f; + public double ArcSweepRadians = Math.PI / 2.0; + public float CruiseSpeed = 0.2f; + public float SlowDistanceMillimeters = 600f; + public float FinishDistanceMillimeters = 30f; + public float MinimumSpeed = 0.04f; + public double LateralGainPerSecond = 0.8; + public double MaximumLateralCorrection = 0.12; + public double HeadingGainPerSecond = 1.5; + public double MaximumAngularSpeedRadiansPerSecond = + 30.0 * Math.PI / 180.0; + public float WheelAlignmentToleranceDegrees = 2f; + public float WheelAlignmentStableSeconds = 0.3f; + public float WheelAlignmentTimeoutSeconds = 10f; + public float TrackingTimeoutSeconds = 60f; + public Action CommandObserver; + + // 运动坐标系相对车体坐标系的朝向:普通模式为0,蟹行为π/2。 + public double MotionFrameYawInBodyRadians = Math.PI / 2.0; + private double _lastSCurveProgress; + + public override IEnumerable Get() + { + ValidateParameters(); + + var chassis = + PilotDefinition.Chassis as MultiWheelChassis; + if (chassis == null) + throw new InvalidOperationException( + "当前底盘不是MultiWheelChassis,无法执行运动坐标系轨迹测试。"); + + var adapter = new MultiWheelChassisAdapter( + chassis, + PilotDefinition.Self.CarNum); + + var lastCommandTime = DateTime.Now; + + try + { + // 模式切换阶段只转舵轮,驱动速度始终保持为零。 + var alignmentStarted = DateTime.Now; + DateTime? stableSince = null; + while (true) + { + if (!adapter.PrepareParallelDirection( + MotionFrameYawInBodyRadians)) + throw new InvalidOperationException( + "无法生成运动坐标系对应的舵轮准备姿态。"); + + var aligned = + adapter.AreParallelWheelsAligned( + MotionFrameYawInBodyRadians, + WheelAlignmentToleranceDegrees * + Math.PI / 180.0); + + if (aligned) + { + if (stableSince == null) + stableSince = DateTime.Now; + + if ((DateTime.Now - stableSince.Value) + .TotalSeconds >= + WheelAlignmentStableSeconds) + break; + } + else + { + stableSince = null; + } + + if ((DateTime.Now - alignmentStarted) + .TotalSeconds > + WheelAlignmentTimeoutSeconds) + throw new TimeoutException( + "舵轮在限定时间内未稳定到达运动坐标系初始方向。"); + + yield return true; + } + + var trackingStarted = DateTime.Now; + while (true) + { + if ((DateTime.Now - trackingStarted) + .TotalSeconds > + TrackingTimeoutSeconds) + throw new TimeoutException( + "蟹行轨迹在限定时间内未完成。"); + + var location = + DetourInterface.getCartLocation(); + if (!IsFinite(location.x) || + !IsFinite(location.y) || + !IsFinite(location.th)) + throw new InvalidOperationException( + "蟹行轨迹测试期间Detour位姿无效。"); + + var currentPosition = new Vector2( + (float)location.x, + (float)location.y); + var currentBodyYaw = + location.th * Math.PI / 180.0; + + CalculateReference( + currentPosition, + out var tangentYaw, + out var referencePoint, + out var remainingMillimeters, + out var referenceCurvature); + + if (remainingMillimeters <= + FinishDistanceMillimeters) + break; + + var speed = + CalculateSpeed(remainingMillimeters); + var tangent = new Vector2( + (float)Math.Cos(tangentYaw), + (float)Math.Sin(tangentYaw)); + var leftNormal = new Vector2( + -tangent.Y, + tangent.X); + var positionError = + currentPosition - referencePoint; + var lateralErrorMeters = + Vector2.Dot( + positionError, + leftNormal) / 1000.0; + var normalCorrection = + Limit( + -LateralGainPerSecond * + lateralErrorMeters, + MaximumLateralCorrection); + + // 先在世界坐标中组合切向速度与横向纠偏速度。 + var worldVx = + tangent.X * speed + + leftNormal.X * (float)normalCorrection; + var worldVy = + tangent.Y * speed + + leftNormal.Y * (float)normalCorrection; + + // 将世界速度表达为当前蟹行运动坐标系速度。 + var motionYaw = + currentBodyYaw + + MotionFrameYawInBodyRadians; + var motionCos = Math.Cos(motionYaw); + var motionSin = Math.Sin(motionYaw); + var vxInMotion = + motionCos * worldVx + + motionSin * worldVy; + var vyInMotion = + -motionSin * worldVx + + motionCos * worldVy; + + var desiredBodyYaw = + tangentYaw - + MotionFrameYawInBodyRadians; + var headingError = + FrameTransform2D + .ShortestAngleDifference( + desiredBodyYaw, + currentBodyYaw); + var omega = + speed * referenceCurvature + + HeadingGainPerSecond * headingError; + omega = Limit( + omega, + MaximumAngularSpeedRadiansPerSecond); + + // 运动坐标系相对车体系旋转+90°: + // 运动系正向速度会转换成车体系+Y速度。 + var bodyTwist = + FrameTransform2D + .TransformTwistAtSamePoint( + new Pose2D( + 0.0, + 0.0, + MotionFrameYawInBodyRadians), + new Twist2D( + vxInMotion, + vyInMotion, + omega)); + + var now = DateTime.Now; + var interval = now - lastCommandTime; + lastCommandTime = now; + var command = new ChassisCommand( + PilotDefinition.Self.CarNum, + bodyTwist); + + if (!adapter.Send(command, interval)) + throw new InvalidOperationException( + "蟹行轨迹底盘解算失败:" + + adapter.LastFailureReason); + + CommandObserver?.Invoke( + (float)bodyTwist.VxMetersPerSecond, + (float)bodyTwist.VyMetersPerSecond, + (float)bodyTwist + .OmegaRadiansPerSecond); + + yield return true; + } + } + finally + { + adapter.StopImmediately(); + CommandObserver?.Invoke(0f, 0f, 0f); + } + + yield return false; + } + + // 计算当前点在直线或圆弧上的参考点、切线和剩余距离。 + private void CalculateReference( + Vector2 currentPosition, + out double tangentYaw, + out Vector2 referencePoint, + out float remainingMillimeters, + out double curvaturePerMeter) + { + var initialMotionYaw = + InitialBodyYawRadians + + MotionFrameYawInBodyRadians; + + if (PathKind == ReferencePathKind.Straight) + { + var tangent = new Vector2( + (float)Math.Cos(initialMotionYaw), + (float)Math.Sin(initialMotionYaw)); + var relative = currentPosition - StartPosition; + var progress = + Vector2.Dot(relative, tangent); + var clampedProgress = + Math.Max( + 0f, + Math.Min(progress, LengthMillimeters)); + + tangentYaw = initialMotionYaw; + referencePoint = + StartPosition + + tangent * clampedProgress; + remainingMillimeters = + Math.Max( + 0f, + LengthMillimeters - progress); + curvaturePerMeter = 0.0; + return; + } + + if (PathKind == ReferencePathKind.SCurve) + { + CalculateSCurveReference( + currentPosition, + initialMotionYaw, + out tangentYaw, + out referencePoint, + out remainingMillimeters, + out curvaturePerMeter); + return; + } + + var center = GetArcCenter(); + var startRadialYaw = + initialMotionYaw - Math.PI / 2.0; + var radial = currentPosition - center; + var currentRadialYaw = + Math.Atan2(radial.Y, radial.X); + var progressRadians = + FrameTransform2D.NormalizeAngle( + currentRadialYaw - startRadialYaw); + + // 测试圆弧只有+90°,起点附近的轻微负噪声按0处理。 + if (progressRadians < 0.0) + progressRadians = 0.0; + + var clampedProgressRadians = + Math.Min( + progressRadians, + ArcSweepRadians); + var referenceRadialYaw = + startRadialYaw + + clampedProgressRadians; + referencePoint = center + new Vector2( + RadiusMillimeters * + (float)Math.Cos(referenceRadialYaw), + RadiusMillimeters * + (float)Math.Sin(referenceRadialYaw)); + tangentYaw = + referenceRadialYaw + Math.PI / 2.0; + remainingMillimeters = + (float)Math.Max( + 0.0, + (ArcSweepRadians - progressRadians) * + RadiusMillimeters); + curvaturePerMeter = + 1000.0 / RadiusMillimeters; + } + + // 通过离散最近点和解析导数计算两段三次贝塞尔S曲线的参考状态。 + private void CalculateSCurveReference( + Vector2 currentPosition, + double initialMotionYaw, + out double tangentYaw, + out Vector2 referencePoint, + out float remainingMillimeters, + out double curvaturePerMeter) + { + const int nearestPointSamples = 200; + var searchStart = + Math.Max( + 0.0, + _lastSCurveProgress - 0.02); + var bestProgress = _lastSCurveProgress; + var bestDistanceSquared = double.MaxValue; + + for (var i = 0; + i <= nearestPointSamples; + i++) + { + var progress = + searchStart + + (1.0 - searchStart) * + i / nearestPointSamples; + EvaluateSCurve( + progress, + out var localPoint, + out _, + out _); + var worldPoint = + LocalPathPointToWorld( + localPoint, + initialMotionYaw); + var distanceSquared = + Vector2.DistanceSquared( + currentPosition, + worldPoint); + + if (distanceSquared < + bestDistanceSquared) + { + bestDistanceSquared = + distanceSquared; + bestProgress = progress; + } + } + + // 轨迹进度不允许因定位噪声倒退,防止控制目标跳回上一段曲线。 + _lastSCurveProgress = + Math.Max( + _lastSCurveProgress, + bestProgress); + EvaluateSCurve( + _lastSCurveProgress, + out var bestLocalPoint, + out var firstDerivative, + out var secondDerivative); + referencePoint = + LocalPathPointToWorld( + bestLocalPoint, + initialMotionYaw); + tangentYaw = + initialMotionYaw + + Math.Atan2( + firstDerivative.Y, + firstDerivative.X); + + var derivativeMagnitude = + Math.Sqrt( + firstDerivative.X * + firstDerivative.X + + firstDerivative.Y * + firstDerivative.Y); + if (derivativeMagnitude < 1e-6) + { + curvaturePerMeter = 0.0; + } + else + { + // 导数单位为mm,乘1000后将曲率从1/mm转换成1/m。 + curvaturePerMeter = + (firstDerivative.X * + secondDerivative.Y - + firstDerivative.Y * + secondDerivative.X) * + 1000.0 / + Math.Pow( + derivativeMagnitude, + 3.0); + } + + remainingMillimeters = + ApproximateSCurveRemainingLength( + _lastSCurveProgress); + } + + // 计算与普通4m S型测试完全一致的三段三次贝塞尔完整S曲线。 + private void EvaluateSCurve( + double progress, + out Vector2 point, + out Vector2 firstDerivative, + out Vector2 secondDerivative) + { + progress = + Math.Max( + 0.0, + Math.Min(progress, 1.0)); + + Vector2 p0; + Vector2 p1; + Vector2 p2; + Vector2 p3; + double t; + + if (progress <= 0.25) + { + t = progress * 4.0; + p0 = new Vector2(0f, 0f); + p1 = new Vector2( + LengthMillimeters / 12f, + 0f); + p2 = new Vector2( + LengthMillimeters / 6f, + SCurveLateralOffsetMillimeters); + p3 = new Vector2( + LengthMillimeters * 0.25f, + SCurveLateralOffsetMillimeters); + } + else if (progress <= 0.75) + { + t = (progress - 0.25) * 2.0; + p0 = new Vector2( + LengthMillimeters * 0.25f, + SCurveLateralOffsetMillimeters); + p1 = new Vector2( + LengthMillimeters / 3f, + SCurveLateralOffsetMillimeters); + p2 = new Vector2( + LengthMillimeters * 2f / 3f, + -SCurveLateralOffsetMillimeters); + p3 = new Vector2( + LengthMillimeters * 0.75f, + -SCurveLateralOffsetMillimeters); + } + else + { + t = (progress - 0.75) * 4.0; + p0 = new Vector2( + LengthMillimeters * 0.75f, + -SCurveLateralOffsetMillimeters); + p1 = new Vector2( + LengthMillimeters * 5f / 6f, + -SCurveLateralOffsetMillimeters); + p2 = new Vector2( + LengthMillimeters * 11f / 12f, + 0f); + p3 = new Vector2( + LengthMillimeters, + 0f); + } + + var oneMinusT = 1.0 - t; + point = + p0 * (float)( + oneMinusT * + oneMinusT * + oneMinusT) + + p1 * (float)( + 3.0 * + oneMinusT * + oneMinusT * + t) + + p2 * (float)( + 3.0 * + oneMinusT * + t * + t) + + p3 * (float)(t * t * t); + firstDerivative = + (p1 - p0) * + (float)( + 3.0 * + oneMinusT * + oneMinusT) + + (p2 - p1) * + (float)( + 6.0 * + oneMinusT * + t) + + (p3 - p2) * + (float)(3.0 * t * t); + secondDerivative = + (p2 - 2f * p1 + p0) * + (float)(6.0 * oneMinusT) + + (p3 - 2f * p2 + p1) * + (float)(6.0 * t); + } + + // 通过分段采样估算从当前S曲线进度到终点的实际弧长。 + private float ApproximateSCurveRemainingLength( + double startProgress) + { + const int lengthSamples = 100; + EvaluateSCurve( + startProgress, + out var previousPoint, + out _, + out _); + var length = 0f; + + for (var i = 1; + i <= lengthSamples; + i++) + { + var progress = + startProgress + + (1.0 - startProgress) * + i / lengthSamples; + EvaluateSCurve( + progress, + out var point, + out _, + out _); + length += + Vector2.Distance( + previousPoint, + point); + previousPoint = point; + } + + return length; + } + + // 将以初始蟹行方向为X轴的局部路径点转换到Detour世界坐标。 + private Vector2 LocalPathPointToWorld( + Vector2 localPoint, + double initialMotionYaw) + { + var cos = + (float)Math.Cos(initialMotionYaw); + var sin = + (float)Math.Sin(initialMotionYaw); + + return StartPosition + new Vector2( + localPoint.X * cos - + localPoint.Y * sin, + localPoint.X * sin + + localPoint.Y * cos); + } + + // 获取蟹行左转圆弧圆心;它位于初始运动方向的左侧。 + public Vector2 GetArcCenter() + { + var initialMotionYaw = + InitialBodyYawRadians + + MotionFrameYawInBodyRadians; + return StartPosition + new Vector2( + -RadiusMillimeters * + (float)Math.Sin(initialMotionYaw), + RadiusMillimeters * + (float)Math.Cos(initialMotionYaw)); + } + + // 获取圆弧测试的理论终点。 + public Vector2 GetArcDestination() + { + var initialMotionYaw = + InitialBodyYawRadians + + MotionFrameYawInBodyRadians; + var startRadialYaw = + initialMotionYaw - Math.PI / 2.0; + var endRadialYaw = + startRadialYaw + ArcSweepRadians; + var center = GetArcCenter(); + + return center + new Vector2( + RadiusMillimeters * + (float)Math.Cos(endRadialYaw), + RadiusMillimeters * + (float)Math.Sin(endRadialYaw)); + } + + // 根据剩余路径长度生成终点减速速度。 + private float CalculateSpeed( + float remainingMillimeters) + { + if (remainingMillimeters >= + SlowDistanceMillimeters) + return CruiseSpeed; + + var ratio = + remainingMillimeters / + Math.Max( + SlowDistanceMillimeters, + 1f); + return Math.Max( + MinimumSpeed, + CruiseSpeed * ratio); + } + + private void ValidateParameters() + { + if (CruiseSpeed <= 0f || + !IsFinite(CruiseSpeed) || + LengthMillimeters <= 0f || + !IsFinite(LengthMillimeters) || + RadiusMillimeters <= 0f || + !IsFinite(RadiusMillimeters) || + SCurveLateralOffsetMillimeters <= 0f || + !IsFinite( + SCurveLateralOffsetMillimeters) || + ArcSweepRadians <= 0.0 || + !IsFinite(ArcSweepRadians) || + SlowDistanceMillimeters <= 0f || + !IsFinite(SlowDistanceMillimeters) || + FinishDistanceMillimeters < 0f || + !IsFinite(FinishDistanceMillimeters) || + TrackingTimeoutSeconds <= 0f || + !IsFinite(TrackingTimeoutSeconds)) + throw new ArgumentOutOfRangeException( + "蟹行轨迹测试参数无效。"); + } + + private static double Limit( + double value, + double absoluteLimit) + { + return Math.Max( + -absoluteLimit, + Math.Min(value, absoluteLimit)); + } + + private static bool IsFinite(double value) + { + return + !double.IsNaN(value) && + !double.IsInfinity(value); + } + } +} diff --git a/ClumsyPilot/MovementTests.cs b/ClumsyPilot/MovementTests.cs index c230083..ed8e81b 100644 --- a/ClumsyPilot/MovementTests.cs +++ b/ClumsyPilot/MovementTests.cs @@ -7,6 +7,7 @@ using MDCSToolBox.Commons.Controllers; using MDCSToolBox.Clumsy.Tracks; using MyParking.Shared; using System; +using System.Collections.Generic; using System.Numerics; using System.Threading; @@ -102,7 +103,7 @@ namespace MultiWheelC } } - [MovementTest(name = "测试连续前进4m")] + [MovementTest(name = "旧版SendMotion:连续前进4m")] public class TestForward4m : MovementTest { public float DistanceMillimeters = 4000f; // 测试距离,单位mm。 @@ -138,8 +139,8 @@ namespace MultiWheelC source.Y + DistanceMillimeters * (float)Math.Sin(headingRadians)); _recorder = new TrackingExperimentRecorder( - controllerName: "Stanley", - trajectoryName: "Straight4m", + controllerName: "LegacyGeometricController", + trajectoryName: "LegacyStraight4m", trialNumber: TrialNumber, referenceStart: source, referenceEnd: destination, @@ -225,8 +226,10 @@ namespace MultiWheelC trialNumber: TrialNumber, referenceStart: rotationCenter, referenceEnd: rotationCenter, - referenceSpeed: - MaxAngularSpeedDegreesPerSecond); + referenceSpeed: 0f, + referenceAngularSpeed: + MaxAngularSpeedDegreesPerSecond * + (float)Math.PI / 180f); _recorder.Start(); try @@ -258,7 +261,8 @@ namespace MultiWheelC commandAngularSpeed => _recorder?.UpdateCommand( 0f, - commandAngularSpeed) + commandAngularSpeed * + (float)Math.PI / 180f) }.Get()); _task.Wait(); @@ -293,7 +297,7 @@ namespace MultiWheelC } } - [MovementTest(name = "测试左转90°圆弧")] + [MovementTest(name = "旧版SendMotion:左转90°圆弧")] public class TestArcMovement : MovementTest { public float RadiusMillimeters = 2000f; // 左转圆的半径,单位mm。 @@ -370,6 +374,13 @@ namespace MultiWheelC CarDirectionBias = 0f }; + // 左转90°后,圆心到终点的径向方向等于起始车头方向。 + var destination = center + new Vector2( + RadiusMillimeters * + (float)Math.Cos(headingRadians), + RadiusMillimeters * + (float)Math.Sin(headingRadians)); + if (!controller.AddTrack(arc, "LeftArc90Degrees")) { Console.WriteLine( @@ -378,12 +389,12 @@ namespace MultiWheelC } _recorder = new TrackingExperimentRecorder( - controllerName: "GeometricController", + controllerName: "LegacyGeometricController", trajectoryName: - $"LeftArc90_R{RadiusMillimeters:0}mm", + $"LegacyLeftArc90_R{RadiusMillimeters:0}mm", trialNumber: TrialNumber, referenceStart: source, - referenceEnd: source, + referenceEnd: destination, referenceSpeed: CruiseSpeed); _recorder.Start(); @@ -414,6 +425,723 @@ namespace MultiWheelC } } + [MovementTest(name = "测试蟹行前进4m")] + public class TestCrabForward4m : MovementTest + { + public float DistanceMillimeters = 4000f; + public float CruiseSpeed = 0.2f; + public int TrialNumber = 1; + + private DriveTask _task; + private TrackingExperimentRecorder _recorder; + + // 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。 + public override void Test() + { + if (!TryReadStartPose( + out var source, + out var bodyYawRadians)) + return; + + var motionYaw = + bodyYawRadians + Math.PI / 2.0; + var destination = new Vector2( + source.X + + DistanceMillimeters * + (float)Math.Cos(motionYaw), + source.Y + + DistanceMillimeters * + (float)Math.Sin(motionYaw)); + + var tracker = new CrabMotionFrameTracker + { + PathKind = + CrabMotionFrameTracker + .ReferencePathKind.Straight, + StartPosition = source, + InitialBodyYawRadians = + bodyYawRadians, + LengthMillimeters = + DistanceMillimeters, + CruiseSpeed = CruiseSpeed + }; + + _recorder = new TrackingExperimentRecorder( + controllerName: + "CrabMotionFrameTracker", + trajectoryName: + "CrabStraight4m", + trialNumber: TrialNumber, + referenceStart: source, + referenceEnd: destination, + referenceSpeed: CruiseSpeed, + referenceMotionFrameYawDegrees: 90f); + tracker.CommandObserver = + (vx, vy, omega) => + _recorder?.UpdateBodyCommand( + vx, + vy, + omega); + _recorder.Start(); + + try + { + _task = new DriveTask(tracker.Get()); + _task.Wait(); + Thread.Sleep(300); + } + finally + { + _task?.Stop(); + _recorder?.UpdateBodyCommand( + 0f, + 0f, + 0f); + _recorder?.StopAndSave(); + _task = null; + _recorder = null; + } + } + + public override void TestStop() + { + _task?.Stop(); + _recorder?.UpdateBodyCommand( + 0f, + 0f, + 0f); + _recorder?.StopAndSave(); + } + + // 读取并校验测试开始时的Detour世界位姿。 + private static bool TryReadStartPose( + out Vector2 source, + out double bodyYawRadians) + { + var location = + DetourInterface.getCartLocation(); + if (double.IsNaN(location.x) || + double.IsInfinity(location.x) || + double.IsNaN(location.y) || + double.IsInfinity(location.y) || + double.IsNaN(location.th) || + double.IsInfinity(location.th)) + { + Console.WriteLine( + "Detour当前位姿无效,取消蟹行直线测试。"); + source = Vector2.Zero; + bodyYawRadians = 0.0; + return false; + } + + source = new Vector2( + (float)location.x, + (float)location.y); + bodyYawRadians = + location.th * Math.PI / 180.0; + return true; + } + } + + [MovementTest(name = "测试蟹行左转90°圆弧")] + public class TestCrabLeftArc90 : MovementTest + { + public float RadiusMillimeters = 2000f; + public float CruiseSpeed = 0.2f; + public int TrialNumber = 1; + + private DriveTask _task; + private TrackingExperimentRecorder _recorder; + + // 将车体左侧作为运动前向,沿半径2m的左转圆弧运动90°。 + public override void Test() + { + var location = + DetourInterface.getCartLocation(); + if (double.IsNaN(location.x) || + double.IsInfinity(location.x) || + double.IsNaN(location.y) || + double.IsInfinity(location.y) || + double.IsNaN(location.th) || + double.IsInfinity(location.th)) + { + Console.WriteLine( + "Detour当前位姿无效,取消蟹行圆弧测试。"); + return; + } + + var source = new Vector2( + (float)location.x, + (float)location.y); + var bodyYawRadians = + location.th * Math.PI / 180.0; + var tracker = new CrabMotionFrameTracker + { + PathKind = + CrabMotionFrameTracker + .ReferencePathKind.LeftArc, + StartPosition = source, + InitialBodyYawRadians = + bodyYawRadians, + RadiusMillimeters = + RadiusMillimeters, + ArcSweepRadians = Math.PI / 2.0, + CruiseSpeed = CruiseSpeed + }; + var destination = + tracker.GetArcDestination(); + + _recorder = new TrackingExperimentRecorder( + controllerName: + "CrabMotionFrameTracker", + trajectoryName: + $"CrabLeftArc90_R{RadiusMillimeters:0}mm", + trialNumber: TrialNumber, + referenceStart: source, + referenceEnd: destination, + referenceSpeed: CruiseSpeed, + referenceMotionFrameYawDegrees: 90f); + tracker.CommandObserver = + (vx, vy, omega) => + _recorder?.UpdateBodyCommand( + vx, + vy, + omega); + _recorder.Start(); + + try + { + _task = new DriveTask(tracker.Get()); + _task.Wait(); + Thread.Sleep(300); + } + finally + { + _task?.Stop(); + _recorder?.UpdateBodyCommand( + 0f, + 0f, + 0f); + _recorder?.StopAndSave(); + _task = null; + _recorder = null; + } + } + + public override void TestStop() + { + _task?.Stop(); + _recorder?.UpdateBodyCommand( + 0f, + 0f, + 0f); + _recorder?.StopAndSave(); + } + } + + [MovementTest(name = "测试蟹行4m S型曲线")] + public class TestCrabSCurve4m : MovementTest + { + public float LengthMillimeters = 4000f; + public float LateralOffsetMillimeters = 400f; + public float CruiseSpeed = 0.2f; + public int TrialNumber = 1; + + private DriveTask _task; + private TrackingExperimentRecorder _recorder; + + // 将车体左侧作为运动前向,跟踪与普通测试参数一致的4m S型曲线。 + public override void Test() + { + if (float.IsNaN(LengthMillimeters) || + float.IsInfinity(LengthMillimeters) || + LengthMillimeters <= 0f || + float.IsNaN( + LateralOffsetMillimeters) || + float.IsInfinity( + LateralOffsetMillimeters) || + LateralOffsetMillimeters <= 0f || + float.IsNaN(CruiseSpeed) || + float.IsInfinity(CruiseSpeed) || + CruiseSpeed <= 0f) + { + Console.WriteLine( + "蟹行S型曲线测试参数无效。"); + return; + } + + var location = + DetourInterface.getCartLocation(); + if (double.IsNaN(location.x) || + double.IsInfinity(location.x) || + double.IsNaN(location.y) || + double.IsInfinity(location.y) || + double.IsNaN(location.th) || + double.IsInfinity(location.th)) + { + Console.WriteLine( + "Detour当前位姿无效,取消蟹行S型曲线测试。"); + return; + } + + var source = new Vector2( + (float)location.x, + (float)location.y); + var bodyYawRadians = + location.th * Math.PI / 180.0; + var initialMotionYaw = + bodyYawRadians + Math.PI / 2.0; + var destination = new Vector2( + source.X + + LengthMillimeters * + (float)Math.Cos( + initialMotionYaw), + source.Y + + LengthMillimeters * + (float)Math.Sin( + initialMotionYaw)); + var tracker = new CrabMotionFrameTracker + { + PathKind = + CrabMotionFrameTracker + .ReferencePathKind.SCurve, + StartPosition = source, + InitialBodyYawRadians = + bodyYawRadians, + LengthMillimeters = + LengthMillimeters, + SCurveLateralOffsetMillimeters = + LateralOffsetMillimeters, + CruiseSpeed = CruiseSpeed + }; + + _recorder = new TrackingExperimentRecorder( + controllerName: + "CrabMotionFrameTracker", + trajectoryName: + $"CrabSCurve4m_A{LateralOffsetMillimeters:0}mm", + trialNumber: TrialNumber, + referenceStart: source, + referenceEnd: destination, + referenceSpeed: CruiseSpeed, + referenceMotionFrameYawDegrees: 90f); + tracker.CommandObserver = + (vx, vy, omega) => + _recorder?.UpdateBodyCommand( + vx, + vy, + omega); + _recorder.Start(); + + try + { + _task = new DriveTask(tracker.Get()); + _task.Wait(); + Thread.Sleep(300); + } + finally + { + _task?.Stop(); + _recorder?.UpdateBodyCommand( + 0f, + 0f, + 0f); + _recorder?.StopAndSave(); + _task = null; + _recorder = null; + } + } + + public override void TestStop() + { + _task?.Stop(); + _recorder?.UpdateBodyCommand( + 0f, + 0f, + 0f); + _recorder?.StopAndSave(); + } + } + + [MovementTest(name = "旧版SendMotion:4m S型曲线")] + public class TestSCurve4m : MovementTest + { + public float LengthMillimeters = 4000f; // S型曲线纵向长度,单位mm。 + public float LateralOffsetMillimeters = 400f; // S型曲线左右两侧的最大偏移,单位mm。 + public float CruiseSpeed = 0.3f; // 首次实车测试建议使用0.3m/s。 + public int TrialNumber = 1; // 重复实验编号。 + + private DriveTask _task; + private TrackingExperimentRecorder _recorder; + + // 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。 + public override void Test() + { + if (float.IsNaN(LengthMillimeters) || + float.IsInfinity(LengthMillimeters) || + LengthMillimeters <= 0f || + float.IsNaN(LateralOffsetMillimeters) || + float.IsInfinity(LateralOffsetMillimeters) || + LateralOffsetMillimeters <= 0f || + float.IsNaN(CruiseSpeed) || + float.IsInfinity(CruiseSpeed) || + CruiseSpeed <= 0f) + { + Console.WriteLine("S型曲线测试参数无效。"); + return; + } + + if (!MovementTestPreparation.AreWheelsForward()) + return; + + var location = DetourInterface.getCartLocation(); + if (double.IsNaN(location.x) || + double.IsInfinity(location.x) || + double.IsNaN(location.y) || + double.IsInfinity(location.y) || + double.IsNaN(location.th) || + double.IsInfinity(location.th)) + { + Console.WriteLine( + "Detour当前位姿无效,取消4m S型曲线测试。"); + return; + } + + var source = + new Vector2((float)location.x, (float)location.y); + var headingRadians = + location.th * Math.PI / 180.0; + var length = LengthMillimeters; + 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 + { + 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 + { + 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 + { + 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); + } + } + + // C层单车测试:统一使用车体速度命令和SendXYThSpeed跟踪普通模式轨迹。 + public abstract class XYThNormalTrajectoryTestBase : MovementTest + { + public float LengthMillimeters = 4000f; + public float RadiusMillimeters = 2000f; + public float LateralOffsetMillimeters = 400f; + public float CruiseSpeed = 0.3f; + public int TrialNumber = 1; + + private DriveTask _task; + private TrackingExperimentRecorder _recorder; + + protected abstract CrabMotionFrameTracker.ReferencePathKind ReferencePath { get; } + + protected abstract string TrajectoryName { get; } + + // C层单车测试:读取Detour起点并执行普通模式SendXYThSpeed轨迹。 + public override void Test() + { + ValidateParameters(); + + if (!TryReadDetourPose( + out var source, + out var initialBodyYawRadians)) + { + throw new InvalidOperationException( + "Detour当前位置或航向无效,无法开始新版SendXYThSpeed测试。"); + } + + var tracker = new CrabMotionFrameTracker + { + PathKind = ReferencePath, + // 普通模式的运动坐标系与车体坐标系重合。 + MotionFrameYawInBodyRadians = 0.0, + StartPosition = source, + InitialBodyYawRadians = initialBodyYawRadians, + LengthMillimeters = LengthMillimeters, + RadiusMillimeters = RadiusMillimeters, + ArcSweepRadians = Math.PI / 2.0, + SCurveLateralOffsetMillimeters = + LateralOffsetMillimeters, + CruiseSpeed = CruiseSpeed, + }; + + var destination = ReferencePath == + CrabMotionFrameTracker.ReferencePathKind + .LeftArc + ? tracker.GetArcDestination() + : new Vector2( + source.X + + LengthMillimeters * + (float)Math.Cos(initialBodyYawRadians), + source.Y + + LengthMillimeters * + (float)Math.Sin(initialBodyYawRadians)); + + _recorder = new TrackingExperimentRecorder( + controllerName: "UnifiedXYThTracker", + trajectoryName: TrajectoryName, + trialNumber: TrialNumber, + referenceStart: source, + referenceEnd: destination, + referenceSpeed: CruiseSpeed); + + tracker.CommandObserver = + (vx, vy, omegaRadiansPerSecond) => + _recorder?.UpdateBodyCommand( + vx, + vy, + omegaRadiansPerSecond); + + _recorder.Start(); + _task = new DriveTask(tracker.Get()); + + try + { + _task.Wait(); + } + finally + { + _recorder?.UpdateBodyCommand(0f, 0f, 0f); + _recorder?.StopAndSave(); + _recorder = null; + _task = null; + } + } + + // C层单车测试:停止新版SendXYThSpeed轨迹并保存已有记录。 + public override void TestStop() + { + _task?.Stop(); + _recorder?.UpdateBodyCommand(0f, 0f, 0f); + _recorder?.StopAndSave(); + } + + // C层单车测试:检查新版轨迹的长度、半径、偏移和速度参数。 + private void ValidateParameters() + { + if (!IsPositiveFinite(LengthMillimeters)) + throw new ArgumentOutOfRangeException( + nameof(LengthMillimeters), + "轨迹长度必须是正有限值。"); + + if (!IsPositiveFinite(RadiusMillimeters)) + throw new ArgumentOutOfRangeException( + nameof(RadiusMillimeters), + "圆弧半径必须是正有限值。"); + + if (!IsPositiveFinite(LateralOffsetMillimeters)) + throw new ArgumentOutOfRangeException( + nameof(LateralOffsetMillimeters), + "S型曲线横向偏移必须是正有限值。"); + + if (!IsPositiveFinite(CruiseSpeed)) + throw new ArgumentOutOfRangeException( + nameof(CruiseSpeed), + "巡航速度必须是正有限值。"); + } + + // C层单车测试:读取并验证Detour毫米坐标和角度制航向。 + private static bool TryReadDetourPose( + out Vector2 position, + out double yawRadians) + { + var location = DetourInterface.getCartLocation(); + var x = location.x; + var y = location.y; + var thetaDegrees = location.th; + + position = new Vector2((float)x, (float)y); + yawRadians = thetaDegrees * Math.PI / 180.0; + + return IsFinite(x) && + IsFinite(y) && + IsFinite(thetaDegrees); + } + + // C层单车测试:判断浮点参数是否为有限值。 + private static bool IsFinite(double value) + { + return !double.IsNaN(value) && + !double.IsInfinity(value); + } + + // C层单车测试:判断浮点参数是否为正有限值。 + private static bool IsPositiveFinite(double value) + { + return IsFinite(value) && value > 0.0; + } + } + + [MovementTest(name = "新版SendXYThSpeed:连续前进4m")] + public sealed class TestXYThForward4m : + XYThNormalTrajectoryTestBase + { + protected override CrabMotionFrameTracker.ReferencePathKind + ReferencePath => + CrabMotionFrameTracker.ReferencePathKind.Straight; + + protected override string TrajectoryName => + "XYThStraight4m"; + } + + [MovementTest(name = "新版SendXYThSpeed:左转90°圆弧")] + public sealed class TestXYThLeftArc90 : + XYThNormalTrajectoryTestBase + { + protected override CrabMotionFrameTracker.ReferencePathKind + ReferencePath => + CrabMotionFrameTracker.ReferencePathKind.LeftArc; + + protected override string TrajectoryName => + $"XYThLeftArc90_R{RadiusMillimeters:0}mm"; + } + + [MovementTest(name = "新版SendXYThSpeed:4m S型曲线")] + public sealed class TestXYThSCurve4m : + XYThNormalTrajectoryTestBase + { + protected override CrabMotionFrameTracker.ReferencePathKind + ReferencePath => + CrabMotionFrameTracker.ReferencePathKind.SCurve; + + protected override string TrajectoryName => + $"XYThSCurve4m_A{LateralOffsetMillimeters:0}mm"; + } + public abstract class ClampMovementTestBase : MovementTest { public float TimeoutSeconds = 30f; // 动作超时时间,单位s。 diff --git a/ClumsyPilot/Movements.cs b/ClumsyPilot/Movements.cs index 520d633..8423cea 100644 --- a/ClumsyPilot/Movements.cs +++ b/ClumsyPilot/Movements.cs @@ -251,7 +251,7 @@ namespace MultiWheelC finally { task?.Stop(); - chassis.SendXYThSpeed(0f, 0f, 0f); + chassis.PredefinedDriveStop(); } } @@ -458,7 +458,12 @@ namespace MultiWheelC var s = thPid.GetResponse(targetAngle, true); Console.WriteLine($"s:{s} AngleTarget:{AngleTarget}"); CommandAngularSpeedObserver?.Invoke(s); - Chassis.SendXYThSpeed(0, 0, s); + if (!Chassis.SendRotateMotion(s)) + { + throw new InvalidOperationException( + "原地旋转底盘解算失败:" + + Chassis.LastMotionDecomposeFailureReason); + } if (thPid.IsArrived()) break; yield return true; } @@ -468,7 +473,7 @@ namespace MultiWheelC finally { CommandAngularSpeedObserver?.Invoke(0f); - Chassis.SendXYThSpeed(0, 0, 0); + Chassis.PredefinedDriveStop(); } } } diff --git a/ClumsyPilot/PilotConfig.cs b/ClumsyPilot/PilotConfig.cs index 0b9eb33..5865c9f 100644 --- a/ClumsyPilot/PilotConfig.cs +++ b/ClumsyPilot/PilotConfig.cs @@ -39,9 +39,11 @@ public class PilotConfig : MultiWheelPilotConfig #region 单车-临时 [FieldMember(desc = "原地旋转Kp")] public float InPlaceRotateKp = 0.2f; + // public float InPlaceRotateKp = 0.2f; [FieldMember(desc = "原地旋转Ki")] public float InPlaceRotateKi = 0.01f; + // public float InPlaceRotateKi = 0.01f; [FieldMember(desc = "原地旋转Kd")] public float InPlaceRotateKd = 0f; diff --git a/ClumsyPilot/TrackingExperimentRecorder.cs b/ClumsyPilot/TrackingExperimentRecorder.cs index 412f59a..ec42c1b 100644 --- a/ClumsyPilot/TrackingExperimentRecorder.cs +++ b/ClumsyPilot/TrackingExperimentRecorder.cs @@ -20,7 +20,7 @@ namespace MultiWheelC public double DetourY; public double DetourTheta; - // 车体速度单位为m/s,角速度单位为deg/s。 + // 车体速度单位为m/s,角速度统一使用rad/s。 public float CommandSpeed; public float CommandVx; public float CommandVy; @@ -36,6 +36,8 @@ namespace MultiWheelC private readonly Vector2 _referenceStart; private readonly Vector2 _referenceEnd; private readonly float _referenceSpeed; + private readonly float _referenceAngularSpeed; + private readonly float _referenceMotionFrameYawDegrees; private readonly int _sampleIntervalMs; private readonly List _samples = @@ -68,7 +70,9 @@ namespace MultiWheelC Vector2 referenceStart, Vector2 referenceEnd, float referenceSpeed, - int sampleIntervalMs = 50) + float referenceAngularSpeed = 0f, + int sampleIntervalMs = 50, + float referenceMotionFrameYawDegrees = 0f) { if (string.IsNullOrWhiteSpace(controllerName)) throw new ArgumentException( @@ -91,6 +95,9 @@ namespace MultiWheelC _referenceStart = referenceStart; _referenceEnd = referenceEnd; _referenceSpeed = referenceSpeed; + _referenceAngularSpeed = referenceAngularSpeed; + _referenceMotionFrameYawDegrees = + referenceMotionFrameYawDegrees; _sampleIntervalMs = sampleIntervalMs; } @@ -238,7 +245,11 @@ namespace MultiWheelC commandVx = command.Vx; commandVy = command.Vy; - commandAngularSpeed = command.Vw; + // CommonUsage.GetCarSpeed().Vw的单位为deg/s, + // 记录器内部统一转换为rad/s。 + commandAngularSpeed = + command.Vw * + (float)Math.PI / 180f; commandSpeed = (float)Math.Sqrt( commandVx * commandVx + commandVy * commandVy); @@ -313,14 +324,18 @@ namespace MultiWheelC "DetourY," + "DetourTheta," + "CommandSpeed," + + // 保留旧列(deg/s)供历史Python脚本兼容。 "CommandAngularSpeed," + + "CommandAngularSpeedRadPerSecond," + "CommandVx," + "CommandVy," + "ReferenceStartX," + "ReferenceStartY," + "ReferenceEndX," + "ReferenceEndY," + - "ReferenceSpeed"); + "ReferenceSpeed," + + "ReferenceAngularSpeedRadPerSecond," + + "ReferenceMotionFrameYawDegrees"); foreach (var sample in snapshot) { @@ -335,6 +350,9 @@ namespace MultiWheelC Format(sample.DetourY), Format(sample.DetourTheta), Format(sample.CommandSpeed), + Format( + sample.CommandAngularSpeed * + 180.0 / Math.PI), Format(sample.CommandAngularSpeed), Format(sample.CommandVx), Format(sample.CommandVy), @@ -342,7 +360,9 @@ namespace MultiWheelC Format(_referenceStart.Y), Format(_referenceEnd.X), Format(_referenceEnd.Y), - Format(_referenceSpeed))); + Format(_referenceSpeed), + Format(_referenceAngularSpeed), + Format(_referenceMotionFrameYawDegrees))); } } } diff --git a/ClumsyPilot/build/Clumsy/ClumsyPilot.dll b/ClumsyPilot/build/Clumsy/ClumsyPilot.dll index bf4e1816df53392283a93ce5ae2bee990bf2a4e1..754de48d96d9499ee7d9b7841b419e606e486264 100644 GIT binary patch literal 70144 zcmce<3t&{$@jpKI?tAkfn}kimGa&?)goGp@21Q7Cih}YILa4%$ERYhixCzhY(%`FN zeH33+s}_9pt8IN??N_UJ~QXsySpLq{r-R7U;oja zJ2Pj_nK^T2&N=toyUU!GZ=7m1Y^WL_vedtGJaB;HAJDaV5$V+*EcmgYB2U9+ZR6e=b^nF^ls5sjDWL zg}>j8H0W$b&~7a|qW9l&gR;SUYlJ}ydzYPvE+z7(mHR=To<`Sn$2N6?uJyxSlu2K; z-L@Fm%WD!{iB>SgHrOZ~&BitDuMyVQBw`(L2(qmNo5crt$H+}dt0riG{fa-f%_I-` zuOK>rk;tqmBL5>W%!~{|XQoz@>M^|JnH^6MZ3jYi<0+)NuNB~eZaf#F9u}GKCQGy_2C19`;G$M^Mmm6m` zUxk0d7IU~o=`c*-7K6GfliY;R1+^xH&}VodL}mo2w<{kYSY_AFQnfLdQj1BhEwnTb 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zv1!T1KxRYnTfzZLUlJqQK9tXGnk6Ml{BYCEe4T%QoSef>E@vka#Fyde7lZ)`4-h2?pKKh~Tli&^72z<<~LfGj4o z=T%<6WU7o0MdmrncP(i!kQIOWq1__(hk;X2J6`1`J#w72Fk#JMTegZZTNjB^{}uK$>7Z(X76JpEpTAYHsc8TJ diff --git a/CommonUsage-MultiVehicleSync/commonusage/Chassis/MultiWheelChassis.cs b/CommonUsage-MultiVehicleSync/commonusage/Chassis/MultiWheelChassis.cs index fa96e28..110b667 100644 --- a/CommonUsage-MultiVehicleSync/commonusage/Chassis/MultiWheelChassis.cs +++ b/CommonUsage-MultiVehicleSync/commonusage/Chassis/MultiWheelChassis.cs @@ -693,6 +693,89 @@ namespace CommonUsage.Chassis return true; } + /// + /// 停车并将四个舵轮转到绕当前坐标原点自转所需的切线方向。 + /// 只下发舵角,不下发驱动速度。 + /// + public bool PrepareRotateWheels(float alignmentToleranceDegrees = 2.0f) + { + if (!Valid) + return FailMotionDecomposition( + "PrepareRotateWheels", + "invalid chassis", + null); + + if (float.IsNaN(alignmentToleranceDegrees) || + float.IsInfinity(alignmentToleranceDegrees) || + alignmentToleranceDegrees < 0.0f) + throw new ArgumentOutOfRangeException( + nameof(alignmentToleranceDegrees), + "自转舵轮到位容差必须是非负有限值。"); + + if (_steerWheels.Count == 0) + return FailMotionDecomposition( + "PrepareRotateWheels", + "no steer wheels", + null); + + // 模式切换期间必须保持驱动轮停止。 + PredefinedDriveStop(); + + var targetAngles = new float[_steerWheels.Count]; + var directions = new int[_steerWheels.Count]; + + // 先完成全部舵角解算,再统一下发,避免只转动部分舵轮。 + for (var i = 0; i < _steerWheels.Count; i++) + { + var wheel = _steerWheels[i]; + var px = (double)wheel.Position.X; + var py = (double)wheel.Position.Y; + + // 逆时针绕原点旋转时,该舵轮的切向方向为(-py, px)。 + var tangentDegrees = + (float)(Math.Atan2(px, -py) / + Math.PI * 180.0); + tangentDegrees = CommonMath.ThDiff( + tangentDegrees, + wheel.ZeroDirection); + + if (!TryResolveWheelAngle( + i, + tangentDegrees, + "PrepareRotateWheels", + out targetAngles[i], + out directions[i], + out var reason)) + return FailMotionDecomposition( + "PrepareRotateWheels", + reason, + null); + } + + for (var i = 0; i < _steerWheels.Count; i++) + { + _wheelDirs[i] = directions[i]; + SendTh(i, targetAngles[i]); + } + + var allAligned = true; + for (var i = 0; i < _steerWheels.Count; i++) + { + var actualAngle = _steerWheels[i].ReadAngle(); + var angleError = targetAngles[i] - actualAngle; + + // 这里比较受机械限位约束的真实舵角,不能使用圆周最短角度差。 + if (float.IsNaN(actualAngle) || + float.IsInfinity(actualAngle) || + Math.Abs(angleError) > alignmentToleranceDegrees) + allAligned = false; + } + + LastRotateAligned = allAligned; + LastMotionDecomposeFailureReason = ""; + return true; + } + /// /// 绕"已被 SetOriginBias 偏置到车队中心的原点"做原地旋转,可叠加一个车体系小幅纠偏旋量。 /// @@ -781,14 +864,19 @@ namespace CommonUsage.Chassis var maxDth = 0f; for (var i = 0; i < _steerWheels.Count; ++i) { - var dth = Math.Abs(CommonMath.ThDiff(ths[i], _steerWheels[i].ReadAngle())); + var actualAngle = _steerWheels[i].ReadAngle(); + var dth = Math.Abs(ths[i] - actualAngle); maxDth = Math.Max(maxDth, dth); - slowFac = Math.Min(slowFac, CommonMath.gaussmf(dth, rotSync, 0)); - // if (dth > 5) - // { - // allWheelAligned = false; - // break; - // } + slowFac = Math.Min( + slowFac, + CommonMath.gaussmf( + dth, + Math.Max(SteeringAlignmentSigmaDegrees, 0.1f), + 0)); + if (float.IsNaN(actualAngle) || + float.IsInfinity(actualAngle) || + dth > 2.0f) + allWheelAligned = false; } LastRotateAligned = allWheelAligned; // 供上层做积分抗饱和 @@ -953,8 +1041,6 @@ namespace CommonUsage.Chassis { var vRotX = -vth / 180 * (float)Math.PI * pos.Y / 1000; var vRotY = vth / 180 * (float)Math.PI * pos.X / 1000; - Hedingben.ToastText($"vRot:({vRotX:F3},{vRotY:F3}) pos:({pos.X:F1},{pos.Y:F1})", - $"SendXYThSpeed-VectorVelocity{i}"); return new Vector2(vx + vRotX, vy + vRotY); } /// @@ -971,38 +1057,61 @@ namespace CommonUsage.Chassis return ((float)(Math.Atan2(v.Y, v.X) / Math.PI * 180), v.Length()); } - private float w = 0; - private float wAcc = 0.1f; - private float rotSync = 3f; + /// + /// 原地旋转时舵角误差对应的速度衰减宽度,单位为度。 + /// + public float SteeringAlignmentSigmaDegrees { get; set; } = 8f; private bool XYThActive = false; + private bool _xyThWheelsAligned = false; + private DateTime _xyThDiagnosticsLastTime = DateTime.MinValue; public bool SendXYThSpeed(float vx, float vy, float vth, TimeSpan? deltaTime = null) { if (!Valid) return FailMotionDecomposition("SendXYThSpeed", "invalid chassis", deltaTime); + + if (Math.Abs(vx) < 1e-6f && Math.Abs(vy) < 1e-6f && Math.Abs(vth) < 1e-6f) + { + RampStop(deltaTime); + XYThActive = false; + _xyThWheelsAligned = false; + GoingActive = false; + RotatingActive = false; + LastMotionDecomposeFailureReason = ""; + return true; + } + if (!XYThActive) { ResetMotionState(); - w = 0; + _xyThWheelsAligned = false; } XYThActive = true; GoingActive = false; RotatingActive = false; - if (Math.Abs(vx) < 1e-6f && Math.Abs(vy) < 1e-6f && Math.Abs(vth) < 1e-6f) - { - RampStop(deltaTime); - LastMotionDecomposeFailureReason = ""; - return true; - } - - w = w + wAcc; - if (w > 1) w = 1; float[] sendSpeed = new float[_steerWheels.Count]; + var allWheelsAligned = true; + var maximumAngleError = 0f; + const float initialAlignmentToleranceDegrees = 2f; + var writeDiagnostics = + Debug && + (DateTime.Now - _xyThDiagnosticsLastTime) + .TotalMilliseconds >= 250.0; + for (var i = 0; i < _steerWheels.Count; i++) { var sw = _steerWheels[i]; var (angle, speed) = AngleAndSpeed(sw.Position, vx, vy, vth, i); var actualTh = sw.ReadAngle(); + if (float.IsNaN(actualTh) || + float.IsInfinity(actualTh)) + { + return FailMotionDecomposition( + "SendXYThSpeed", + $"wheel {i} angle feedback is invalid: {actualTh}", + deltaTime); + } + if (!TryResolveWheelAngle(i, CommonMath.ThDiff(angle, sw.ZeroDirection), "SendXYThSpeed", out var useAngle, out var dir, out var resolveReason)) return FailMotionDecomposition("SendXYThSpeed", resolveReason, deltaTime); @@ -1012,12 +1121,53 @@ namespace CommonUsage.Chassis sendSpeed[i] = speed; if (speed!=0) SendTh(i, useAngle); - w = (float)Math.Min(w, CommonMath.gaussmf(CommonMath.ThDiff(actualTh, _sendAngle[i]), rotSync, 0)); - Hedingben.ToastText($"w:{w:F2} s:{speed:F3} th:{_sendAngle[i]:F1} actualTh:{actualTh:F1}", $"SendXYThSpeed-{i}"); + // 这里比较受机械限位约束的实际舵角,不使用圆周最短角。 + var angleError = + Math.Abs(_sendAngle[i] - actualTh); + maximumAngleError = + Math.Max(maximumAngleError, angleError); + if (angleError > + initialAlignmentToleranceDegrees) + { + allWheelsAligned = false; + } + + if (writeDiagnostics) + { + Hedingben.ToastText( + $"ready:{_xyThWheelsAligned} err:{angleError:F1} " + + $"s:{speed:F3} th:{_sendAngle[i]:F1} actualTh:{actualTh:F1}", + $"SendXYThSpeed-{i}"); + } } + + // 仅在一段XYTh运动刚开始时等待舵轮到位。 + // 连续运动开始后,正常改变vx/vy/vth时允许舵轮边转、车辆边走, + // 避免每次打方向都重新把驱动速度压到零。 + if (!_xyThWheelsAligned && + allWheelsAligned) + { + _xyThWheelsAligned = true; + } + + var driveEnabled = _xyThWheelsAligned; for (var i = 0; i < _steerWheels.Count; i++) - AccumulateSpeed(i, w * sendSpeed[i],false,new Vector2(0f,0f), deltaTime); + AccumulateSpeed( + i, + driveEnabled ? sendSpeed[i] : 0f, + false, + new Vector2(0f,0f), + deltaTime); + + if (writeDiagnostics) + { + _xyThDiagnosticsLastTime = DateTime.Now; + Hedingben.ToastText( + $"ready:{_xyThWheelsAligned} maxErr:{maximumAngleError:F1} " + + $"cmd:({vx:F3},{vy:F3},{vth:F1})", + "SendXYThSpeed-alignment"); + } //todo 计算rotCenter填入 LastMoveTime = DateTime.Now; LastMotionDecomposeFailureReason = ""; diff --git a/MedullaAdapter/DiverCartDefinition.cs b/MedullaAdapter/DiverCartDefinition.cs index 85a76d2..a8a0692 100644 --- a/MedullaAdapter/DiverCartDefinition.cs +++ b/MedullaAdapter/DiverCartDefinition.cs @@ -68,6 +68,8 @@ namespace MedullaAdapter [AsInitParam(desc = "遥控器速度上限")] public float TransmitterSpeedUpperLimit = 1.0f; [AsInitParam(desc = "遥控器速度下限")] public float TransmitterSpeedLowerLimit = 0.0f; [AsInitParam(desc = "手动控制夹臂速度系数")] public float ManualArmSpeedFac = 1.0f; + [AsInitParam(desc = "遥控转弯舵角同步限速宽度,单位为度")] + public float ManualSteeringAlignmentSigmaDegrees = 8.0f; [AsInitParam(desc = "左夹臂低限位")][AsLowerIO] public int LeftArmLowerPos = -10000; [AsInitParam(desc = "左夹臂高限位")][AsLowerIO] public int LeftArmUpperPos = 5927610; [AsInitParam(desc = "右夹臂低限位")][AsLowerIO] public int RightArmLowerPos = -17295; @@ -225,21 +227,39 @@ namespace MedullaAdapter } var speed = speedThreshold * y; - var omega = CalculateManualOmega(speed, x); + var normalizedSteering = + (float)Math.Pow( + Math.Abs(x), + ManualThetaPow) * + Math.Sign(x); + var steeringDegrees = + -normalizedSteering * MaxManualTheta; + var omega = CalculateManualOmega( + speed, + steeringDegrees, + adapter.HalfWheelBaseMeters); ManualMode = (int)mode; switch (mode) { case ManualControlMode.Normal: - SendBodyCommand(vx: speed, vy: 0.0, omegaRadiansPerSecond: omega, interval); + // 普通模式统一使用车体速度命令: + // X向前,行驶中连续改变角速度时舵轮边转、车辆边走。 + SendBodyCommand( + vx: speed, + vy: 0.0, + omegaRadiansPerSecond: omega, + interval); break; case ManualControlMode.Crab: SendBodyCommand(vx: 0.0, vy: speed, omegaRadiansPerSecond: omega, interval); break; case ManualControlMode.Spin: + // 自转时speed表示最外侧舵轮的目标切向速度。 + // 根据v=omega*r换算角速度,不能把m/s与deg/s直接相乘。 var spinOmega = - speed * MaxAngularSpeed * - Math.PI / 180.0; + speed / + adapter.MaximumWheelRadiusMeters; SendBodyCommand( vx: 0.0, @@ -341,27 +361,15 @@ namespace MedullaAdapter private double CalculateManualOmega( float speed, - float steeringInput) + float steeringDegrees, + double halfWheelBaseMeters) { - var normalizedSteering = - (float)Math.Pow( - Math.Abs(steeringInput), - ManualThetaPow) * - Math.Sign(steeringInput); - - var steeringDegrees = - -normalizedSteering * MaxManualTheta; - var steeringRadians = steeringDegrees * Math.PI / 180.0; - // CommonUsage中的ControlPointRadius单位为毫米。 - var halfWheelBaseMeters = - Math.Max( - Chassis.ControlPointRadius / 1000.0, - 0.01); - - return speed * Math.Tan(steeringRadians) / halfWheelBaseMeters; + return speed * + Math.Tan(steeringRadians) / + Math.Max(halfWheelBaseMeters, 0.01); } internal void SendBodyCommand(double vx, double vy, double omegaRadiansPerSecond, TimeSpan? interval = null) @@ -398,6 +406,11 @@ namespace MedullaAdapter new MultiWheelChassisAdapter(Chassis, CarNum); } + _chassisAdapter.SteeringAlignmentSigmaDegrees = + Math.Max( + ManualSteeringAlignmentSigmaDegrees, + 0.1f); + return _chassisAdapter; } diff --git a/MedullaAdapter/build/Medulla/plugins/CommonUsage.dll b/MedullaAdapter/build/Medulla/plugins/CommonUsage.dll index cdb9124dbedd7e2752f99bbb9b7525a3568cbf88..209c020ce89bc4f78c9e0a775fb8234ab197e7c3 100644 GIT binary patch delta 62797 zcmb@v2Ygjk@&`WWyporf_Fj6=OGwB|B^A<1N1AjgA|yiS5=f$gA>M>02&i}iK}Ae7 z78ImPKu|!CMFrbpK~Z64Evu|3xL6SWGjnf3Pcb z()h9Ep=ARcD}2v`{&yOp9Bv{7AX);LHRa94C_7NDz%77{WfYCX@UL?Vt*hTp_Pksq zVF;YFGZQo}5v;)t4K87SURmm(fk-?!w6*LQfiCcBAXwZJ!4xT;fpW7Mm@ zZt7a!5aFh7_w6a%)su)G+x=376jDw1PY@wHCi<@w!gI&>0e+z(N|hNoqKBHFk)=LS z;O6l!49yvVv14aqcC5SrFViWJYPQB`?}6RU1T+^frJYW$RbtW60@b@srTYK#_`W2x>|{Mo1WP7z{> zx^HTZSgKx{I!rvM_Ma9m9^5f)8m3f^x@&qA8ct4+2vD$5E5>J|zycb)^k`MD8IQ_M 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zaPB}}-thF~evuSs!s(#4B1Ob9sot#>O-_@Or7&&L$YGDqTrue NuGet $(MSBuildThisFileDirectory)project.assets.json - C:\Users\CodexSandboxOffline\.nuget\packages\ - C:\Users\CodexSandboxOffline\.nuget\packages\;C:\Program Files (x86)\Microsoft Visual Studio\Shared\NuGetPackages + $(UserProfile)\.nuget\packages\ + C:\Users\admin\.nuget\packages\;C:\Program Files (x86)\Microsoft Visual Studio\Shared\NuGetPackages PackageReference 6.14.3 - + \ No newline at end of file diff --git a/MedullaAdapter/obj/project.assets.json b/MedullaAdapter/obj/project.assets.json index 116af55..f33687d 100644 --- a/MedullaAdapter/obj/project.assets.json +++ b/MedullaAdapter/obj/project.assets.json @@ -8,7 +8,7 @@ "net8.0": [] }, "packageFolders": { - "C:\\Users\\CodexSandboxOffline\\.nuget\\packages\\": {}, + "C:\\Users\\admin\\.nuget\\packages\\": {}, "C:\\Program Files (x86)\\Microsoft Visual Studio\\Shared\\NuGetPackages": {} }, "project": { @@ -17,7 +17,7 @@ "projectUniqueName": "D:\\Users\\Desktop\\入职培训\\停车机器人\\MyParking\\MedullaAdapter\\MedullaAdapter.csproj", "projectName": "MedullaAdapter", "projectPath": "D:\\Users\\Desktop\\入职培训\\停车机器人\\MyParking\\MedullaAdapter\\MedullaAdapter.csproj", - "packagesPath": "C:\\Users\\CodexSandboxOffline\\.nuget\\packages\\", + "packagesPath": "C:\\Users\\admin\\.nuget\\packages\\", "outputPath": "D:\\Users\\Desktop\\入职培训\\停车机器人\\MyParking\\MedullaAdapter\\obj\\", "projectStyle": "PackageReference", "fallbackFolders": [ diff --git a/MedullaAdapter/obj/project.nuget.cache b/MedullaAdapter/obj/project.nuget.cache index 9501177..35309d3 100644 --- a/MedullaAdapter/obj/project.nuget.cache +++ b/MedullaAdapter/obj/project.nuget.cache @@ -1,6 +1,6 @@ { "version": 2, - "dgSpecHash": "b9v8vkN2ac8=", + "dgSpecHash": "4fABnQtycfA=", "success": true, "projectFilePath": "D:\\Users\\Desktop\\入职培训\\停车机器人\\MyParking\\MedullaAdapter\\MedullaAdapter.csproj", "expectedPackageFiles": [], diff --git a/Shared/MultiWheelChassisAdapter.cs b/Shared/MultiWheelChassisAdapter.cs index 2ad3417..1a0be56 100644 --- a/Shared/MultiWheelChassisAdapter.cs +++ b/Shared/MultiWheelChassisAdapter.cs @@ -19,6 +19,40 @@ namespace MyParking.Shared ///

public int VehicleId { get; } + /// + /// Maximum distance from the body origin to a wheel center, in metres. + /// + public double MaximumWheelRadiusMeters { get; } + + /// + /// Maximum longitudinal wheel offset from the body origin, in metres. + /// For a symmetric four-wheel-steering chassis this is half the wheelbase. + /// + public double HalfWheelBaseMeters { get; } + + /// + /// Width of the steering-alignment speed gate, in degrees. + /// + public double SteeringAlignmentSigmaDegrees + { + get => _chassis.SteeringAlignmentSigmaDegrees; + set + { + if (double.IsNaN(value) || + double.IsInfinity(value) || + value <= 0.0 || + value > float.MaxValue) + { + throw new ArgumentOutOfRangeException( + nameof(value), + "Steering alignment sigma must be a positive finite value."); + } + + _chassis.SteeringAlignmentSigmaDegrees = + (float)value; + } + } + /// /// 检查旧底盘是否仍处于无偏置的真实车体坐标系。 /// @@ -118,6 +152,31 @@ namespace MyParking.Shared } // 禁用旧版DirectionAngle/ZeroDirection坐标偏置, // 保证SendXYThSpeed直接使用真实车体坐标系。 + var maximumWheelRadiusMillimeters = 0.0; + var maximumLongitudinalOffsetMillimeters = 0.0; + foreach (var wheel in wheels) + { + maximumWheelRadiusMillimeters = Math.Max( + maximumWheelRadiusMillimeters, + wheel.PhysicalPosition.Length()); + + maximumLongitudinalOffsetMillimeters = Math.Max( + maximumLongitudinalOffsetMillimeters, + Math.Abs(wheel.PhysicalPosition.X)); + } + + MaximumWheelRadiusMeters = + maximumWheelRadiusMillimeters / 1000.0; + HalfWheelBaseMeters = + maximumLongitudinalOffsetMillimeters / 1000.0; + + if (MaximumWheelRadiusMeters <= 0.0 || + HalfWheelBaseMeters <= 0.0) + { + throw new InvalidOperationException( + "Wheel positions cannot produce valid chassis dimensions."); + } + ResetToBodyFrame(); // 停车机器人优先保持当前机械舵角,通过反转轮速表达反向运动, @@ -269,12 +328,10 @@ namespace MyParking.Shared TimeSpan? interval = null) { EnsureBodyFrameIsActive(); - _chassis.PredefinedDriveStop(); var success = - _chassis.SendRotateMotion( - 0.0f, - interval); + 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b/data_process/plot_angular_command.py index a8f7ac1..4ddcded 100644 --- a/data_process/plot_angular_command.py +++ b/data_process/plot_angular_command.py @@ -34,7 +34,7 @@ def plot_angular_command( ) time = frame["TimeSeconds"].to_numpy(dtype=float) angular_command = frame[ - "CommandAngularSpeedDegPerSec" + "CommandAngularSpeedRadPerSec" ].to_numpy(dtype=float) maximum = float(np.max(angular_command)) minimum = float(np.min(angular_command)) @@ -50,12 +50,12 @@ def plot_angular_command( ax.axhline(0.0, color="black", linewidth=0.8) shade_localization_jump_windows(ax, metadata) ax.set_xlabel("时间 / s") - ax.set_ylabel("命令角速度 / (°/s)") + ax.set_ylabel("命令角速度 / (rad/s)") ax.set_title( f"角速度指令曲线\n" f"{metadata['controller_name']} - " f"{metadata['trajectory_name']}," - f"范围=[{minimum:.3f}, {maximum:.3f}]°/s" + f"范围=[{minimum:.3f}, {maximum:.3f}]rad/s" ) ax.grid(True, alpha=0.3) ax.legend() diff --git a/data_process/plot_trajectory_comparison.py b/data_process/plot_trajectory_comparison.py index 8097840..8f2b85c 100644 --- a/data_process/plot_trajectory_comparison.py +++ b/data_process/plot_trajectory_comparison.py @@ -76,6 +76,92 @@ def wrap_degrees(angle_degrees: np.ndarray) -> np.ndarray: return (angle_degrees + 180.0) % 360.0 - 180.0 +def build_complete_s_curve( + start: np.ndarray, + end: np.ndarray, + offset_mm: float, + samples_per_segment: int = 120, +) -> tuple[np.ndarray, np.ndarray]: + """重建测试使用的三段三次贝塞尔完整S曲线及各点切线航向。""" + line = end - start + length = float(np.linalg.norm(line)) + if length <= 1e-6: + raise ValueError("S型曲线的起点和终点不能重合。") + + forward = line / length + left = np.array([-forward[1], forward[0]]) + controls = [ + np.array([ + [0.0, 0.0], + [length / 12.0, 0.0], + [length / 6.0, offset_mm], + [length * 0.25, offset_mm], + ]), + np.array([ + [length * 0.25, offset_mm], + [length / 3.0, offset_mm], + [length * 2.0 / 3.0, -offset_mm], + [length * 0.75, -offset_mm], + ]), + np.array([ + [length * 0.75, -offset_mm], + [length * 5.0 / 6.0, -offset_mm], + [length * 11.0 / 12.0, 0.0], + [length, 0.0], + ]), + ] + + local_parts: list[np.ndarray] = [] + derivative_parts: list[np.ndarray] = [] + for index, points in enumerate(controls): + t = np.linspace(0.0, 1.0, samples_per_segment + 1) + if index > 0: + t = t[1:] + one_minus_t = 1.0 - t + local = ( + one_minus_t[:, None] ** 3 * points[0] + + 3.0 + * one_minus_t[:, None] ** 2 + * t[:, None] + * points[1] + + 3.0 + * one_minus_t[:, None] + * t[:, None] ** 2 + * points[2] + + t[:, None] ** 3 * points[3] + ) + derivative = ( + 3.0 + * one_minus_t[:, None] ** 2 + * (points[1] - points[0]) + + 6.0 + * one_minus_t[:, None] + * t[:, None] + * (points[2] - points[1]) + + 3.0 + * t[:, None] ** 2 + * (points[3] - points[2]) + ) + local_parts.append(local) + derivative_parts.append(derivative) + + local_points = np.vstack(local_parts) + local_derivatives = np.vstack(derivative_parts) + world_points = ( + start + + local_points[:, 0, None] * forward + + local_points[:, 1, None] * left + ) + world_derivatives = ( + local_derivatives[:, 0, None] * forward + + local_derivatives[:, 1, None] * left + ) + headings = np.rad2deg( + np.arctan2(world_derivatives[:, 1], world_derivatives[:, 0]) + ) + return world_points, headings + + def segmented_savgol( values: np.ndarray, sample_interval: float, @@ -166,6 +252,16 @@ def load_and_resample( "ReferenceEndY", "ReferenceSpeed", ] + optional_numeric_columns = [ + "CommandAngularSpeedRadPerSecond", + "ReferenceAngularSpeedRadPerSecond", + "ReferenceMotionFrameYawDegrees", + ] + numeric_columns.extend( + column + for column in optional_numeric_columns + if column in raw.columns + ) for column in numeric_columns: raw[column] = pd.to_numeric(raw[column], errors="coerce") @@ -220,9 +316,21 @@ def load_and_resample( update_command_speed = np.abs( updates["CommandSpeed"].to_numpy(dtype=float) ) - update_command_angular = np.abs( - updates["CommandAngularSpeed"].to_numpy(dtype=float) - ) + if "CommandAngularSpeedRadPerSecond" in updates.columns: + update_command_angular_rad = np.abs( + updates[ + "CommandAngularSpeedRadPerSecond" + ].to_numpy(dtype=float) + ) + else: + # 旧CSV中的CommandAngularSpeed单位为deg/s。 + update_command_angular_rad = np.deg2rad( + np.abs( + updates[ + "CommandAngularSpeed" + ].to_numpy(dtype=float) + ) + ) # 自适应跳变阈值:正常移动允许达到参考位移的3倍并保留15mm余量; # 低速阶段仍至少允许30mm,防止把普通定位噪声误判为跳变。 @@ -243,8 +351,12 @@ def load_and_resample( ) expected_heading_delta = ( 0.5 * - (update_command_angular[1:] + update_command_angular[:-1]) * - update_dt + ( + update_command_angular_rad[1:] + + update_command_angular_rad[:-1] + ) * + update_dt * + 180.0 / np.pi ) heading_threshold = np.maximum( 5.0, @@ -347,6 +459,15 @@ def load_and_resample( (time_uniform >= start) & (time_uniform <= end) ) + if "CommandAngularSpeedRadPerSecond" in raw.columns: + angular_command_rad = interpolate_command( + "CommandAngularSpeedRadPerSecond" + ) + else: + angular_command_rad = np.deg2rad( + interpolate_command("CommandAngularSpeed") + ) + frame = pd.DataFrame({ "TimeSeconds": time_uniform, "DetourXRawMm": x_resampled, @@ -356,8 +477,8 @@ def load_and_resample( "DetourThetaUnwrappedDeg": theta_filtered, "DetourThetaDeg": wrap_degrees(theta_filtered), "CommandSpeedMps": interpolate_command("CommandSpeed"), - "CommandAngularSpeedDegPerSec": - interpolate_command("CommandAngularSpeed"), + "CommandAngularSpeedRadPerSec": + angular_command_rad, "InvalidNearLocalizationJump": invalid_near_jump, }) @@ -367,6 +488,25 @@ def load_and_resample( "trajectory_name": str(first["TrajectoryName"]), "controller_name": str(first.get("ControllerName", "")), "trial_number": str(first.get("TrialNumber", "")), + # 蟹行轨迹的运动前向相对车体X轴逆时针偏置90°。 + # DetourTheta始终是车体航向,计算航向误差时必须扣除该偏置。 + "motion_frame_yaw_degrees": float( + first["ReferenceMotionFrameYawDegrees"] + if ( + "ReferenceMotionFrameYawDegrees" in raw.columns + and pd.notna( + first["ReferenceMotionFrameYawDegrees"] + ) + ) + else ( + 90.0 + if "crab" in ( + str(first["TrajectoryName"]) + + str(first.get("ControllerName", "")) + ).lower() + else 0.0 + ) + ), "reference_start_mm": np.array( [first["ReferenceStartX"], first["ReferenceStartY"]], dtype=float, @@ -376,6 +516,12 @@ def load_and_resample( dtype=float, ), "reference_speed_mps": float(first["ReferenceSpeed"]), + "reference_angular_speed_rad_per_second": float( + first.get( + "ReferenceAngularSpeedRadPerSecond", + 0.0, + ) + ), # 圆弧构造时使用了测试开始处Detour航向,因此这里取首帧航向。 "start_heading_degrees": float(first["DetourTheta"]), "sample_interval_seconds": sample_interval, @@ -393,10 +539,13 @@ def build_reference( frame: pd.DataFrame, metadata: dict[str, Any], ) -> dict[str, np.ndarray | float | str]: - """根据CSV元数据建立直线、圆弧或原地自转参考及误差。""" + """根据CSV元数据建立直线、圆弧、完整S曲线或原地自转参考及误差。""" trajectory_name = str(metadata["trajectory_name"]) start = np.asarray(metadata["reference_start_mm"], dtype=float) end = np.asarray(metadata["reference_end_mm"], dtype=float) + motion_frame_yaw_degrees = float( + metadata.get("motion_frame_yaw_degrees", 0.0) + ) actual = frame[ ["DetourXFilteredMm", "DetourYFilteredMm"] ].to_numpy(dtype=float) @@ -410,12 +559,15 @@ def build_reference( if radius_match: radius = float(radius_match.group("radius")) sweep_degrees = float(radius_match.group("sweep")) - start_heading = float(metadata["start_heading_degrees"]) - heading_radians = np.deg2rad(start_heading) + start_body_heading = float(metadata["start_heading_degrees"]) + start_motion_heading = ( + start_body_heading + motion_frame_yaw_degrees + ) + heading_radians = np.deg2rad(start_motion_heading) center = start + radius * np.array( [-np.sin(heading_radians), np.cos(heading_radians)] ) - start_radial_degrees = start_heading - 90.0 + start_radial_degrees = start_motion_heading - 90.0 radial = actual - center distance_to_center = np.linalg.norm(radial, axis=1) @@ -429,7 +581,10 @@ def build_reference( ]) # 对逆时针圆弧,正横向误差表示车辆位于轨迹左侧(圆内侧)。 lateral_error = radius - distance_to_center - reference_heading = radial_angle_degrees + 90.0 + reference_motion_heading = radial_angle_degrees + 90.0 + reference_heading = ( + reference_motion_heading - motion_frame_yaw_degrees + ) heading_error = wrap_degrees( actual_heading - reference_heading ) @@ -450,12 +605,60 @@ def build_reference( "ideal_plot_mm": ideal_plot, "reference_points_mm": reference_points, "reference_heading_degrees": reference_heading, + "reference_motion_heading_degrees": + reference_motion_heading, "lateral_error_mm": lateral_error, "heading_error_degrees": heading_error, "center_mm": center, "radius_mm": radius, } + s_curve_match = re.search( + r"SCurve(?P[0-9.]+)m_A(?P[0-9.]+)mm", + trajectory_name, + flags=re.IGNORECASE, + ) + if s_curve_match: + offset_mm = float(s_curve_match.group("offset")) + ideal_plot, ideal_heading = build_complete_s_curve( + start, + end, + offset_mm, + ) + delta = actual[:, np.newaxis, :] - ideal_plot[np.newaxis, :, :] + nearest_indices = np.argmin( + np.sum(delta * delta, axis=2), + axis=1, + ) + reference_points = ideal_plot[nearest_indices] + reference_motion_heading = ideal_heading[nearest_indices] + reference_heading = ( + reference_motion_heading - motion_frame_yaw_degrees + ) + heading_radians = np.deg2rad(reference_motion_heading) + left_normals = np.column_stack([ + -np.sin(heading_radians), + np.cos(heading_radians), + ]) + lateral_error = np.sum( + (actual - reference_points) * left_normals, + axis=1, + ) + heading_error = wrap_degrees( + actual_heading - reference_heading + ) + return { + "kind": "s_curve", + "ideal_plot_mm": ideal_plot, + "reference_points_mm": reference_points, + "reference_heading_degrees": reference_heading, + "reference_motion_heading_degrees": + reference_motion_heading, + "lateral_error_mm": lateral_error, + "heading_error_degrees": heading_error, + "offset_mm": offset_mm, + } + line = end - start length = float(np.linalg.norm(line)) if length <= 1e-6: @@ -516,10 +719,17 @@ def build_reference( progress = np.clip(displacement @ tangent, 0.0, length) reference_points = start + np.outer(progress, tangent) lateral_error = (actual - reference_points) @ left_normal - reference_heading_scalar = np.rad2deg( + reference_motion_heading_scalar = np.rad2deg( np.arctan2(tangent[1], tangent[0]) ) - reference_heading = np.full(len(frame), reference_heading_scalar) + reference_heading_scalar = ( + reference_motion_heading_scalar - + motion_frame_yaw_degrees + ) + reference_heading = np.full( + len(frame), + reference_heading_scalar, + ) heading_error = wrap_degrees( actual_heading - reference_heading ) @@ -529,6 +739,10 @@ def build_reference( "ideal_plot_mm": ideal_plot, "reference_points_mm": reference_points, "reference_heading_degrees": reference_heading, + "reference_motion_heading_degrees": np.full( + len(frame), + reference_motion_heading_scalar, + ), "lateral_error_mm": lateral_error, "heading_error_degrees": heading_error, } diff --git a/ref/CommonUsage.dll b/ref/CommonUsage.dll index 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9342a90..d58d491 100644 --- a/测试方案.txt +++ b/测试方案.txt @@ -9,6 +9,7 @@ ### 评价指标 横向误差 RMSE、最大横向误差;航向误差 RMSE、最大航向误差;速度误差 RMSE、最大速度偏差; 角速度或转角指令的变化曲线;最终位置误差、最终航向误差 + ### 展示形式 理想轨迹与实际轨迹对比图、横向/航向误差随时间变化图、参考速度与实际速度对比图、角速度指令曲线 @@ -26,7 +27,6 @@ ALQR:在线估计最新参数实时重新求解 3. - 先用 Bryson’s Rule + 贝叶斯优化在仿真里把 Q/R 调到一个不错的基准。 上实车时采用自适应 LQR:在线估计关键参数(尤其是轮胎刚度),实时更新 K。 C# 实现的话: