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src/UAV/通信socket文件/client_ros.py create mode 100644 src/UAV/通信socket文件/echo_rostopic/server.py create mode 100644 src/UAV/通信socket文件/echo_rostopic/test5.py create mode 100644 src/UAV/通信socket文件/server.py create mode 100644 src/UAV/通信socket文件/test5.py create mode 100644 src/UAV/通信socket文件/to_txt_socket/c.py rename src/UAV/{Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/__init__.py => 通信socket文件/to_txt_socket/output.txt} (100%) create mode 100644 src/UAV/通信socket文件/to_txt_socket/s.py create mode 100644 src/UAV/通信socket文件/tonight_server.py create mode 100644 src/UAV/通信socket文件/try1_client.py create mode 100644 src/UAV/通信socket文件/try2.py create mode 100644 src/UAV/通信socket文件/video.py diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/CMakeLists.txt deleted file mode 100644 index cd58121..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/CMakeLists.txt +++ /dev/null @@ -1,69 +0,0 @@ -# toplevel CMakeLists.txt for a catkin workspace -# catkin/cmake/toplevel.cmake - -cmake_minimum_required(VERSION 3.0.2) - -project(Project) - -set(CATKIN_TOPLEVEL TRUE) - -# search for catkin within the workspace -set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}") -execute_process(COMMAND ${_cmd} - RESULT_VARIABLE _res - OUTPUT_VARIABLE _out - ERROR_VARIABLE _err - OUTPUT_STRIP_TRAILING_WHITESPACE - ERROR_STRIP_TRAILING_WHITESPACE -) -if(NOT _res EQUAL 0 AND NOT _res EQUAL 2) - # searching fot catkin resulted in an error - string(REPLACE ";" " " _cmd_str "${_cmd}") - message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}") -endif() - -# include catkin from workspace or via find_package() -if(_res EQUAL 0) - set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake") - # include all.cmake without add_subdirectory to let it operate in same scope - include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE) - add_subdirectory("${_out}") - -else() - # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument - # or CMAKE_PREFIX_PATH from the environment - if(NOT DEFINED CMAKE_PREFIX_PATH) - if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "") - if(NOT WIN32) - string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH}) - else() - set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH}) - endif() - endif() - endif() - - # list of catkin workspaces - set(catkin_search_path "") - foreach(path ${CMAKE_PREFIX_PATH}) - if(EXISTS "${path}/.catkin") - list(FIND catkin_search_path ${path} _index) - if(_index EQUAL -1) - list(APPEND catkin_search_path ${path}) - endif() - endif() - endforeach() - - # search for catkin in all workspaces - set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE) - find_package(catkin QUIET - NO_POLICY_SCOPE - PATHS ${catkin_search_path} - NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) - unset(CATKIN_TOPLEVEL_FIND_PACKAGE) - - if(NOT catkin_FOUND) - message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.") - endif() -endif() - -catkin_workspace() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/CMakeLists.txt deleted file mode 100644 index e61c145..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/CMakeLists.txt +++ /dev/null @@ -1,45 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(bspline_opt) - -set(CMAKE_BUILD_TYPE "Release") -ADD_COMPILE_OPTIONS(-std=c++11 ) -ADD_COMPILE_OPTIONS(-std=c++14 ) -set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") - -find_package(Eigen3 REQUIRED) -find_package(PCL 1.7 REQUIRED) - -find_package(catkin REQUIRED COMPONENTS - roscpp - rospy - std_msgs - visualization_msgs - plan_env - cv_bridge - traj_utils - path_searching -) - -catkin_package( - INCLUDE_DIRS include - LIBRARIES bspline_opt - CATKIN_DEPENDS plan_env -# DEPENDS system_lib -) - -include_directories( - SYSTEM - include - ${catkin_INCLUDE_DIRS} - ${Eigen3_INCLUDE_DIRS} - ${PCL_INCLUDE_DIRS} -) - -add_library( bspline_opt - src/uniform_bspline.cpp - src/bspline_optimizer.cpp - src/gradient_descent_optimizer.cpp - ) -target_link_libraries( bspline_opt - ${catkin_LIBRARIES} - ) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/include/bspline_opt/bspline_optimizer.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/include/bspline_opt/bspline_optimizer.h deleted file mode 100644 index 838d62e..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/include/bspline_opt/bspline_optimizer.h +++ /dev/null @@ -1,213 +0,0 @@ -#ifndef _BSPLINE_OPTIMIZER_H_ -#define _BSPLINE_OPTIMIZER_H_ - -#include -#include -#include -#include -#include -#include -#include "bspline_opt/lbfgs.hpp" -#include - -// Gradient and elasitc band optimization - -// Input: a signed distance field and a sequence of points -// Output: the optimized sequence of points -// The format of points: N x 3 matrix, each row is a point -namespace ego_planner -{ - - class ControlPoints - { - public: - double clearance; - int size; - Eigen::MatrixXd points; - std::vector> base_point; // The point at the statrt of the direction vector (collision point) - std::vector> direction; // Direction vector, must be normalized. - std::vector flag_temp; // A flag that used in many places. Initialize it everytime before using it. - // std::vector occupancy; - - void resize(const int size_set) - { - size = size_set; - - base_point.clear(); - direction.clear(); - flag_temp.clear(); - // occupancy.clear(); - - points.resize(3, size_set); - base_point.resize(size); - direction.resize(size); - flag_temp.resize(size); - // occupancy.resize(size); - } - - void segment(ControlPoints &buf, const int start, const int end) - { - - if (start < 0 || end >= size || points.rows() != 3) - { - ROS_ERROR("Wrong segment index! start=%d, end=%d", start, end); - return; - } - - buf.resize(end - start + 1); - buf.points = points.block(0, start, 3, end - start + 1); - buf.clearance = clearance; - buf.size = end - start + 1; - for (int i = start; i <= end; i++) - { - buf.base_point[i - start] = base_point[i]; - buf.direction[i - start] = direction[i]; - - // if ( buf.base_point[i - start].size() > 1 ) - // { - // ROS_ERROR("buf.base_point[i - start].size()=%d, base_point[i].size()=%d", buf.base_point[i - start].size(), base_point[i].size()); - // } - } - - // cout << "RichInfoOneSeg_temp, insede" << endl; - // for ( int k=0; k 0 ) - // { - // cout << "###" << buf.points.col(k).transpose() << endl; - // for (int k2 = 0; k2 < buf.base_point[k].size(); k2++) - // { - // cout << " " << buf.base_point[k][k2].transpose() << " @ " << buf.direction[k][k2].transpose() << endl; - // } - // } - } - }; - - class BsplineOptimizer - { - - public: - BsplineOptimizer() {} - ~BsplineOptimizer() {} - - /* main API */ - void setEnvironment(const GridMap::Ptr &map); - void setEnvironment(const GridMap::Ptr &map, const fast_planner::ObjPredictor::Ptr mov_obj); - void setParam(ros::NodeHandle &nh); - Eigen::MatrixXd BsplineOptimizeTraj(const Eigen::MatrixXd &points, const double &ts, - const int &cost_function, int max_num_id, int max_time_id); - - /* helper function */ - - // required inputs - void setControlPoints(const Eigen::MatrixXd &points); - void setBsplineInterval(const double &ts); - void setSwarmTrajs(SwarmTrajData *swarm_trajs_ptr); - void setDroneId(const int drone_id); - - // optional inputs - void setGuidePath(const vector &guide_pt); - void setWaypoints(const vector &waypts, - const vector &waypt_idx); // N-2 constraints at most - void setLocalTargetPt(const Eigen::Vector3d local_target_pt) { local_target_pt_ = local_target_pt; }; - - void optimize(); - - ControlPoints getControlPoints() { return cps_; }; - - AStar::Ptr a_star_; - std::vector ref_pts_; - - std::vector distinctiveTrajs(vector> segments); - std::vector> initControlPoints(Eigen::MatrixXd &init_points, bool flag_first_init = true); - bool BsplineOptimizeTrajRebound(Eigen::MatrixXd &optimal_points, double ts); // must be called after initControlPoints() - bool BsplineOptimizeTrajRebound(Eigen::MatrixXd &optimal_points, double &final_cost, const ControlPoints &control_points, double ts); - bool BsplineOptimizeTrajRefine(const Eigen::MatrixXd &init_points, const double ts, Eigen::MatrixXd &optimal_points); - - inline int getOrder(void) { return order_; } - inline double getSwarmClearance(void) { return swarm_clearance_; } - - private: - GridMap::Ptr grid_map_; - fast_planner::ObjPredictor::Ptr moving_objs_; - SwarmTrajData *swarm_trajs_{NULL}; // Can not use shared_ptr and no need to free - int drone_id_; - - enum FORCE_STOP_OPTIMIZE_TYPE - { - DONT_STOP, - STOP_FOR_REBOUND, - STOP_FOR_ERROR - } force_stop_type_; - - // main input - // Eigen::MatrixXd control_points_; // B-spline control points, N x dim - double bspline_interval_; // B-spline knot span - Eigen::Vector3d end_pt_; // end of the trajectory - // int dim_; // dimension of the B-spline - // - vector guide_pts_; // geometric guiding path points, N-6 - vector waypoints_; // waypts constraints - vector waypt_idx_; // waypts constraints index - // - int max_num_id_, max_time_id_; // stopping criteria - int cost_function_; // used to determine objective function - double start_time_; // global time for moving obstacles - - /* optimization parameters */ - int order_; // bspline degree - double lambda1_; // jerk smoothness weight - double lambda2_, new_lambda2_; // distance weight - double lambda3_; // feasibility weight - double lambda4_; // curve fitting - - int a; - // - double dist0_, swarm_clearance_; // safe distance - double max_vel_, max_acc_; // dynamic limits - - int variable_num_; // optimization variables - int iter_num_; // iteration of the solver - Eigen::VectorXd best_variable_; // - double min_cost_; // - - Eigen::Vector3d local_target_pt_; - -#define INIT_min_ellip_dist_ 123456789.0123456789 - double min_ellip_dist_; - - ControlPoints cps_; - - /* cost function */ - /* calculate each part of cost function with control points q as input */ - - static double costFunction(const std::vector &x, std::vector &grad, void *func_data); - void combineCost(const std::vector &x, vector &grad, double &cost); - - // q contains all control points - void calcSmoothnessCost(const Eigen::MatrixXd &q, double &cost, Eigen::MatrixXd &gradient, bool falg_use_jerk = true); - void calcFeasibilityCost(const Eigen::MatrixXd &q, double &cost, Eigen::MatrixXd &gradient); - void calcTerminalCost(const Eigen::MatrixXd &q, double &cost, Eigen::MatrixXd &gradient); - void calcDistanceCostRebound(const Eigen::MatrixXd &q, double &cost, Eigen::MatrixXd &gradient, int iter_num, double smoothness_cost); - void calcMovingObjCost(const Eigen::MatrixXd &q, double &cost, Eigen::MatrixXd &gradient); - void calcSwarmCost(const Eigen::MatrixXd &q, double &cost, Eigen::MatrixXd &gradient); - void calcFitnessCost(const Eigen::MatrixXd &q, double &cost, Eigen::MatrixXd &gradient); - bool check_collision_and_rebound(void); - - static int earlyExit(void *func_data, const double *x, const double *g, const double fx, const double xnorm, const double gnorm, const double step, int n, int k, int ls); - static double costFunctionRebound(void *func_data, const double *x, double *grad, const int n); - static double costFunctionRefine(void *func_data, const double *x, double *grad, const int n); - - bool rebound_optimize(double &final_cost); - bool refine_optimize(); - void combineCostRebound(const double *x, double *grad, double &f_combine, const int n); - void combineCostRefine(const double *x, double *grad, double &f_combine, const int n); - - /* for benckmark evaluation only */ - public: - typedef unique_ptr Ptr; - - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - }; - -} // namespace ego_planner -#endif \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/include/bspline_opt/gradient_descent_optimizer.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/include/bspline_opt/gradient_descent_optimizer.h deleted file mode 100644 index 01a5a71..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/include/bspline_opt/gradient_descent_optimizer.h +++ /dev/null @@ -1,52 +0,0 @@ -#ifndef _GRADIENT_DESCENT_OPT_H_ -#define _GRADIENT_DESCENT_OPT_H_ - -#include -#include -#include - -using namespace std; - -class GradientDescentOptimizer -{ - -public: - EIGEN_MAKE_ALIGNED_OPERATOR_NEW; - - typedef double (*objfunDef)(const Eigen::VectorXd &x, Eigen::VectorXd &grad, bool &force_return, void *data); - enum RESULT - { - FIND_MIN, - FAILED, - RETURN_BY_ORDER, - REACH_MAX_ITERATION - }; - - GradientDescentOptimizer(int v_num, objfunDef objf, void *f_data) - { - variable_num_ = v_num; - objfun_ = objf; - f_data_ = f_data; - }; - - void set_maxiter(int limit) { iter_limit_ = limit; } - void set_maxeval(int limit) { invoke_limit_ = limit; } - void set_xtol_rel(double xtol_rel) { xtol_rel_ = xtol_rel; } - void set_xtol_abs(double xtol_abs) { xtol_abs_ = xtol_abs; } - void set_min_grad(double min_grad) { min_grad_ = min_grad; } - - RESULT optimize(Eigen::VectorXd &x_init_optimal, double &opt_f); - -private: - int variable_num_{0}; - int iter_limit_{1e10}; - int invoke_limit_{1e10}; - double xtol_rel_; - double xtol_abs_; - double min_grad_; - double time_limit_; - void *f_data_; - objfunDef objfun_; -}; - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/include/bspline_opt/lbfgs.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/include/bspline_opt/lbfgs.hpp deleted file mode 100644 index 484c4b6..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/include/bspline_opt/lbfgs.hpp +++ /dev/null @@ -1,1451 +0,0 @@ -#ifndef LBFGS_HPP -#define LBFGS_HPP - -#include -#include -#include -#include -#include - -namespace lbfgs -{ - // ----------------------- Data Type Part ----------------------- - - /** - * Return values of lbfgs_optimize(). - * - * Roughly speaking, a negative value indicates an error. - */ - - enum - { - /** L-BFGS reaches convergence. */ - LBFGS_CONVERGENCE = 0, - /** L-BFGS satisfies stopping criteria. */ - LBFGS_STOP, - /** The initial variables already minimize the objective function. */ - LBFGS_ALREADY_MINIMIZED, - - /** Unknown error. */ - LBFGSERR_UNKNOWNERROR = -1024, - /** Logic error. */ - LBFGSERR_LOGICERROR, - /** The minimization process has been canceled. */ - LBFGSERR_CANCELED, - /** Invalid number of variables specified. */ - LBFGSERR_INVALID_N, - /** Invalid parameter lbfgs_parameter_t::mem_size specified. */ - LBFGSERR_INVALID_MEMSIZE, - /** Invalid parameter lbfgs_parameter_t::g_epsilon specified. */ - LBFGSERR_INVALID_GEPSILON, - /** Invalid parameter lbfgs_parameter_t::past specified. */ - LBFGSERR_INVALID_TESTPERIOD, - /** Invalid parameter lbfgs_parameter_t::delta specified. */ - LBFGSERR_INVALID_DELTA, - /** Invalid parameter lbfgs_parameter_t::min_step specified. */ - LBFGSERR_INVALID_MINSTEP, - /** Invalid parameter lbfgs_parameter_t::max_step specified. */ - LBFGSERR_INVALID_MAXSTEP, - /** Invalid parameter lbfgs_parameter_t::f_dec_coeff specified. */ - LBFGSERR_INVALID_FDECCOEFF, - /** Invalid parameter lbfgs_parameter_t::wolfe specified. */ - LBFGSERR_INVALID_SCURVCOEFF, - /** Invalid parameter lbfgs_parameter_t::xtol specified. */ - LBFGSERR_INVALID_XTOL, - /** Invalid parameter lbfgs_parameter_t::max_linesearch specified. */ - LBFGSERR_INVALID_MAXLINESEARCH, - /** The line-search step went out of the interval of uncertainty. */ - LBFGSERR_OUTOFINTERVAL, - /** A logic error occurred; alternatively, the interval of uncertainty - became too small. */ - LBFGSERR_INCORRECT_TMINMAX, - /** A rounding error occurred; alternatively, no line-search step - satisfies the sufficient decrease and curvature conditions. */ - LBFGSERR_ROUNDING_ERROR, - /** The line-search step became smaller than lbfgs_parameter_t::min_step. */ - LBFGSERR_MINIMUMSTEP, - /** The line-search step became larger than lbfgs_parameter_t::max_step. */ - LBFGSERR_MAXIMUMSTEP, - /** The line-search routine reaches the maximum number of evaluations. */ - LBFGSERR_MAXIMUMLINESEARCH, - /** The algorithm routine reaches the maximum number of iterations. */ - LBFGSERR_MAXIMUMITERATION, - /** Relative width of the interval of uncertainty is at most - lbfgs_parameter_t::xtol. */ - LBFGSERR_WIDTHTOOSMALL, - /** A logic error (negative line-search step) occurred. */ - LBFGSERR_INVALIDPARAMETERS, - /** The current search direction increases the objective function value. */ - LBFGSERR_INCREASEGRADIENT, - }; - - /** - * L-BFGS optimization parameters. - * Call lbfgs_load_default_parameters() function to initialize parameters to the - * default values. - */ - struct lbfgs_parameter_t - { - /** - * The number of corrections to approximate the inverse hessian matrix. - * The L-BFGS routine stores the computation results of previous m - * iterations to approximate the inverse hessian matrix of the current - * iteration. This parameter controls the size of the limited memories - * (corrections). The default value is 6. Values less than 3 are - * not recommended. Large values will result in excessive computing time. - */ - int mem_size; - - /** - * Epsilon for grad norm convergence test. - * This parameter determines the accuracy with which the solution is to - * be found. A minimization terminates when - * ||g|| < g_epsilon * max(1, ||x||), - * where ||.|| denotes the Euclidean (L2) norm. The default value is 1e-5. - */ - double g_epsilon; - - /** - * Distance for delta-based convergence test. - * This parameter determines the distance, in iterations, to compute - * the rate of decrease of the objective function. If the value of this - * parameter is zero, the library does not perform the delta-based - * convergence test. The default value is 0. - */ - int past; - - /** - * Delta for convergence test. - * This parameter determines the minimum rate of decrease of the - * objective function. The library stops iterations when the - * following condition is met: - * (f' - f) / f < delta, - * where f' is the objective value of past iterations ago, and f is - * the objective value of the current iteration. - * The default value is 1e-5. - */ - double delta; - - /** - * The maximum number of iterations. - * The lbfgs_optimize() function terminates an optimization process with - * ::LBFGSERR_MAXIMUMITERATION status code when the iteration count - * exceedes this parameter. Setting this parameter to zero continues an - * optimization process until a convergence or error. The default value - * is 0. - */ - int max_iterations; - - /** - * The maximum number of trials for the line search. - * This parameter controls the number of function and gradients evaluations - * per iteration for the line search routine. The default value is 40. - */ - int max_linesearch; - - /** - * The minimum step of the line search routine. - * The default value is 1e-20. This value need not be modified unless - * the exponents are too large for the machine being used, or unless the - * problem is extremely badly scaled (in which case the exponents should - * be increased). - */ - double min_step; - - /** - * The maximum step of the line search. - * The default value is 1e+20. This value need not be modified unless - * the exponents are too large for the machine being used, or unless the - * problem is extremely badly scaled (in which case the exponents should - * be increased). - */ - double max_step; - - /** - * A parameter to control the accuracy of the line search routine. - * The default value is 1e-4. This parameter should be greater - * than zero and smaller than 0.5. - */ - double f_dec_coeff; - - /** - * A parameter to control the accuracy of the line search routine. - * The default value is 0.9. If the function and gradient - * evaluations are inexpensive with respect to the cost of the - * iteration (which is sometimes the case when solving very large - * problems) it may be advantageous to set this parameter to a small - * value. A typical small value is 0.1. This parameter shuold be - * greater than the f_dec_coeff parameter (1e-4) - * and smaller than 1.0. - */ - double s_curv_coeff; - - /** - * The machine precision for floating-point values. - * This parameter must be a positive value set by a client program to - * estimate the machine precision. The line search routine will terminate - * with the status code (::LBFGSERR_ROUNDING_ERROR) if the relative width - * of the interval of uncertainty is less than this parameter. - */ - double xtol; - }; - - /** - * Callback interface to provide objective function and gradient evaluations. - * - * The lbfgs_optimize() function call this function to obtain the values of objective - * function and its gradients when needed. A client program must implement - * this function to evaluate the values of the objective function and its - * gradients, given current values of variables. - * - * @param instance The user data sent for lbfgs_optimize() function by the client. - * @param x The current values of variables. - * @param g The gradient vector. The callback function must compute - * the gradient values for the current variables. - * @param n The number of variables. - * @retval double The value of the objective function for the current - * variables. - */ - typedef double (*lbfgs_evaluate_t)(void *instance, - const double *x, - double *g, - const int n); - - /** - * Callback interface to provide an upper bound at the beginning of current linear search. - * - * The lbfgs_optimize() function call this function to obtain the values of the - * upperbound of the stepsize to search in, provided with the beginning values of - * variables before the linear search, and the current step vector (can be descent direction). - * A client program can implement this function for more efficient linesearch. - * If it is not used, just set it NULL or nullptr. - * - * @param instance The user data sent for lbfgs_optimize() function by the client. - * @param xp The values of variables before current line search. - * @param d The step vector. It can be the descent direction. - * @param n The number of variables. - * @retval double The upperboud of the step in current line search routine, - * such that stpbound*d is the maximum reasonable step. - */ - typedef double (*lbfgs_stepbound_t)(void *instance, - const double *xp, - const double *d, - const int n); - - /** - * Callback interface to receive the progress of the optimization process. - * - * The lbfgs_optimize() function call this function for each iteration. Implementing - * this function, a client program can store or display the current progress - * of the optimization process. If it is not used, just set it NULL or nullptr. - * - * @param instance The user data sent for lbfgs_optimize() function by the client. - * @param x The current values of variables. - * @param g The current gradient values of variables. - * @param fx The current value of the objective function. - * @param xnorm The Euclidean norm of the variables. - * @param gnorm The Euclidean norm of the gradients. - * @param step The line-search step used for this iteration. - * @param n The number of variables. - * @param k The iteration count. - * @param ls The number of evaluations called for this iteration. - * @retval int Zero to continue the optimization process. Returning a - * non-zero value will cancel the optimization process. - */ - typedef int (*lbfgs_progress_t)(void *instance, - const double *x, - const double *g, - const double fx, - const double xnorm, - const double gnorm, - const double step, - int n, - int k, - int ls); - - /** - * Callback data struct - */ - - struct callback_data_t - { - int n; - void *instance; - lbfgs_evaluate_t proc_evaluate; - lbfgs_stepbound_t proc_stepbound; - lbfgs_progress_t proc_progress; - }; - - /** - * Iteration data struct - */ - struct iteration_data_t - { - double alpha; - double *s; /* [n] */ - double *y; /* [n] */ - double ys; /* vecdot(y, s) */ - }; - - // ----------------------- Arithmetic Part ----------------------- - -/** - * Define the local variables for computing minimizers. - */ -#define USES_MINIMIZER_LBFGS \ - double a, d, gamm, theta, p, q, r, s; - -/** - * Find a minimizer of an interpolated cubic function. - * @param cm The minimizer of the interpolated cubic. - * @param u The value of one point, u. - * @param fu The value of f(u). - * @param du The value of f'(u). - * @param v The value of another point, v. - * @param fv The value of f(v). - * @param du The value of f'(v). - */ -#define CUBIC_MINIMIZER_LBFGS(cm, u, fu, du, v, fv, dv) \ - d = (v) - (u); \ - theta = ((fu) - (fv)) * 3 / d + (du) + (dv); \ - p = fabs(theta); \ - q = fabs(du); \ - r = fabs(dv); \ - s = p >= q ? p : q; \ - s = s >= r ? s : r; \ - /* gamm = s*sqrt((theta/s)**2 - (du/s) * (dv/s)) */ \ - a = theta / s; \ - gamm = s * sqrt(a * a - ((du) / s) * ((dv) / s)); \ - if ((v) < (u)) \ - gamm = -gamm; \ - p = gamm - (du) + theta; \ - q = gamm - (du) + gamm + (dv); \ - r = p / q; \ - (cm) = (u) + r * d; - -/** - * Find a minimizer of an interpolated cubic function. - * @param cm The minimizer of the interpolated cubic. - * @param u The value of one point, u. - * @param fu The value of f(u). - * @param du The value of f'(u). - * @param v The value of another point, v. - * @param fv The value of f(v). - * @param du The value of f'(v). - * @param xmin The maximum value. - * @param xmin The minimum value. - */ -#define CUBIC_MINIMIZER2_LBFGS(cm, u, fu, du, v, fv, dv, xmin, xmax) \ - d = (v) - (u); \ - theta = ((fu) - (fv)) * 3 / d + (du) + (dv); \ - p = fabs(theta); \ - q = fabs(du); \ - r = fabs(dv); \ - s = p >= q ? p : q; \ - s = s >= r ? s : r; \ - /* gamm = s*sqrt((theta/s)**2 - (du/s) * (dv/s)) */ \ - a = theta / s; \ - gamm = a * a - ((du) / s) * ((dv) / s); \ - gamm = gamm > 0 ? s * sqrt(gamm) : 0; \ - if ((u) < (v)) \ - gamm = -gamm; \ - p = gamm - (dv) + theta; \ - q = gamm - (dv) + gamm + (du); \ - r = p / q; \ - if (r < 0. && gamm != 0.) \ - { \ - (cm) = (v)-r * d; \ - } \ - else if (a < 0) \ - { \ - (cm) = (xmax); \ - } \ - else \ - { \ - (cm) = (xmin); \ - } - -/** - * Find a minimizer of an interpolated quadratic function. - * @param qm The minimizer of the interpolated quadratic. - * @param u The value of one point, u. - * @param fu The value of f(u). - * @param du The value of f'(u). - * @param v The value of another point, v. - * @param fv The value of f(v). - */ -#define QUARD_MINIMIZER_LBFGS(qm, u, fu, du, v, fv) \ - a = (v) - (u); \ - (qm) = (u) + (du) / (((fu) - (fv)) / a + (du)) / 2 * a; - -/** - * Find a minimizer of an interpolated quadratic function. - * @param qm The minimizer of the interpolated quadratic. - * @param u The value of one point, u. - * @param du The value of f'(u). - * @param v The value of another point, v. - * @param dv The value of f'(v). - */ -#define QUARD_MINIMIZER2_LBFGS(qm, u, du, v, dv) \ - a = (u) - (v); \ - (qm) = (v) + (dv) / ((dv) - (du)) * a; - - inline void *vecalloc(size_t size) - { - void *memblock = malloc(size); - if (memblock) - { - memset(memblock, 0, size); - } - return memblock; - } - - inline void vecfree(void *memblock) - { - free(memblock); - } - - inline void veccpy(double *y, const double *x, const int n) - { - memcpy(y, x, sizeof(double) * n); - } - - inline void vecncpy(double *y, const double *x, const int n) - { - int i; - - for (i = 0; i < n; ++i) - { - y[i] = -x[i]; - } - } - - inline void vecadd(double *y, const double *x, const double c, const int n) - { - int i; - - for (i = 0; i < n; ++i) - { - y[i] += c * x[i]; - } - } - - inline void vecdiff(double *z, const double *x, const double *y, const int n) - { - int i; - - for (i = 0; i < n; ++i) - { - z[i] = x[i] - y[i]; - } - } - - inline void vecscale(double *y, const double c, const int n) - { - int i; - - for (i = 0; i < n; ++i) - { - y[i] *= c; - } - } - - inline void vecdot(double *s, const double *x, const double *y, const int n) - { - int i; - *s = 0.; - for (i = 0; i < n; ++i) - { - *s += x[i] * y[i]; - } - } - - inline void vec2norm(double *s, const double *x, const int n) - { - vecdot(s, x, x, n); - *s = (double)sqrt(*s); - } - - inline void vec2norminv(double *s, const double *x, const int n) - { - vec2norm(s, x, n); - *s = (double)(1.0 / *s); - } - - // ----------------------- L-BFGS Part ----------------------- - - /** - * Update a safeguarded trial value and interval for line search. - * - * The parameter x represents the step with the least function value. - * The parameter t represents the current step. This function assumes - * that the derivative at the point of x in the direction of the step. - * If the bracket is set to true, the minimizer has been bracketed in - * an interval of uncertainty with endpoints between x and y. - * - * @param x The pointer to the value of one endpoint. - * @param fx The pointer to the value of f(x). - * @param dx The pointer to the value of f'(x). - * @param y The pointer to the value of another endpoint. - * @param fy The pointer to the value of f(y). - * @param dy The pointer to the value of f'(y). - * @param t The pointer to the value of the trial value, t. - * @param ft The pointer to the value of f(t). - * @param dt The pointer to the value of f'(t). - * @param tmin The minimum value for the trial value, t. - * @param tmax The maximum value for the trial value, t. - * @param brackt The pointer to the predicate if the trial value is - * bracketed. - * @retval int Status value. Zero indicates a normal termination. - * - * @see - * Jorge J. More and David J. Thuente. Line search algorithm with - * guaranteed sufficient decrease. ACM Transactions on Mathematical - * Software (TOMS), Vol 20, No 3, pp. 286-307, 1994. - */ - inline int update_trial_interval(double *x, - double *fx, - double *dx, - double *y, - double *fy, - double *dy, - double *t, - double *ft, - double *dt, - const double tmin, - const double tmax, - int *brackt) - { - int bound; - int dsign = *dt * (*dx / fabs(*dx)) < 0.; - double mc; /* minimizer of an interpolated cubic. */ - double mq; /* minimizer of an interpolated quadratic. */ - double newt; /* new trial value. */ - USES_MINIMIZER_LBFGS; /* for CUBIC_MINIMIZER and QUARD_MINIMIZER. */ - - /* Check the input parameters for errors. */ - if (*brackt) - { - if (*t <= (*x <= *y ? *x : *y) || (*x >= *y ? *x : *y) <= *t) - { - /* The trival value t is out of the interval. */ - return LBFGSERR_OUTOFINTERVAL; - } - if (0. <= *dx * (*t - *x)) - { - /* The function must decrease from x. */ - return LBFGSERR_INCREASEGRADIENT; - } - if (tmax < tmin) - { - /* Incorrect tmin and tmax specified. */ - return LBFGSERR_INCORRECT_TMINMAX; - } - } - - /* - Trial value selection. - */ - if (*fx < *ft) - { - /* - Case 1: a higher function value. - The minimum is brackt. If the cubic minimizer is closer - to x than the quadratic one, the cubic one is taken, else - the average of the minimizers is taken. - */ - *brackt = 1; - bound = 1; - CUBIC_MINIMIZER_LBFGS(mc, *x, *fx, *dx, *t, *ft, *dt); - QUARD_MINIMIZER_LBFGS(mq, *x, *fx, *dx, *t, *ft); - if (fabs(mc - *x) < fabs(mq - *x)) - { - newt = mc; - } - else - { - newt = mc + 0.5 * (mq - mc); - } - } - else if (dsign) - { - /* - Case 2: a lower function value and derivatives of - opposite sign. The minimum is brackt. If the cubic - minimizer is closer to x than the quadratic (secant) one, - the cubic one is taken, else the quadratic one is taken. - */ - *brackt = 1; - bound = 0; - CUBIC_MINIMIZER_LBFGS(mc, *x, *fx, *dx, *t, *ft, *dt); - QUARD_MINIMIZER2_LBFGS(mq, *x, *dx, *t, *dt); - if (fabs(mc - *t) > fabs(mq - *t)) - { - newt = mc; - } - else - { - newt = mq; - } - } - else if (fabs(*dt) < fabs(*dx)) - { - /* - Case 3: a lower function value, derivatives of the - same sign, and the magnitude of the derivative decreases. - The cubic minimizer is only used if the cubic tends to - infinity in the direction of the minimizer or if the minimum - of the cubic is beyond t. Otherwise the cubic minimizer is - defined to be either tmin or tmax. The quadratic (secant) - minimizer is also computed and if the minimum is brackt - then the the minimizer closest to x is taken, else the one - farthest away is taken. - */ - bound = 1; - CUBIC_MINIMIZER2_LBFGS(mc, *x, *fx, *dx, *t, *ft, *dt, tmin, tmax); - QUARD_MINIMIZER2_LBFGS(mq, *x, *dx, *t, *dt); - if (*brackt) - { - if (fabs(*t - mc) < fabs(*t - mq)) - { - newt = mc; - } - else - { - newt = mq; - } - } - else - { - if (fabs(*t - mc) > fabs(*t - mq)) - { - newt = mc; - } - else - { - newt = mq; - } - } - } - else - { - /* - Case 4: a lower function value, derivatives of the - same sign, and the magnitude of the derivative does - not decrease. If the minimum is not brackt, the step - is either tmin or tmax, else the cubic minimizer is taken. - */ - bound = 0; - if (*brackt) - { - CUBIC_MINIMIZER_LBFGS(newt, *t, *ft, *dt, *y, *fy, *dy); - } - else if (*x < *t) - { - newt = tmax; - } - else - { - newt = tmin; - } - } - - /* - Update the interval of uncertainty. This update does not - depend on the new step or the case analysis above. - - - Case a: if f(x) < f(t), - x <- x, y <- t. - - Case b: if f(t) <= f(x) && f'(t)*f'(x) > 0, - x <- t, y <- y. - - Case c: if f(t) <= f(x) && f'(t)*f'(x) < 0, - x <- t, y <- x. - */ - if (*fx < *ft) - { - /* Case a */ - *y = *t; - *fy = *ft; - *dy = *dt; - } - else - { - /* Case c */ - if (dsign) - { - *y = *x; - *fy = *fx; - *dy = *dx; - } - /* Cases b and c */ - *x = *t; - *fx = *ft; - *dx = *dt; - } - - /* Clip the new trial value in [tmin, tmax]. */ - if (tmax < newt) - newt = tmax; - if (newt < tmin) - newt = tmin; - - /* - Redefine the new trial value if it is close to the upper bound - of the interval. - */ - if (*brackt && bound) - { - mq = *x + 0.66 * (*y - *x); - if (*x < *y) - { - if (mq < newt) - newt = mq; - } - else - { - if (newt < mq) - newt = mq; - } - } - - /* Return the new trial value. */ - *t = newt; - return 0; - } - - inline int line_search_morethuente(int n, - double *x, - double *f, - double *g, - double *s, - double *stp, - const double *xp, - const double *gp, - const double *stpmin, - const double *stpmax, - callback_data_t *cd, - const lbfgs_parameter_t *param) - { - int count = 0; - int brackt, stage1, uinfo = 0; - double dg; - double stx, fx, dgx; - double sty, fy, dgy; - double fxm, dgxm, fym, dgym, fm, dgm; - double finit, ftest1, dginit, dgtest; - double width, prev_width; - double stmin, stmax; - - /* Check the input parameters for errors. */ - if (*stp <= 0.) - { - return LBFGSERR_INVALIDPARAMETERS; - } - - /* Compute the initial gradient in the search direction. */ - vecdot(&dginit, g, s, n); - - /* Make sure that s points to a descent direction. */ - if (0 < dginit) - { - return LBFGSERR_INCREASEGRADIENT; - } - - /* Initialize local variables. */ - brackt = 0; - stage1 = 1; - finit = *f; - dgtest = param->f_dec_coeff * dginit; - width = *stpmax - *stpmin; - prev_width = 2.0 * width; - - /* - The variables stx, fx, dgx contain the values of the step, - function, and directional derivative at the best step. - The variables sty, fy, dgy contain the value of the step, - function, and derivative at the other endpoint of - the interval of uncertainty. - The variables stp, f, dg contain the values of the step, - function, and derivative at the current step. - */ - stx = sty = 0.; - fx = fy = finit; - dgx = dgy = dginit; - - for (;;) - { - /* Report the progress. */ - if (cd->proc_progress) - { - double xnorm; - double gnorm; - vec2norm(&xnorm, x, n); - vec2norm(&gnorm, g, n); - if (cd->proc_progress(cd->instance, x, g, fx, xnorm, gnorm, *stp, cd->n, 0, 0)) - { - return LBFGSERR_CANCELED; - } - } - - /* - Set the minimum and maximum steps to correspond to the - present interval of uncertainty. - */ - if (brackt) - { - stmin = stx <= sty ? stx : sty; - stmax = stx >= sty ? stx : sty; - } - else - { - stmin = stx; - stmax = *stp + 4.0 * (*stp - stx); - } - - /* Clip the step in the range of [stpmin, stpmax]. */ - if (*stp < *stpmin) - *stp = *stpmin; - if (*stpmax < *stp) - *stp = *stpmax; - - /* - If an unusual termination is to occur then let - stp be the lowest point obtained so far. - */ - if ((brackt && ((*stp <= stmin || stmax <= *stp) || param->max_linesearch <= count + 1 || uinfo != 0)) || (brackt && (stmax - stmin <= param->xtol * stmax))) - { - *stp = stx; - } - - /* - Compute the current value of x: - x <- x + (*stp) * s. - */ - veccpy(x, xp, n); - vecadd(x, s, *stp, n); - - /* Evaluate the function and gradient values. */ - *f = cd->proc_evaluate(cd->instance, x, g, cd->n); - vecdot(&dg, g, s, n); - - ftest1 = finit + *stp * dgtest; - ++count; - - /* Test for errors and convergence. */ - if (brackt && ((*stp <= stmin || stmax <= *stp) || uinfo != 0)) - { - /* Rounding errors prevent further progress. */ - return LBFGSERR_ROUNDING_ERROR; - } - if (*stp == *stpmax && *f <= ftest1 && dg <= dgtest) - { - /* The step is the maximum value. */ - return LBFGSERR_MAXIMUMSTEP; - } - if (*stp == *stpmin && (ftest1 < *f || dgtest <= dg)) - { - /* The step is the minimum value. */ - return LBFGSERR_MINIMUMSTEP; - } - if (brackt && (stmax - stmin) <= param->xtol * stmax) - { - /* Relative width of the interval of uncertainty is at most xtol. */ - return LBFGSERR_WIDTHTOOSMALL; - } - if (param->max_linesearch <= count) - { - /* Maximum number of iteration. */ - return LBFGSERR_MAXIMUMLINESEARCH; - } - if (*f <= ftest1 && fabs(dg) <= param->s_curv_coeff * (-dginit)) - { - /* The sufficient decrease condition and the strong curvature condition hold. */ - return count; - } - - /* - In the first stage we seek a step for which the modified - function has a nonpositive value and nonnegative derivative. - */ - if (stage1 && *f <= ftest1 && - (param->f_dec_coeff <= param->s_curv_coeff ? param->f_dec_coeff : param->s_curv_coeff) * dginit <= dg) - { - stage1 = 0; - } - - /* - A modified function is used to predict the step only if - we have not obtained a step for which the modified - function has a nonpositive function value and nonnegative - derivative, and if a lower function value has been - obtained but the decrease is not sufficient. - */ - if (stage1 && ftest1 < *f && *f <= fx) - { - /* Define the modified function and derivative values. */ - fm = *f - *stp * dgtest; - fxm = fx - stx * dgtest; - fym = fy - sty * dgtest; - dgm = dg - dgtest; - dgxm = dgx - dgtest; - dgym = dgy - dgtest; - - /* - Call update_trial_interval() to update the interval of - uncertainty and to compute the new step. - */ - uinfo = update_trial_interval( - &stx, &fxm, &dgxm, - &sty, &fym, &dgym, - stp, &fm, &dgm, - stmin, stmax, &brackt); - - /* Reset the function and gradient values for f. */ - fx = fxm + stx * dgtest; - fy = fym + sty * dgtest; - dgx = dgxm + dgtest; - dgy = dgym + dgtest; - } - else - { - /* - Call update_trial_interval() to update the interval of - uncertainty and to compute the new step. - */ - uinfo = update_trial_interval( - &stx, &fx, &dgx, - &sty, &fy, &dgy, - stp, f, &dg, - stmin, stmax, &brackt); - } - - /* - Force a sufficient decrease in the interval of uncertainty. - */ - if (brackt) - { - if (0.66 * prev_width <= fabs(sty - stx)) - { - *stp = stx + 0.5 * (sty - stx); - } - prev_width = width; - width = fabs(sty - stx); - } - } - - return LBFGSERR_LOGICERROR; - } - - /** - * Default L-BFGS parameters. - */ - static const lbfgs_parameter_t _default_param = { - 8, - 1e-5, - 0, - 1e-5, - 0, - 40, - 1e-20, - 1e20, - 1e-4, - 0.9, - 1.0e-16, - }; - - /** - * Initialize L-BFGS parameters to the default values. - * - * Call this function to fill a parameter structure with the default values - * and overwrite parameter values if necessary. - * - * @param param The pointer to the parameter structure. - */ - inline void lbfgs_load_default_parameters(lbfgs_parameter_t *param) - { - memcpy(param, &_default_param, sizeof(*param)); - } - - /** - * Start a L-BFGS optimization. - * A user must implement a function compatible with ::lbfgs_evaluate_t (evaluation - * callback) and pass the pointer to the callback function to lbfgs_optimize() - * arguments. Similarly, a user can implement a function compatible with - * ::lbfgs_stepbound_t to provide an external upper bound for stepsize, and - * ::lbfgs_progress_t (progress callback) to obtain the current progress - * (e.g., variables, function value, ||G||, etc) and to cancel the iteration - * process if necessary. Implementation of the stepbound and the progress callback - * is optional: a user can pass NULL if progress notification is not necessary. - * - * This algorithm terminates an optimization - * when: - * - * ||G|| < g_epsilon \cdot \max(1, ||x||) . - * - * In this formula, ||.|| denotes the Euclidean norm. - * - * @param n The number of variables. - * @param x The array of variables. A client program can set - * default values for the optimization and receive the - * optimization result through this array. - * @param ptr_fx The pointer to the variable that receives the final - * value of the objective function for the variables. - * This argument can be set to NULL if the final - * value of the objective function is unnecessary. - * @param proc_evaluate The callback function to provide function and - * gradient evaluations given a current values of - * variables. A client program must implement a - * callback function compatible with - * lbfgs_evaluate_t and pass the pointer to the - * callback function. - * @param proc_stepbound The callback function to provide values of the - * upperbound of the stepsize to search in, provided - * with the beginning values of variables before the - * linear search, and the current step vector (can - * be negative gradient). A client program can implement - * this function for more efficient linesearch. If it is - * not used, just set it NULL or nullptr. - * @param proc_progress The callback function to receive the progress - * (the number of iterations, the current value of - * the objective function) of the minimization - * process. This argument can be set to NULL if - * a progress report is unnecessary. - * @param instance A user data for the client program. The callback - * functions will receive the value of this argument. - * @param param The pointer to a structure representing parameters for - * L-BFGS optimization. A client program can set this - * parameter to NULL to use the default parameters. - * Call lbfgs_load_default_parameters() function to - * fill a structure with the default values. - * @retval int The status code. This function returns zero if the - * minimization process terminates without an error. A - * non-zero value indicates an error. - */ - inline int lbfgs_optimize(int n, - double *x, - double *ptr_fx, - lbfgs_evaluate_t proc_evaluate, - lbfgs_stepbound_t proc_stepbound, - lbfgs_progress_t proc_progress, - void *instance, - lbfgs_parameter_t *_param) - { - int ret; - int i, j, k, ls, end, bound; - double step; - int loop; - double step_min, step_max; - - /* Constant parameters and their default values. */ - lbfgs_parameter_t param = (_param != NULL) ? (*_param) : _default_param; - const int m = param.mem_size; - - double *xp = NULL; - double *g = NULL, *gp = NULL; - double *d = NULL, *pf = NULL; - iteration_data_t *lm = NULL, *it = NULL; - double ys, yy; - double xnorm, gnorm, beta; - double fx = 0.; - double rate = 0.; - - /* Construct a callback data. */ - callback_data_t cd; - cd.n = n; - cd.instance = instance; - cd.proc_evaluate = proc_evaluate; - cd.proc_stepbound = proc_stepbound; - cd.proc_progress = proc_progress; - - /* Check the input parameters for errors. */ - if (n <= 0) - { - return LBFGSERR_INVALID_N; - } - if (m <= 0) - { - return LBFGSERR_INVALID_MEMSIZE; - } - if (param.g_epsilon < 0.) - { - return LBFGSERR_INVALID_GEPSILON; - } - if (param.past < 0) - { - return LBFGSERR_INVALID_TESTPERIOD; - } - if (param.delta < 0.) - { - return LBFGSERR_INVALID_DELTA; - } - if (param.min_step < 0.) - { - return LBFGSERR_INVALID_MINSTEP; - } - if (param.max_step < param.min_step) - { - return LBFGSERR_INVALID_MAXSTEP; - } - if (param.f_dec_coeff < 0.) - { - return LBFGSERR_INVALID_FDECCOEFF; - } - if (param.s_curv_coeff <= param.f_dec_coeff || 1. <= param.s_curv_coeff) - { - return LBFGSERR_INVALID_SCURVCOEFF; - } - if (param.xtol < 0.) - { - return LBFGSERR_INVALID_XTOL; - } - if (param.max_linesearch <= 0) - { - return LBFGSERR_INVALID_MAXLINESEARCH; - } - - /* Allocate working space. */ - xp = (double *)vecalloc(n * sizeof(double)); - g = (double *)vecalloc(n * sizeof(double)); - gp = (double *)vecalloc(n * sizeof(double)); - d = (double *)vecalloc(n * sizeof(double)); - - /* Allocate limited memory storage. */ - lm = (iteration_data_t *)vecalloc(m * sizeof(iteration_data_t)); - - /* Initialize the limited memory. */ - for (i = 0; i < m; ++i) - { - it = &lm[i]; - it->alpha = 0; - it->ys = 0; - it->s = (double *)vecalloc(n * sizeof(double)); - it->y = (double *)vecalloc(n * sizeof(double)); - } - - /* Allocate an array for storing previous values of the objective function. */ - if (0 < param.past) - { - pf = (double *)vecalloc(param.past * sizeof(double)); - } - - /* Evaluate the function value and its gradient. */ - fx = cd.proc_evaluate(cd.instance, x, g, cd.n); - - /* Store the initial value of the objective function. */ - if (pf != NULL) - { - pf[0] = fx; - } - - /* - Compute the direction; - we assume the initial hessian matrix H_0 as the identity matrix. - */ - vecncpy(d, g, n); - - /* - Make sure that the initial variables are not a minimizer. - */ - vec2norm(&xnorm, x, n); - vec2norm(&gnorm, g, n); - - if (xnorm < 1.0) - xnorm = 1.0; - if (gnorm / xnorm <= param.g_epsilon) - { - ret = LBFGS_ALREADY_MINIMIZED; - } - else - { - /* Compute the initial step: - step = 1.0 / sqrt(vecdot(d, d, n)) - */ - vec2norminv(&step, d, n); - - k = 1; - end = 0; - loop = 1; - - while (loop == 1) - { - /* Store the current position and gradient vectors. */ - veccpy(xp, x, n); - veccpy(gp, g, n); - - // If the step bound can be provied dynamically, then apply it. - step_min = param.min_step; - step_max = param.max_step; - if (cd.proc_stepbound) - { - step_max = cd.proc_stepbound(cd.instance, xp, d, cd.n); - step_max = step_max < param.max_step ? step_max : param.max_step; - if (step >= step_max) - step = step_max / 2.0; - } - - /* Search for an optimal step. */ - ls = line_search_morethuente(n, x, &fx, g, d, &step, xp, gp, &step_min, &step_max, &cd, ¶m); - - if (ls < 0) - { - /* Revert to the previous point. */ - veccpy(x, xp, n); - veccpy(g, gp, n); - ret = ls; - loop = 0; - continue; - } - - /* Compute x and g norms. */ - vec2norm(&xnorm, x, n); - vec2norm(&gnorm, g, n); - - // /* Report the progress. */ - // if (cd.proc_progress) - // { - // if ((ret = cd.proc_progress(cd.instance, x, g, fx, xnorm, gnorm, step, cd.n, k, ls))) - // { - // loop = 0; - // continue; - // } - // } - - /* - Convergence test. - The criterion is given by the following formula: - |g(x)| / \max(1, |x|) < g_epsilon - */ - if (xnorm < 1.0) - xnorm = 1.0; - if (gnorm / xnorm <= param.g_epsilon) - { - /* Convergence. */ - ret = LBFGS_CONVERGENCE; - break; - } - - /* - Test for stopping criterion. - The criterion is given by the following formula: - |(f(past_x) - f(x))| / f(x) < \delta - */ - if (pf != NULL) - { - /* We don't test the stopping criterion while k < past. */ - if (param.past <= k) - { - /* Compute the relative improvement from the past. */ - rate = (pf[k % param.past] - fx) / fx; - - /* The stopping criterion. */ - if (fabs(rate) < param.delta) - { - ret = LBFGS_STOP; - break; - } - } - - /* Store the current value of the objective function. */ - pf[k % param.past] = fx; - } - - if (param.max_iterations != 0 && param.max_iterations < k + 1) - { - /* Maximum number of iterations. */ - ret = LBFGSERR_MAXIMUMITERATION; - break; - } - - /* - Update vectors s and y: - s_{k+1} = x_{k+1} - x_{k} = \step * d_{k}. - y_{k+1} = g_{k+1} - g_{k}. - */ - it = &lm[end]; - vecdiff(it->s, x, xp, n); - vecdiff(it->y, g, gp, n); - - /* - Compute scalars ys and yy: - ys = y^t \cdot s = 1 / \rho. - yy = y^t \cdot y. - Notice that yy is used for scaling the hessian matrix H_0 (Cholesky factor). - */ - vecdot(&ys, it->y, it->s, n); - vecdot(&yy, it->y, it->y, n); - it->ys = ys; - - /* - Recursive formula to compute dir = -(H \cdot g). - This is described in page 779 of: - Jorge Nocedal. - Updating Quasi-Newton Matrices with Limited Storage. - Mathematics of Computation, Vol. 35, No. 151, - pp. 773--782, 1980. - */ - bound = (m <= k) ? m : k; - ++k; - end = (end + 1) % m; - - /* Compute the negative of gradients. */ - vecncpy(d, g, n); - - j = end; - for (i = 0; i < bound; ++i) - { - j = (j + m - 1) % m; /* if (--j == -1) j = m-1; */ - it = &lm[j]; - /* \alpha_{j} = \rho_{j} s^{t}_{j} \cdot q_{k+1}. */ - vecdot(&it->alpha, it->s, d, n); - it->alpha /= it->ys; - /* q_{i} = q_{i+1} - \alpha_{i} y_{i}. */ - vecadd(d, it->y, -it->alpha, n); - } - - vecscale(d, ys / yy, n); - - for (i = 0; i < bound; ++i) - { - it = &lm[j]; - /* \beta_{j} = \rho_{j} y^t_{j} \cdot \gamm_{i}. */ - vecdot(&beta, it->y, d, n); - beta /= it->ys; - /* \gamm_{i+1} = \gamm_{i} + (\alpha_{j} - \beta_{j}) s_{j}. */ - vecadd(d, it->s, it->alpha - beta, n); - j = (j + 1) % m; /* if (++j == m) j = 0; */ - } - - /* - Now the search direction d is ready. We try step = 1 first. - */ - step = 1.0; - } - } - - /* Return the final value of the objective function. */ - if (ptr_fx != NULL) - { - *ptr_fx = fx; - } - - vecfree(pf); - - /* Free memory blocks used by this function. */ - if (lm != NULL) - { - for (i = 0; i < m; ++i) - { - vecfree(lm[i].s); - vecfree(lm[i].y); - } - vecfree(lm); - } - vecfree(d); - vecfree(gp); - vecfree(g); - vecfree(xp); - - return ret; - } - - /** - * Get string description of an lbfgs_optimize() return code. - * - * @param err A value returned by lbfgs_optimize(). - */ - inline const char *lbfgs_strerror(int err) - { - switch (err) - { - case LBFGS_CONVERGENCE: - return "Success: reached convergence (g_epsilon)."; - - case LBFGS_STOP: - return "Success: met stopping criteria (past f decrease less than delta)."; - - case LBFGS_ALREADY_MINIMIZED: - return "The initial variables already minimize the objective function."; - - case LBFGSERR_UNKNOWNERROR: - return "Unknown error."; - - case LBFGSERR_LOGICERROR: - return "Logic error."; - - case LBFGSERR_CANCELED: - return "The minimization process has been canceled."; - - case LBFGSERR_INVALID_N: - return "Invalid number of variables specified."; - - case LBFGSERR_INVALID_MEMSIZE: - return "Invalid parameter lbfgs_parameter_t::mem_size specified."; - - case LBFGSERR_INVALID_GEPSILON: - return "Invalid parameter lbfgs_parameter_t::g_epsilon specified."; - - case LBFGSERR_INVALID_TESTPERIOD: - return "Invalid parameter lbfgs_parameter_t::past specified."; - - case LBFGSERR_INVALID_DELTA: - return "Invalid parameter lbfgs_parameter_t::delta specified."; - - case LBFGSERR_INVALID_MINSTEP: - return "Invalid parameter lbfgs_parameter_t::min_step specified."; - - case LBFGSERR_INVALID_MAXSTEP: - return "Invalid parameter lbfgs_parameter_t::max_step specified."; - - case LBFGSERR_INVALID_FDECCOEFF: - return "Invalid parameter lbfgs_parameter_t::f_dec_coeff specified."; - - case LBFGSERR_INVALID_SCURVCOEFF: - return "Invalid parameter lbfgs_parameter_t::s_curv_coeff specified."; - - case LBFGSERR_INVALID_XTOL: - return "Invalid parameter lbfgs_parameter_t::xtol specified."; - - case LBFGSERR_INVALID_MAXLINESEARCH: - return "Invalid parameter lbfgs_parameter_t::max_linesearch specified."; - - case LBFGSERR_OUTOFINTERVAL: - return "The line-search step went out of the interval of uncertainty."; - - case LBFGSERR_INCORRECT_TMINMAX: - return "A logic error occurred; alternatively, the interval of uncertainty" - " became too small."; - - case LBFGSERR_ROUNDING_ERROR: - return "A rounding error occurred; alternatively, no line-search step" - " satisfies the sufficient decrease and curvature conditions."; - - case LBFGSERR_MINIMUMSTEP: - return "The line-search step became smaller than lbfgs_parameter_t::min_step."; - - case LBFGSERR_MAXIMUMSTEP: - return "The line-search step became larger than lbfgs_parameter_t::max_step."; - - case LBFGSERR_MAXIMUMLINESEARCH: - return "The line-search routine reaches the maximum number of evaluations."; - - case LBFGSERR_MAXIMUMITERATION: - return "The algorithm routine reaches the maximum number of iterations."; - - case LBFGSERR_WIDTHTOOSMALL: - return "Relative width of the interval of uncertainty is at most" - " lbfgs_parameter_t::xtol."; - - case LBFGSERR_INVALIDPARAMETERS: - return "A logic error (negative line-search step) occurred."; - - case LBFGSERR_INCREASEGRADIENT: - return "The current search direction increases the objective function value."; - - default: - return "(unknown)"; - } - } - -} // namespace lbfgs - -#endif \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/include/bspline_opt/uniform_bspline.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/include/bspline_opt/uniform_bspline.h deleted file mode 100644 index d2507a2..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/include/bspline_opt/uniform_bspline.h +++ /dev/null @@ -1,80 +0,0 @@ -#ifndef _UNIFORM_BSPLINE_H_ -#define _UNIFORM_BSPLINE_H_ - -#include -#include -#include - -using namespace std; - -namespace ego_planner -{ - // An implementation of non-uniform B-spline with different dimensions - // It also represents uniform B-spline which is a special case of non-uniform - class UniformBspline - { - private: - // control points for B-spline with different dimensions. - // Each row represents one single control point - // The dimension is determined by column number - // e.g. B-spline with N points in 3D space -> Nx3 matrix - Eigen::MatrixXd control_points_; - - int p_, n_, m_; // p degree, n+1 control points, m = n+p+1 - Eigen::VectorXd u_; // knots vector - double interval_; // knot span \delta t - - Eigen::MatrixXd getDerivativeControlPoints(); - - double limit_vel_, limit_acc_, limit_ratio_, feasibility_tolerance_; // physical limits and time adjustment ratio - - public: - UniformBspline() {} - UniformBspline(const Eigen::MatrixXd &points, const int &order, const double &interval); - ~UniformBspline(); - - Eigen::MatrixXd get_control_points(void) { return control_points_; } - - // initialize as an uniform B-spline - void setUniformBspline(const Eigen::MatrixXd &points, const int &order, const double &interval); - - // get / set basic bspline info - - void setKnot(const Eigen::VectorXd &knot); - Eigen::VectorXd getKnot(); - Eigen::MatrixXd getControlPoint(); - double getInterval(); - bool getTimeSpan(double &um, double &um_p); - - // compute position / derivative - - Eigen::VectorXd evaluateDeBoor(const double &u); // use u \in [up, u_mp] - inline Eigen::VectorXd evaluateDeBoorT(const double &t) { return evaluateDeBoor(t + u_(p_)); } // use t \in [0, duration] - UniformBspline getDerivative(); - - // 3D B-spline interpolation of points in point_set, with boundary vel&acc - // constraints - // input : (K+2) points with boundary vel/acc; ts - // output: (K+6) control_pts - static void parameterizeToBspline(const double &ts, const vector &point_set, - const vector &start_end_derivative, - Eigen::MatrixXd &ctrl_pts); - - /* check feasibility, adjust time */ - - void setPhysicalLimits(const double &vel, const double &acc, const double &tolerance); - bool checkFeasibility(double &ratio, bool show = false); - void lengthenTime(const double &ratio); - - /* for performance evaluation */ - - double getTimeSum(); - double getLength(const double &res = 0.01); - double getJerk(); - void getMeanAndMaxVel(double &mean_v, double &max_v); - void getMeanAndMaxAcc(double &mean_a, double &max_a); - - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - }; -} // namespace ego_planner -#endif \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/package.xml deleted file mode 100644 index 02e098b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/package.xml +++ /dev/null @@ -1,77 +0,0 @@ - - - bspline_opt - 0.0.0 - The bspline_opt package - - - - - iszhouxin - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - rospy - std_msgs - plan_env - path_searching - traj_utils - roscpp - rospy - std_msgs - plan_env - path_searching - traj_utils - roscpp - rospy - std_msgs - plan_env - path_searching - traj_utils - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/src/bspline_optimizer.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/src/bspline_optimizer.cpp deleted file mode 100644 index 4d11332..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/src/bspline_optimizer.cpp +++ /dev/null @@ -1,1735 +0,0 @@ -#include "bspline_opt/bspline_optimizer.h" -#include "bspline_opt/gradient_descent_optimizer.h" -// using namespace std; - -namespace ego_planner -{ - - void BsplineOptimizer::setParam(ros::NodeHandle &nh) - { - nh.param("optimization/lambda_smooth", lambda1_, -1.0); - nh.param("optimization/lambda_collision", lambda2_, -1.0); - nh.param("optimization/lambda_feasibility", lambda3_, -1.0); - nh.param("optimization/lambda_fitness", lambda4_, -1.0); - - nh.param("optimization/dist0", dist0_, -1.0); - nh.param("optimization/swarm_clearance", swarm_clearance_, -1.0); - nh.param("optimization/max_vel", max_vel_, -1.0); - nh.param("optimization/max_acc", max_acc_, -1.0); - // 3维 - nh.param("optimization/order", order_, 3); - } - - void BsplineOptimizer::setEnvironment(const GridMap::Ptr &map) - { - this->grid_map_ = map; - } - - void BsplineOptimizer::setEnvironment(const GridMap::Ptr &map, const fast_planner::ObjPredictor::Ptr mov_obj) - { - this->grid_map_ = map; - this->moving_objs_ = mov_obj; - } - - void BsplineOptimizer::setControlPoints(const Eigen::MatrixXd &points) - { - cps_.points = points; - } - - void BsplineOptimizer::setBsplineInterval(const double &ts) { bspline_interval_ = ts; } - - void BsplineOptimizer::setSwarmTrajs(SwarmTrajData *swarm_trajs_ptr) { swarm_trajs_ = swarm_trajs_ptr; } - - void BsplineOptimizer::setDroneId(const int drone_id) { drone_id_ = drone_id; } - - std::vector BsplineOptimizer::distinctiveTrajs(vector> segments) - { - if (segments.size() == 0) // will be invoked again later. - { - std::vector oneSeg; - oneSeg.push_back(cps_); - return oneSeg; - } - - constexpr int MAX_TRAJS = 8; - constexpr int VARIS = 2; - int seg_upbound = std::min((int)segments.size(), static_cast(floor(log(MAX_TRAJS) / log(VARIS)))); - std::vector control_pts_buf; - control_pts_buf.reserve(MAX_TRAJS); - const double RESOLUTION = grid_map_->getResolution(); - const double CTRL_PT_DIST = (cps_.points.col(0) - cps_.points.col(cps_.size - 1)).norm() / (cps_.size - 1); - - // Step 1. Find the opposite vectors and base points for every segment. - std::vector> RichInfoSegs; - for (int i = 0; i < seg_upbound; i++) - { - std::pair RichInfoOneSeg; - ControlPoints RichInfoOneSeg_temp; - cps_.segment(RichInfoOneSeg_temp, segments[i].first, segments[i].second); - RichInfoOneSeg.first = RichInfoOneSeg_temp; - RichInfoOneSeg.second = RichInfoOneSeg_temp; - RichInfoSegs.push_back(RichInfoOneSeg); - - // cout << "RichInfoOneSeg_temp, out" << endl; - // cout << "RichInfoSegs[" << i << "].first" << endl; - // for ( int k=0; k 0 ) - // { - // cout << "###" << RichInfoOneSeg_temp.points.col(k).transpose() << endl; - // for (int k2 = 0; k2 < RichInfoOneSeg_temp.base_point[k].size(); k2++) - // { - // cout << " " << RichInfoOneSeg_temp.base_point[k][k2].transpose() << " @ " << RichInfoOneSeg_temp.direction[k][k2].transpose() << endl; - // } - // } - } - - for (int i = 0; i < seg_upbound; i++) - { - - // 1.1 Find the start occupied point id and the last occupied point id - if (RichInfoSegs[i].first.size > 1) - { - int occ_start_id = -1, occ_end_id = -1; - Eigen::Vector3d occ_start_pt, occ_end_pt; - for (int j = 0; j < RichInfoSegs[i].first.size - 1; j++) - { - //cout << "A *" << j << "*" << endl; - double step_size = RESOLUTION / (RichInfoSegs[i].first.points.col(j) - RichInfoSegs[i].first.points.col(j + 1)).norm() / 2; - for (double a = 1; a > 0; a -= step_size) - { - Eigen::Vector3d pt(a * RichInfoSegs[i].first.points.col(j) + (1 - a) * RichInfoSegs[i].first.points.col(j + 1)); - //cout << " " << grid_map_->getInflateOccupancy(pt) << " pt=" << pt.transpose() << endl; - if (grid_map_->getInflateOccupancy(pt)) - { - occ_start_id = j; - occ_start_pt = pt; - goto exit_multi_loop1; - } - } - } - exit_multi_loop1:; - for (int j = RichInfoSegs[i].first.size - 1; j >= 1; j--) - { - //cout << "j=" << j << endl; - //cout << "B *" << j << "*" << endl; - ; - double step_size = RESOLUTION / (RichInfoSegs[i].first.points.col(j) - RichInfoSegs[i].first.points.col(j - 1)).norm(); - for (double a = 1; a > 0; a -= step_size) - { - Eigen::Vector3d pt(a * RichInfoSegs[i].first.points.col(j) + (1 - a) * RichInfoSegs[i].first.points.col(j - 1)); - //cout << " " << grid_map_->getInflateOccupancy(pt) << " pt=" << pt.transpose() << endl; - ; - if (grid_map_->getInflateOccupancy(pt)) - { - occ_end_id = j; - occ_end_pt = pt; - goto exit_multi_loop2; - } - } - } - exit_multi_loop2:; - - // double check - if (occ_start_id == -1 || occ_end_id == -1) - { - // It means that the first or the last control points of one segment are in obstacles, which is not allowed. - // ROS_WARN("What? occ_start_id=%d, occ_end_id=%d", occ_start_id, occ_end_id); - - segments.erase(segments.begin() + i); - RichInfoSegs.erase(RichInfoSegs.begin() + i); - seg_upbound--; - i--; - - continue; - - // cout << "RichInfoSegs[" << i << "].first" << endl; - // for (int k = 0; k < RichInfoSegs[i].first.size; k++) - // { - // if (RichInfoSegs[i].first.base_point.size() > 0) - // { - // cout << "###" << RichInfoSegs[i].first.points.col(k).transpose() << endl; - // for (int k2 = 0; k2 < RichInfoSegs[i].first.base_point[k].size(); k2++) - // { - // cout << " " << RichInfoSegs[i].first.base_point[k][k2].transpose() << " @ " << RichInfoSegs[i].first.direction[k][k2].transpose() << endl; - // } - // } - // } - } - - // 1.2 Reverse the vector and find new base points from occ_start_id to occ_end_id. - for (int j = occ_start_id; j <= occ_end_id; j++) - { - Eigen::Vector3d base_pt_reverse, base_vec_reverse; - if (RichInfoSegs[i].first.base_point[j].size() != 1) - { - cout << "RichInfoSegs[" << i << "].first.base_point[" << j << "].size()=" << RichInfoSegs[i].first.base_point[j].size() << endl; - ROS_ERROR("Wrong number of base_points!!! Should not be happen!."); - - cout << setprecision(5); - cout << "cps_" << endl; - cout << " clearance=" << cps_.clearance << " cps.size=" << cps_.size << endl; - for (int temp_i = 0; temp_i < cps_.size; temp_i++) - { - if (cps_.base_point[temp_i].size() > 1 && cps_.base_point[temp_i].size() < 1000) - { - ROS_ERROR("Should not happen!!!"); - cout << "######" << cps_.points.col(temp_i).transpose() << endl; - for (size_t temp_j = 0; temp_j < cps_.base_point[temp_i].size(); temp_j++) - cout << " " << cps_.base_point[temp_i][temp_j].transpose() << " @ " << cps_.direction[temp_i][temp_j].transpose() << endl; - } - } - - std::vector blank; - return blank; - } - - base_vec_reverse = -RichInfoSegs[i].first.direction[j][0]; - - // The start and the end case must get taken special care of. - if (j == occ_start_id) - { - base_pt_reverse = occ_start_pt; - } - else if (j == occ_end_id) - { - base_pt_reverse = occ_end_pt; - } - else - { - base_pt_reverse = RichInfoSegs[i].first.points.col(j) + base_vec_reverse * (RichInfoSegs[i].first.base_point[j][0] - RichInfoSegs[i].first.points.col(j)).norm(); - } - - if (grid_map_->getInflateOccupancy(base_pt_reverse)) // Search outward. - { - double l_upbound = 5 * CTRL_PT_DIST; // "5" is the threshold. - double l = RESOLUTION; - for (; l <= l_upbound; l += RESOLUTION) - { - Eigen::Vector3d base_pt_temp = base_pt_reverse + l * base_vec_reverse; - //cout << base_pt_temp.transpose() << endl; - if (!grid_map_->getInflateOccupancy(base_pt_temp)) - { - RichInfoSegs[i].second.base_point[j][0] = base_pt_temp; - RichInfoSegs[i].second.direction[j][0] = base_vec_reverse; - break; - } - } - if (l > l_upbound) - { - ROS_WARN("Can't find the new base points at the opposite within the threshold. i=%d, j=%d", i, j); - - segments.erase(segments.begin() + i); - RichInfoSegs.erase(RichInfoSegs.begin() + i); - seg_upbound--; - i--; - - goto exit_multi_loop3; // break "for (int j = 0; j < RichInfoSegs[i].first.size; j++)" - } - } - else if ((base_pt_reverse - RichInfoSegs[i].first.points.col(j)).norm() >= RESOLUTION) // Unnecessary to search. - { - RichInfoSegs[i].second.base_point[j][0] = base_pt_reverse; - RichInfoSegs[i].second.direction[j][0] = base_vec_reverse; - } - else - { - ROS_WARN("base_point and control point are too close!"); - cout << "base_point=" << RichInfoSegs[i].first.base_point[j][0].transpose() << " control point=" << RichInfoSegs[i].first.points.col(j).transpose() << endl; - - segments.erase(segments.begin() + i); - RichInfoSegs.erase(RichInfoSegs.begin() + i); - seg_upbound--; - i--; - - goto exit_multi_loop3; // break "for (int j = 0; j < RichInfoSegs[i].first.size; j++)" - } - } - - // 1.3 Assign the base points to control points within [0, occ_start_id) and (occ_end_id, RichInfoSegs[i].first.size()-1]. - if (RichInfoSegs[i].second.size) - { - for (int j = occ_start_id - 1; j >= 0; j--) - { - RichInfoSegs[i].second.base_point[j][0] = RichInfoSegs[i].second.base_point[occ_start_id][0]; - RichInfoSegs[i].second.direction[j][0] = RichInfoSegs[i].second.direction[occ_start_id][0]; - } - for (int j = occ_end_id + 1; j < RichInfoSegs[i].second.size; j++) - { - RichInfoSegs[i].second.base_point[j][0] = RichInfoSegs[i].second.base_point[occ_end_id][0]; - RichInfoSegs[i].second.direction[j][0] = RichInfoSegs[i].second.direction[occ_end_id][0]; - } - } - - exit_multi_loop3:; - } - else if (RichInfoSegs[i].first.size == 1) - { - cout << "i=" << i << " RichInfoSegs.size()=" << RichInfoSegs.size() << endl; - cout << "RichInfoSegs[i].first.size=" << RichInfoSegs[i].first.size << endl; - cout << "RichInfoSegs[i].first.direction.size()=" << RichInfoSegs[i].first.direction.size() << endl; - cout << "RichInfoSegs[i].first.direction[0].size()=" << RichInfoSegs[i].first.direction[0].size() << endl; - cout << "RichInfoSegs[i].first.points.cols()=" << RichInfoSegs[i].first.points.cols() << endl; - cout << "RichInfoSegs[i].first.base_point.size()=" << RichInfoSegs[i].first.base_point.size() << endl; - cout << "RichInfoSegs[i].first.base_point[0].size()=" << RichInfoSegs[i].first.base_point[0].size() << endl; - Eigen::Vector3d base_vec_reverse = -RichInfoSegs[i].first.direction[0][0]; - Eigen::Vector3d base_pt_reverse = RichInfoSegs[i].first.points.col(0) + base_vec_reverse * (RichInfoSegs[i].first.base_point[0][0] - RichInfoSegs[i].first.points.col(0)).norm(); - - if (grid_map_->getInflateOccupancy(base_pt_reverse)) // Search outward. - { - double l_upbound = 5 * CTRL_PT_DIST; // "5" is the threshold. - double l = RESOLUTION; - for (; l <= l_upbound; l += RESOLUTION) - { - Eigen::Vector3d base_pt_temp = base_pt_reverse + l * base_vec_reverse; - //cout << base_pt_temp.transpose() << endl; - if (!grid_map_->getInflateOccupancy(base_pt_temp)) - { - RichInfoSegs[i].second.base_point[0][0] = base_pt_temp; - RichInfoSegs[i].second.direction[0][0] = base_vec_reverse; - break; - } - } - if (l > l_upbound) - { - ROS_WARN("Can't find the new base points at the opposite within the threshold, 2. i=%d", i); - - segments.erase(segments.begin() + i); - RichInfoSegs.erase(RichInfoSegs.begin() + i); - seg_upbound--; - i--; - } - } - else if ((base_pt_reverse - RichInfoSegs[i].first.points.col(0)).norm() >= RESOLUTION) // Unnecessary to search. - { - RichInfoSegs[i].second.base_point[0][0] = base_pt_reverse; - RichInfoSegs[i].second.direction[0][0] = base_vec_reverse; - } - else - { - ROS_WARN("base_point and control point are too close!, 2"); - cout << "base_point=" << RichInfoSegs[i].first.base_point[0][0].transpose() << " control point=" << RichInfoSegs[i].first.points.col(0).transpose() << endl; - - segments.erase(segments.begin() + i); - RichInfoSegs.erase(RichInfoSegs.begin() + i); - seg_upbound--; - i--; - } - } - else - { - segments.erase(segments.begin() + i); - RichInfoSegs.erase(RichInfoSegs.begin() + i); - seg_upbound--; - i--; - } - } - // cout << "A3" << endl; - - // Step 2. Assemble each segment to make up the new control point sequence. - if (seg_upbound == 0) // After the erase operation above, segment legth will decrease to 0 again. - { - std::vector oneSeg; - oneSeg.push_back(cps_); - return oneSeg; - } - - std::vector selection(seg_upbound); - std::fill(selection.begin(), selection.end(), 0); - selection[0] = -1; // init - int max_traj_nums = static_cast(pow(VARIS, seg_upbound)); - for (int i = 0; i < max_traj_nums; i++) - { - // 2.1 Calculate the selection table. - int digit_id = 0; - selection[digit_id]++; - while (digit_id < seg_upbound && selection[digit_id] >= VARIS) - { - selection[digit_id] = 0; - digit_id++; - if (digit_id >= seg_upbound) - { - ROS_ERROR("Should not happen!!! digit_id=%d, seg_upbound=%d", digit_id, seg_upbound); - } - selection[digit_id]++; - } - - // 2.2 Assign params according to the selection table. - ControlPoints cpsOneSample; - cpsOneSample.resize(cps_.size); - cpsOneSample.clearance = cps_.clearance; - int cp_id = 0, seg_id = 0, cp_of_seg_id = 0; - while (/*seg_id < RichInfoSegs.size() ||*/ cp_id < cps_.size) - { - //cout << "A "; - // if ( seg_id >= RichInfoSegs.size() ) - // { - // cout << "seg_id=" << seg_id << " RichInfoSegs.size()=" << RichInfoSegs.size() << endl; - // } - // if ( cp_id >= cps_.base_point.size() ) - // { - // cout << "cp_id=" << cp_id << " cps_.base_point.size()=" << cps_.base_point.size() << endl; - // } - // if ( cp_of_seg_id >= RichInfoSegs[seg_id].first.base_point.size() ) - // { - // cout << "cp_of_seg_id=" << cp_of_seg_id << " RichInfoSegs[seg_id].first.base_point.size()=" << RichInfoSegs[seg_id].first.base_point.size() << endl; - // } - - if (seg_id >= seg_upbound || cp_id < segments[seg_id].first || cp_id > segments[seg_id].second) - { - cpsOneSample.points.col(cp_id) = cps_.points.col(cp_id); - cpsOneSample.base_point[cp_id] = cps_.base_point[cp_id]; - cpsOneSample.direction[cp_id] = cps_.direction[cp_id]; - } - else if (cp_id >= segments[seg_id].first && cp_id <= segments[seg_id].second) - { - if (!selection[seg_id]) // zx-todo - { - cpsOneSample.points.col(cp_id) = RichInfoSegs[seg_id].first.points.col(cp_of_seg_id); - cpsOneSample.base_point[cp_id] = RichInfoSegs[seg_id].first.base_point[cp_of_seg_id]; - cpsOneSample.direction[cp_id] = RichInfoSegs[seg_id].first.direction[cp_of_seg_id]; - cp_of_seg_id++; - } - else - { - if (RichInfoSegs[seg_id].second.size) - { - cpsOneSample.points.col(cp_id) = RichInfoSegs[seg_id].second.points.col(cp_of_seg_id); - cpsOneSample.base_point[cp_id] = RichInfoSegs[seg_id].second.base_point[cp_of_seg_id]; - cpsOneSample.direction[cp_id] = RichInfoSegs[seg_id].second.direction[cp_of_seg_id]; - cp_of_seg_id++; - } - else - { - // Abandon this trajectory. - goto abandon_this_trajectory; - } - } - - if (cp_id == segments[seg_id].second) - { - cp_of_seg_id = 0; - seg_id++; - } - } - else - { - ROS_ERROR("Shold not happen!!!!, cp_id=%d, seg_id=%d, segments.front().first=%d, segments.back().second=%d, segments[seg_id].first=%d, segments[seg_id].second=%d", - cp_id, seg_id, segments.front().first, segments.back().second, segments[seg_id].first, segments[seg_id].second); - } - - cp_id++; - } - - control_pts_buf.push_back(cpsOneSample); - - abandon_this_trajectory:; - } - - return control_pts_buf; - } // namespace ego_planner - - /* This function is very similar to check_collision_and_rebound(). - * It was written separately, just because I did it once and it has been running stably since March 2020. - * But I will merge then someday.*/ - std::vector> BsplineOptimizer::initControlPoints(Eigen::MatrixXd &init_points, bool flag_first_init /*= true*/) - { - - if (flag_first_init) - { - cps_.clearance = dist0_; - cps_.resize(init_points.cols()); - cps_.points = init_points; - } - - /*** Segment the initial trajectory according to obstacles ***/ - constexpr int ENOUGH_INTERVAL = 2; - double step_size = grid_map_->getResolution() / ((init_points.col(0) - init_points.rightCols(1)).norm() / (init_points.cols() - 1)) / 1.5; - int in_id = -1, out_id = -1; - vector> segment_ids; - int same_occ_state_times = ENOUGH_INTERVAL + 1; - bool occ, last_occ = false; - bool flag_got_start = false, flag_got_end = false, flag_got_end_maybe = false; - int i_end = (int)init_points.cols() - order_ - ((int)init_points.cols() - 2 * order_) / 3; // only check closed 2/3 points. - for (int i = order_; i <= i_end; ++i) - { - //cout << " *" << i-1 << "*" ; - for (double a = 1.0; a > 0.0; a -= step_size) - { - occ = grid_map_->getInflateOccupancy(a * init_points.col(i - 1) + (1 - a) * init_points.col(i)); - //cout << " " << occ; - // cout << setprecision(5); - // cout << (a * init_points.col(i-1) + (1-a) * init_points.col(i)).transpose() << " occ1=" << occ << endl; - - if (occ && !last_occ) - { - if (same_occ_state_times > ENOUGH_INTERVAL || i == order_) - { - in_id = i - 1; - flag_got_start = true; - } - same_occ_state_times = 0; - flag_got_end_maybe = false; // terminate in advance - } - else if (!occ && last_occ) - { - out_id = i; - flag_got_end_maybe = true; - same_occ_state_times = 0; - } - else - { - ++same_occ_state_times; - } - - if (flag_got_end_maybe && (same_occ_state_times > ENOUGH_INTERVAL || (i == (int)init_points.cols() - order_))) - { - flag_got_end_maybe = false; - flag_got_end = true; - } - - last_occ = occ; - - if (flag_got_start && flag_got_end) - { - flag_got_start = false; - flag_got_end = false; - segment_ids.push_back(std::pair(in_id, out_id)); - } - } - } - // cout << endl; - - // for (size_t i = 0; i < segment_ids.size(); i++) - // { - // cout << "segment_ids=" << segment_ids[i].first << " ~ " << segment_ids[i].second << endl; - // } - - // return in advance - if (segment_ids.size() == 0) - { - vector> blank_ret; - return blank_ret; - } - - /*** a star search ***/ - vector> a_star_pathes; - for (size_t i = 0; i < segment_ids.size(); ++i) - { - //cout << "in=" << in.transpose() << " out=" << out.transpose() << endl; - Eigen::Vector3d in(init_points.col(segment_ids[i].first)), out(init_points.col(segment_ids[i].second)); - if (a_star_->AstarSearch(/*(in-out).norm()/10+0.05*/ 0.1, in, out)) - { - a_star_pathes.push_back(a_star_->getPath()); - } - else - { - ROS_ERROR("a star error, force return!"); - vector> blank_ret; - return blank_ret; - } - } - - /*** calculate bounds ***/ - int id_low_bound, id_up_bound; - vector> bounds(segment_ids.size()); - for (size_t i = 0; i < segment_ids.size(); i++) - { - - if (i == 0) // first segment - { - id_low_bound = order_; - if (segment_ids.size() > 1) - { - id_up_bound = (int)(((segment_ids[0].second + segment_ids[1].first) - 1.0f) / 2); // id_up_bound : -1.0f fix() - } - else - { - id_up_bound = init_points.cols() - order_ - 1; - } - } - else if (i == segment_ids.size() - 1) // last segment, i != 0 here - { - id_low_bound = (int)(((segment_ids[i].first + segment_ids[i - 1].second) + 1.0f) / 2); // id_low_bound : +1.0f ceil() - id_up_bound = init_points.cols() - order_ - 1; - } - else - { - id_low_bound = (int)(((segment_ids[i].first + segment_ids[i - 1].second) + 1.0f) / 2); // id_low_bound : +1.0f ceil() - id_up_bound = (int)(((segment_ids[i].second + segment_ids[i + 1].first) - 1.0f) / 2); // id_up_bound : -1.0f fix() - } - - bounds[i] = std::pair(id_low_bound, id_up_bound); - } - - // cout << "+++++++++" << endl; - // for ( int j=0; j> adjusted_segment_ids(segment_ids.size()); - constexpr double MINIMUM_PERCENT = 0.0; // Each segment is guaranteed to have sufficient points to generate sufficient force - int minimum_points = round(init_points.cols() * MINIMUM_PERCENT), num_points; - for (size_t i = 0; i < segment_ids.size(); i++) - { - /*** Adjust segment length ***/ - num_points = segment_ids[i].second - segment_ids[i].first + 1; - //cout << "i = " << i << " first = " << segment_ids[i].first << " second = " << segment_ids[i].second << endl; - if (num_points < minimum_points) - { - double add_points_each_side = (int)(((minimum_points - num_points) + 1.0f) / 2); - - adjusted_segment_ids[i].first = segment_ids[i].first - add_points_each_side >= bounds[i].first ? segment_ids[i].first - add_points_each_side : bounds[i].first; - - adjusted_segment_ids[i].second = segment_ids[i].second + add_points_each_side <= bounds[i].second ? segment_ids[i].second + add_points_each_side : bounds[i].second; - } - else - { - adjusted_segment_ids[i].first = segment_ids[i].first; - adjusted_segment_ids[i].second = segment_ids[i].second; - } - - //cout << "final:" << "i = " << i << " first = " << adjusted_segment_ids[i].first << " second = " << adjusted_segment_ids[i].second << endl; - } - for (size_t i = 1; i < adjusted_segment_ids.size(); i++) // Avoid overlap - { - if (adjusted_segment_ids[i - 1].second >= adjusted_segment_ids[i].first) - { - double middle = (double)(adjusted_segment_ids[i - 1].second + adjusted_segment_ids[i].first) / 2.0; - adjusted_segment_ids[i - 1].second = static_cast(middle - 0.1); - adjusted_segment_ids[i].first = static_cast(middle + 1.1); - } - } - - // Used for return - vector> final_segment_ids; - - /*** Assign data to each segment ***/ - for (size_t i = 0; i < segment_ids.size(); i++) - { - // step 1 - for (int j = adjusted_segment_ids[i].first; j <= adjusted_segment_ids[i].second; ++j) - cps_.flag_temp[j] = false; - - // step 2 - int got_intersection_id = -1; - for (int j = segment_ids[i].first + 1; j < segment_ids[i].second; ++j) - { - Eigen::Vector3d ctrl_pts_law(init_points.col(j + 1) - init_points.col(j - 1)), intersection_point; - int Astar_id = a_star_pathes[i].size() / 2, last_Astar_id; // Let "Astar_id = id_of_the_most_far_away_Astar_point" will be better, but it needs more computation - double val = (a_star_pathes[i][Astar_id] - init_points.col(j)).dot(ctrl_pts_law), last_val = val; - while (Astar_id >= 0 && Astar_id < (int)a_star_pathes[i].size()) - { - last_Astar_id = Astar_id; - - if (val >= 0) - --Astar_id; - else - ++Astar_id; - - val = (a_star_pathes[i][Astar_id] - init_points.col(j)).dot(ctrl_pts_law); - - if (val * last_val <= 0 && (abs(val) > 0 || abs(last_val) > 0)) // val = last_val = 0.0 is not allowed - { - intersection_point = - a_star_pathes[i][Astar_id] + - ((a_star_pathes[i][Astar_id] - a_star_pathes[i][last_Astar_id]) * - (ctrl_pts_law.dot(init_points.col(j) - a_star_pathes[i][Astar_id]) / ctrl_pts_law.dot(a_star_pathes[i][Astar_id] - a_star_pathes[i][last_Astar_id])) // = t - ); - - //cout << "i=" << i << " j=" << j << " Astar_id=" << Astar_id << " last_Astar_id=" << last_Astar_id << " intersection_point = " << intersection_point.transpose() << endl; - - got_intersection_id = j; - break; - } - } - - if (got_intersection_id >= 0) - { - double length = (intersection_point - init_points.col(j)).norm(); - if (length > 1e-5) - { - cps_.flag_temp[j] = true; - for (double a = length; a >= 0.0; a -= grid_map_->getResolution()) - { - occ = grid_map_->getInflateOccupancy((a / length) * intersection_point + (1 - a / length) * init_points.col(j)); - - if (occ || a < grid_map_->getResolution()) - { - if (occ) - a += grid_map_->getResolution(); - cps_.base_point[j].push_back((a / length) * intersection_point + (1 - a / length) * init_points.col(j)); - cps_.direction[j].push_back((intersection_point - init_points.col(j)).normalized()); - // cout << "A " << j << endl; - break; - } - } - } - else - { - got_intersection_id = -1; - } - } - } - - /* Corner case: the segment length is too short. Here the control points may outside the A* path, leading to opposite gradient direction. So I have to take special care of it */ - if (segment_ids[i].second - segment_ids[i].first == 1) - { - Eigen::Vector3d ctrl_pts_law(init_points.col(segment_ids[i].second) - init_points.col(segment_ids[i].first)), intersection_point; - Eigen::Vector3d middle_point = (init_points.col(segment_ids[i].second) + init_points.col(segment_ids[i].first)) / 2; - int Astar_id = a_star_pathes[i].size() / 2, last_Astar_id; // Let "Astar_id = id_of_the_most_far_away_Astar_point" will be better, but it needs more computation - double val = (a_star_pathes[i][Astar_id] - middle_point).dot(ctrl_pts_law), last_val = val; - while (Astar_id >= 0 && Astar_id < (int)a_star_pathes[i].size()) - { - last_Astar_id = Astar_id; - - if (val >= 0) - --Astar_id; - else - ++Astar_id; - - val = (a_star_pathes[i][Astar_id] - middle_point).dot(ctrl_pts_law); - - if (val * last_val <= 0 && (abs(val) > 0 || abs(last_val) > 0)) // val = last_val = 0.0 is not allowed - { - intersection_point = - a_star_pathes[i][Astar_id] + - ((a_star_pathes[i][Astar_id] - a_star_pathes[i][last_Astar_id]) * - (ctrl_pts_law.dot(middle_point - a_star_pathes[i][Astar_id]) / ctrl_pts_law.dot(a_star_pathes[i][Astar_id] - a_star_pathes[i][last_Astar_id])) // = t - ); - - if ((intersection_point - middle_point).norm() > 0.01) // 1cm. - { - cps_.flag_temp[segment_ids[i].first] = true; - cps_.base_point[segment_ids[i].first].push_back(init_points.col(segment_ids[i].first)); - cps_.direction[segment_ids[i].first].push_back((intersection_point - middle_point).normalized()); - - got_intersection_id = segment_ids[i].first; - } - break; - } - } - } - - //step 3 - if (got_intersection_id >= 0) - { - for (int j = got_intersection_id + 1; j <= adjusted_segment_ids[i].second; ++j) - if (!cps_.flag_temp[j]) - { - cps_.base_point[j].push_back(cps_.base_point[j - 1].back()); - cps_.direction[j].push_back(cps_.direction[j - 1].back()); - // cout << "AAA " << j << endl; - } - - for (int j = got_intersection_id - 1; j >= adjusted_segment_ids[i].first; --j) - if (!cps_.flag_temp[j]) - { - cps_.base_point[j].push_back(cps_.base_point[j + 1].back()); - cps_.direction[j].push_back(cps_.direction[j + 1].back()); - // cout << "AAAA " << j << endl; - } - - final_segment_ids.push_back(adjusted_segment_ids[i]); - } - else - { - // Just ignore, it does not matter ^_^. - // ROS_ERROR("Failed to generate direction! segment_id=%d", i); - } - } - - return final_segment_ids; - } - - int BsplineOptimizer::earlyExit(void *func_data, const double *x, const double *g, const double fx, const double xnorm, const double gnorm, const double step, int n, int k, int ls) - { - BsplineOptimizer *opt = reinterpret_cast(func_data); - // cout << "k=" << k << endl; - // cout << "opt->flag_continue_to_optimize_=" << opt->flag_continue_to_optimize_ << endl; - return (opt->force_stop_type_ == STOP_FOR_ERROR || opt->force_stop_type_ == STOP_FOR_REBOUND); - } - - double BsplineOptimizer::costFunctionRebound(void *func_data, const double *x, double *grad, const int n) - { - BsplineOptimizer *opt = reinterpret_cast(func_data); - - double cost; - opt->combineCostRebound(x, grad, cost, n); - - opt->iter_num_ += 1; - return cost; - } - - double BsplineOptimizer::costFunctionRefine(void *func_data, const double *x, double *grad, const int n) - { - BsplineOptimizer *opt = reinterpret_cast(func_data); - - double cost; - opt->combineCostRefine(x, grad, cost, n); - - opt->iter_num_ += 1; - return cost; - } - - void BsplineOptimizer::calcSwarmCost(const Eigen::MatrixXd &q, double &cost, Eigen::MatrixXd &gradient) - { - cost = 0.0; - int end_idx = q.cols() - order_ - (double)(q.cols() - 2 * order_) * 1.0 / 3.0; // Only check the first 2/3 points - const double CLEARANCE = swarm_clearance_ * 2; - double t_now = ros::Time::now().toSec(); - constexpr double a = 2.0, b = 1.0, inv_a2 = 1 / a / a, inv_b2 = 1 / b / b; - - for (int i = order_; i < end_idx; i++) - { - double glb_time = t_now + ((double)(order_ - 1) / 2 + (i - order_ + 1)) * bspline_interval_; - - for (size_t id = 0; id < swarm_trajs_->size(); id++) - { - if ((swarm_trajs_->at(id).drone_id != (int)id) || swarm_trajs_->at(id).drone_id == drone_id_) - { - continue; - } - - double traj_i_satrt_time = swarm_trajs_->at(id).start_time_.toSec(); - if (glb_time < traj_i_satrt_time + swarm_trajs_->at(id).duration_ - 0.1) - { - /* def cost=(c-sqrt([Q-O]'D[Q-O]))^2, D=[1/b^2,0,0;0,1/b^2,0;0,0,1/a^2] */ - Eigen::Vector3d swarm_prid = swarm_trajs_->at(id).position_traj_.evaluateDeBoorT(glb_time - traj_i_satrt_time); - Eigen::Vector3d dist_vec = cps_.points.col(i) - swarm_prid; - double ellip_dist = sqrt(dist_vec(2) * dist_vec(2) * inv_a2 + (dist_vec(0) * dist_vec(0) + dist_vec(1) * dist_vec(1)) * inv_b2); - double dist_err = CLEARANCE - ellip_dist; - - Eigen::Vector3d dist_grad = cps_.points.col(i) - swarm_prid; - Eigen::Vector3d Coeff; - Coeff(0) = -2 * (CLEARANCE / ellip_dist - 1) * inv_b2; - Coeff(1) = Coeff(0); - Coeff(2) = -2 * (CLEARANCE / ellip_dist - 1) * inv_a2; - - if (dist_err < 0) - { - /* do nothing */ - } - else - { - cost += pow(dist_err, 2); - gradient.col(i) += (Coeff.array() * dist_grad.array()).matrix(); - } - - if (min_ellip_dist_ > dist_err) - { - min_ellip_dist_ = dist_err; - } - } - } - } - } - - void BsplineOptimizer::calcMovingObjCost(const Eigen::MatrixXd &q, double &cost, Eigen::MatrixXd &gradient) - { - cost = 0.0; - int end_idx = q.cols() - order_; - constexpr double CLEARANCE = 1.5; - double t_now = ros::Time::now().toSec(); - - for (int i = order_; i < end_idx; i++) - { - double time = ((double)(order_ - 1) / 2 + (i - order_ + 1)) * bspline_interval_; - - for (int id = 0; id < moving_objs_->getObjNums(); id++) - { - Eigen::Vector3d obj_prid = moving_objs_->evaluateConstVel(id, t_now + time); - double dist = (cps_.points.col(i) - obj_prid).norm(); - //cout /*<< "cps_.points.col(i)=" << cps_.points.col(i).transpose()*/ << " moving_objs_=" << obj_prid.transpose() << " dist=" << dist << endl; - double dist_err = CLEARANCE - dist; - Eigen::Vector3d dist_grad = (cps_.points.col(i) - obj_prid).normalized(); - - if (dist_err < 0) - { - /* do nothing */ - } - else - { - cost += pow(dist_err, 2); - gradient.col(i) += -2.0 * dist_err * dist_grad; - } - } - // cout << "time=" << time << " i=" << i << " order_=" << order_ << " end_idx=" << end_idx << endl; - // cout << "--" << endl; - } - // cout << "---------------" << endl; - } - - void BsplineOptimizer::calcDistanceCostRebound(const Eigen::MatrixXd &q, double &cost, - Eigen::MatrixXd &gradient, int iter_num, double smoothness_cost) - { - cost = 0.0; - int end_idx = q.cols() - order_; - double demarcation = cps_.clearance; - double a = 3 * demarcation, b = -3 * pow(demarcation, 2), c = pow(demarcation, 3); - - force_stop_type_ = DONT_STOP; - if (iter_num > 3 && smoothness_cost / (cps_.size - 2 * order_) < 0.1) // 0.1 is an experimental value that indicates the trajectory is smooth enough. - { - check_collision_and_rebound(); - } - - /*** calculate distance cost and gradient ***/ - for (auto i = order_; i < end_idx; ++i) - { - for (size_t j = 0; j < cps_.direction[i].size(); ++j) - { - double dist = (cps_.points.col(i) - cps_.base_point[i][j]).dot(cps_.direction[i][j]); - double dist_err = cps_.clearance - dist; - Eigen::Vector3d dist_grad = cps_.direction[i][j]; - - if (dist_err < 0) - { - /* do nothing */ - } - else if (dist_err < demarcation) - { - cost += pow(dist_err, 3); - gradient.col(i) += -3.0 * dist_err * dist_err * dist_grad; - } - else - { - cost += a * dist_err * dist_err + b * dist_err + c; - gradient.col(i) += -(2.0 * a * dist_err + b) * dist_grad; - } - } - } - } - - void BsplineOptimizer::calcFitnessCost(const Eigen::MatrixXd &q, double &cost, Eigen::MatrixXd &gradient) - { - - cost = 0.0; - - int end_idx = q.cols() - order_; - - // def: f = |x*v|^2/a^2 + |x×v|^2/b^2 - double a2 = 25, b2 = 1; - for (auto i = order_ - 1; i < end_idx + 1; ++i) - { - Eigen::Vector3d x = (q.col(i - 1) + 4 * q.col(i) + q.col(i + 1)) / 6.0 - ref_pts_[i - 1]; - Eigen::Vector3d v = (ref_pts_[i] - ref_pts_[i - 2]).normalized(); - - double xdotv = x.dot(v); - Eigen::Vector3d xcrossv = x.cross(v); - - double f = pow((xdotv), 2) / a2 + pow(xcrossv.norm(), 2) / b2; - cost += f; - - Eigen::Matrix3d m; - m << 0, -v(2), v(1), v(2), 0, -v(0), -v(1), v(0), 0; - Eigen::Vector3d df_dx = 2 * xdotv / a2 * v + 2 / b2 * m * xcrossv; - - gradient.col(i - 1) += df_dx / 6; - gradient.col(i) += 4 * df_dx / 6; - gradient.col(i + 1) += df_dx / 6; - } - } - - void BsplineOptimizer::calcSmoothnessCost(const Eigen::MatrixXd &q, double &cost, - Eigen::MatrixXd &gradient, bool falg_use_jerk /* = true*/) - { - - cost = 0.0; - - if (falg_use_jerk) - { - Eigen::Vector3d jerk, temp_j; - - for (int i = 0; i < q.cols() - 3; i++) - { - /* evaluate jerk */ - jerk = q.col(i + 3) - 3 * q.col(i + 2) + 3 * q.col(i + 1) - q.col(i); - cost += jerk.squaredNorm(); - temp_j = 2.0 * jerk; - /* jerk gradient */ - gradient.col(i + 0) += -temp_j; - gradient.col(i + 1) += 3.0 * temp_j; - gradient.col(i + 2) += -3.0 * temp_j; - gradient.col(i + 3) += temp_j; - } - } - else - { - Eigen::Vector3d acc, temp_acc; - - for (int i = 0; i < q.cols() - 2; i++) - { - /* evaluate acc */ - acc = q.col(i + 2) - 2 * q.col(i + 1) + q.col(i); - cost += acc.squaredNorm(); - temp_acc = 2.0 * acc; - /* acc gradient */ - gradient.col(i + 0) += temp_acc; - gradient.col(i + 1) += -2.0 * temp_acc; - gradient.col(i + 2) += temp_acc; - } - } - } - - void BsplineOptimizer::calcTerminalCost(const Eigen::MatrixXd &q, double &cost, Eigen::MatrixXd &gradient) - { - cost = 0.0; - - // zero cost and gradient in hard constraints - Eigen::Vector3d q_3, q_2, q_1, dq; - q_3 = q.col(q.cols() - 3); - q_2 = q.col(q.cols() - 2); - q_1 = q.col(q.cols() - 1); - - dq = 1 / 6.0 * (q_3 + 4 * q_2 + q_1) - local_target_pt_; - cost += dq.squaredNorm(); - - gradient.col(q.cols() - 3) += 2 * dq * (1 / 6.0); - gradient.col(q.cols() - 2) += 2 * dq * (4 / 6.0); - gradient.col(q.cols() - 1) += 2 * dq * (1 / 6.0); - } - - void BsplineOptimizer::calcFeasibilityCost(const Eigen::MatrixXd &q, double &cost, - Eigen::MatrixXd &gradient) - { - - //#define SECOND_DERIVATIVE_CONTINOUS - -#ifdef SECOND_DERIVATIVE_CONTINOUS - - cost = 0.0; - double demarcation = 1.0; // 1m/s, 1m/s/s - double ar = 3 * demarcation, br = -3 * pow(demarcation, 2), cr = pow(demarcation, 3); - double al = ar, bl = -br, cl = cr; - - /* abbreviation */ - double ts, ts_inv2, ts_inv3; - ts = bspline_interval_; - ts_inv2 = 1 / ts / ts; - ts_inv3 = 1 / ts / ts / ts; - - /* velocity feasibility */ - for (int i = 0; i < q.cols() - 1; i++) - { - Eigen::Vector3d vi = (q.col(i + 1) - q.col(i)) / ts; - - for (int j = 0; j < 3; j++) - { - if (vi(j) > max_vel_ + demarcation) - { - double diff = vi(j) - max_vel_; - cost += (ar * diff * diff + br * diff + cr) * ts_inv3; // multiply ts_inv3 to make vel and acc has similar magnitude - - double grad = (2.0 * ar * diff + br) / ts * ts_inv3; - gradient(j, i + 0) += -grad; - gradient(j, i + 1) += grad; - } - else if (vi(j) > max_vel_) - { - double diff = vi(j) - max_vel_; - cost += pow(diff, 3) * ts_inv3; - ; - - double grad = 3 * diff * diff / ts * ts_inv3; - ; - gradient(j, i + 0) += -grad; - gradient(j, i + 1) += grad; - } - else if (vi(j) < -(max_vel_ + demarcation)) - { - double diff = vi(j) + max_vel_; - cost += (al * diff * diff + bl * diff + cl) * ts_inv3; - - double grad = (2.0 * al * diff + bl) / ts * ts_inv3; - gradient(j, i + 0) += -grad; - gradient(j, i + 1) += grad; - } - else if (vi(j) < -max_vel_) - { - double diff = vi(j) + max_vel_; - cost += -pow(diff, 3) * ts_inv3; - - double grad = -3 * diff * diff / ts * ts_inv3; - gradient(j, i + 0) += -grad; - gradient(j, i + 1) += grad; - } - else - { - /* nothing happened */ - } - } - } - - /* acceleration feasibility */ - for (int i = 0; i < q.cols() - 2; i++) - { - Eigen::Vector3d ai = (q.col(i + 2) - 2 * q.col(i + 1) + q.col(i)) * ts_inv2; - - for (int j = 0; j < 3; j++) - { - if (ai(j) > max_acc_ + demarcation) - { - double diff = ai(j) - max_acc_; - cost += ar * diff * diff + br * diff + cr; - - double grad = (2.0 * ar * diff + br) * ts_inv2; - gradient(j, i + 0) += grad; - gradient(j, i + 1) += -2 * grad; - gradient(j, i + 2) += grad; - } - else if (ai(j) > max_acc_) - { - double diff = ai(j) - max_acc_; - cost += pow(diff, 3); - - double grad = 3 * diff * diff * ts_inv2; - gradient(j, i + 0) += grad; - gradient(j, i + 1) += -2 * grad; - gradient(j, i + 2) += grad; - } - else if (ai(j) < -(max_acc_ + demarcation)) - { - double diff = ai(j) + max_acc_; - cost += al * diff * diff + bl * diff + cl; - - double grad = (2.0 * al * diff + bl) * ts_inv2; - gradient(j, i + 0) += grad; - gradient(j, i + 1) += -2 * grad; - gradient(j, i + 2) += grad; - } - else if (ai(j) < -max_acc_) - { - double diff = ai(j) + max_acc_; - cost += -pow(diff, 3); - - double grad = -3 * diff * diff * ts_inv2; - gradient(j, i + 0) += grad; - gradient(j, i + 1) += -2 * grad; - gradient(j, i + 2) += grad; - } - else - { - /* nothing happened */ - } - } - } - -#else - - cost = 0.0; - /* abbreviation */ - double ts, /*vm2, am2, */ ts_inv2; - // vm2 = max_vel_ * max_vel_; - // am2 = max_acc_ * max_acc_; - - ts = bspline_interval_; - ts_inv2 = 1 / ts / ts; - - /* velocity feasibility */ - for (int i = 0; i < q.cols() - 1; i++) - { - Eigen::Vector3d vi = (q.col(i + 1) - q.col(i)) / ts; - - //cout << "temp_v * vi=" ; - for (int j = 0; j < 3; j++) - { - if (vi(j) > max_vel_) - { - // cout << "zx-todo VEL" << endl; - // cout << vi(j) << endl; - cost += pow(vi(j) - max_vel_, 2) * ts_inv2; // multiply ts_inv3 to make vel and acc has similar magnitude - - gradient(j, i + 0) += -2 * (vi(j) - max_vel_) / ts * ts_inv2; - gradient(j, i + 1) += 2 * (vi(j) - max_vel_) / ts * ts_inv2; - } - else if (vi(j) < -max_vel_) - { - cost += pow(vi(j) + max_vel_, 2) * ts_inv2; - - gradient(j, i + 0) += -2 * (vi(j) + max_vel_) / ts * ts_inv2; - gradient(j, i + 1) += 2 * (vi(j) + max_vel_) / ts * ts_inv2; - } - else - { - /* code */ - } - } - } - - /* acceleration feasibility */ - for (int i = 0; i < q.cols() - 2; i++) - { - Eigen::Vector3d ai = (q.col(i + 2) - 2 * q.col(i + 1) + q.col(i)) * ts_inv2; - - //cout << "temp_a * ai=" ; - for (int j = 0; j < 3; j++) - { - if (ai(j) > max_acc_) - { - // cout << "zx-todo ACC" << endl; - // cout << ai(j) << endl; - cost += pow(ai(j) - max_acc_, 2); - - gradient(j, i + 0) += 2 * (ai(j) - max_acc_) * ts_inv2; - gradient(j, i + 1) += -4 * (ai(j) - max_acc_) * ts_inv2; - gradient(j, i + 2) += 2 * (ai(j) - max_acc_) * ts_inv2; - } - else if (ai(j) < -max_acc_) - { - cost += pow(ai(j) + max_acc_, 2); - - gradient(j, i + 0) += 2 * (ai(j) + max_acc_) * ts_inv2; - gradient(j, i + 1) += -4 * (ai(j) + max_acc_) * ts_inv2; - gradient(j, i + 2) += 2 * (ai(j) + max_acc_) * ts_inv2; - } - else - { - /* code */ - } - } - //cout << endl; - } - -#endif - } - - bool BsplineOptimizer::check_collision_and_rebound(void) - { - - int end_idx = cps_.size - order_; - - /*** Check and segment the initial trajectory according to obstacles ***/ - int in_id, out_id; - vector> segment_ids; - bool flag_new_obs_valid = false; - int i_end = end_idx - (end_idx - order_) / 3; - for (int i = order_ - 1; i <= i_end; ++i) - { - - bool occ = grid_map_->getInflateOccupancy(cps_.points.col(i)); - - /*** check if the new collision will be valid ***/ - if (occ) - { - for (size_t k = 0; k < cps_.direction[i].size(); ++k) - { - cout.precision(2); - if ((cps_.points.col(i) - cps_.base_point[i][k]).dot(cps_.direction[i][k]) < 1 * grid_map_->getResolution()) // current point is outside all the collision_points. - { - occ = false; // Not really takes effect, just for better hunman understanding. - break; - } - } - } - - if (occ) - { - flag_new_obs_valid = true; - - int j; - for (j = i - 1; j >= 0; --j) - { - occ = grid_map_->getInflateOccupancy(cps_.points.col(j)); - if (!occ) - { - in_id = j; - break; - } - } - if (j < 0) // fail to get the obs free point - { - ROS_ERROR("ERROR! the drone is in obstacle. This should not happen."); - in_id = 0; - } - - for (j = i + 1; j < cps_.size; ++j) - { - occ = grid_map_->getInflateOccupancy(cps_.points.col(j)); - - if (!occ) - { - out_id = j; - break; - } - } - if (j >= cps_.size) // fail to get the obs free point - { - ROS_WARN("WARN! terminal point of the current trajectory is in obstacle, skip this planning."); - - force_stop_type_ = STOP_FOR_ERROR; - return false; - } - - i = j + 1; - - segment_ids.push_back(std::pair(in_id, out_id)); - } - } - - if (flag_new_obs_valid) - { - vector> a_star_pathes; - for (size_t i = 0; i < segment_ids.size(); ++i) - { - /*** a star search ***/ - Eigen::Vector3d in(cps_.points.col(segment_ids[i].first)), out(cps_.points.col(segment_ids[i].second)); - if (a_star_->AstarSearch(/*(in-out).norm()/10+0.05*/ 0.1, in, out)) - { - a_star_pathes.push_back(a_star_->getPath()); - } - else - { - ROS_ERROR("a star error"); - segment_ids.erase(segment_ids.begin() + i); - i--; - } - } - - for (size_t i = 1; i < segment_ids.size(); i++) // Avoid overlap - { - if (segment_ids[i - 1].second >= segment_ids[i].first) - { - double middle = (double)(segment_ids[i - 1].second + segment_ids[i].first) / 2.0; - segment_ids[i - 1].second = static_cast(middle - 0.1); - segment_ids[i].first = static_cast(middle + 1.1); - } - } - - /*** Assign parameters to each segment ***/ - for (size_t i = 0; i < segment_ids.size(); ++i) - { - // step 1 - for (int j = segment_ids[i].first; j <= segment_ids[i].second; ++j) - cps_.flag_temp[j] = false; - - // step 2 - int got_intersection_id = -1; - for (int j = segment_ids[i].first + 1; j < segment_ids[i].second; ++j) - { - Eigen::Vector3d ctrl_pts_law(cps_.points.col(j + 1) - cps_.points.col(j - 1)), intersection_point; - int Astar_id = a_star_pathes[i].size() / 2, last_Astar_id; // Let "Astar_id = id_of_the_most_far_away_Astar_point" will be better, but it needs more computation - double val = (a_star_pathes[i][Astar_id] - cps_.points.col(j)).dot(ctrl_pts_law), last_val = val; - while (Astar_id >= 0 && Astar_id < (int)a_star_pathes[i].size()) - { - last_Astar_id = Astar_id; - - if (val >= 0) - --Astar_id; - else - ++Astar_id; - - val = (a_star_pathes[i][Astar_id] - cps_.points.col(j)).dot(ctrl_pts_law); - - // cout << val << endl; - - if (val * last_val <= 0 && (abs(val) > 0 || abs(last_val) > 0)) // val = last_val = 0.0 is not allowed - { - intersection_point = - a_star_pathes[i][Astar_id] + - ((a_star_pathes[i][Astar_id] - a_star_pathes[i][last_Astar_id]) * - (ctrl_pts_law.dot(cps_.points.col(j) - a_star_pathes[i][Astar_id]) / ctrl_pts_law.dot(a_star_pathes[i][Astar_id] - a_star_pathes[i][last_Astar_id])) // = t - ); - - got_intersection_id = j; - break; - } - } - - if (got_intersection_id >= 0) - { - double length = (intersection_point - cps_.points.col(j)).norm(); - if (length > 1e-5) - { - cps_.flag_temp[j] = true; - for (double a = length; a >= 0.0; a -= grid_map_->getResolution()) - { - bool occ = grid_map_->getInflateOccupancy((a / length) * intersection_point + (1 - a / length) * cps_.points.col(j)); - - if (occ || a < grid_map_->getResolution()) - { - if (occ) - a += grid_map_->getResolution(); - cps_.base_point[j].push_back((a / length) * intersection_point + (1 - a / length) * cps_.points.col(j)); - cps_.direction[j].push_back((intersection_point - cps_.points.col(j)).normalized()); - break; - } - } - } - else - { - got_intersection_id = -1; - } - } - } - - //step 3 - if (got_intersection_id >= 0) - { - for (int j = got_intersection_id + 1; j <= segment_ids[i].second; ++j) - if (!cps_.flag_temp[j]) - { - cps_.base_point[j].push_back(cps_.base_point[j - 1].back()); - cps_.direction[j].push_back(cps_.direction[j - 1].back()); - } - - for (int j = got_intersection_id - 1; j >= segment_ids[i].first; --j) - if (!cps_.flag_temp[j]) - { - cps_.base_point[j].push_back(cps_.base_point[j + 1].back()); - cps_.direction[j].push_back(cps_.direction[j + 1].back()); - } - } - else - ROS_WARN("Failed to generate direction. It doesn't matter."); - } - - force_stop_type_ = STOP_FOR_REBOUND; - return true; - } - - return false; - } - - bool BsplineOptimizer::BsplineOptimizeTrajRebound(Eigen::MatrixXd &optimal_points, double ts) - { - setBsplineInterval(ts); - - double final_cost; - bool flag_success = rebound_optimize(final_cost); - - optimal_points = cps_.points; - - return flag_success; - } - - bool BsplineOptimizer::BsplineOptimizeTrajRebound(Eigen::MatrixXd &optimal_points, double &final_cost, const ControlPoints &control_points, double ts) - { - setBsplineInterval(ts); - - cps_ = control_points; - - bool flag_success = rebound_optimize(final_cost); - - optimal_points = cps_.points; - - return flag_success; - } - - bool BsplineOptimizer::BsplineOptimizeTrajRefine(const Eigen::MatrixXd &init_points, const double ts, Eigen::MatrixXd &optimal_points) - { - - setControlPoints(init_points); - setBsplineInterval(ts); - - bool flag_success = refine_optimize(); - - optimal_points = cps_.points; - - return flag_success; - } - - bool BsplineOptimizer::rebound_optimize(double &final_cost) - { - iter_num_ = 0; - int start_id = order_; - // int end_id = this->cps_.size - order_; //Fixed end - int end_id = this->cps_.size; // Free end - variable_num_ = 3 * (end_id - start_id); - - ros::Time t0 = ros::Time::now(), t1, t2; - int restart_nums = 0, rebound_times = 0; - ; - bool flag_force_return, flag_occ, success; - new_lambda2_ = lambda2_; - constexpr int MAX_RESART_NUMS_SET = 3; - do - { - /* ---------- prepare ---------- */ - min_cost_ = std::numeric_limits::max(); - min_ellip_dist_ = INIT_min_ellip_dist_; - iter_num_ = 0; - flag_force_return = false; - flag_occ = false; - success = false; - - double q[variable_num_]; - memcpy(q, cps_.points.data() + 3 * start_id, variable_num_ * sizeof(q[0])); - - lbfgs::lbfgs_parameter_t lbfgs_params; - lbfgs::lbfgs_load_default_parameters(&lbfgs_params); - lbfgs_params.mem_size = 16; - lbfgs_params.max_iterations = 200; - lbfgs_params.g_epsilon = 0.01; - - /* ---------- optimize ---------- */ - t1 = ros::Time::now(); - int result = lbfgs::lbfgs_optimize(variable_num_, q, &final_cost, BsplineOptimizer::costFunctionRebound, NULL, BsplineOptimizer::earlyExit, this, &lbfgs_params); - t2 = ros::Time::now(); - double time_ms = (t2 - t1).toSec() * 1000; - double total_time_ms = (t2 - t0).toSec() * 1000; - - /* ---------- success temporary, check collision again ---------- */ - if (result == lbfgs::LBFGS_CONVERGENCE || - result == lbfgs::LBFGSERR_MAXIMUMITERATION || - result == lbfgs::LBFGS_ALREADY_MINIMIZED || - result == lbfgs::LBFGS_STOP) - { - //ROS_WARN("Solver error in planning!, return = %s", lbfgs::lbfgs_strerror(result)); - flag_force_return = false; - - /*** collision check, phase 1 ***/ - if ((min_ellip_dist_ != INIT_min_ellip_dist_) && (min_ellip_dist_ > swarm_clearance_)) - { - success = false; - restart_nums++; - initControlPoints(cps_.points, false); - new_lambda2_ *= 2; - - printf("\033[32miter(+1)=%d,time(ms)=%5.3f, swarm too close, keep optimizing\n\033[0m", iter_num_, time_ms); - - continue; - } - - /*** collision check, phase 2 ***/ - UniformBspline traj = UniformBspline(cps_.points, 3, bspline_interval_); - double tm, tmp; - traj.getTimeSpan(tm, tmp); - double t_step = (tmp - tm) / ((traj.evaluateDeBoorT(tmp) - traj.evaluateDeBoorT(tm)).norm() / grid_map_->getResolution()); - for (double t = tm; t < tmp * 2 / 3; t += t_step) // Only check the closest 2/3 partition of the whole trajectory. - { - flag_occ = grid_map_->getInflateOccupancy(traj.evaluateDeBoorT(t)); - if (flag_occ) - { - //cout << "hit_obs, t=" << t << " P=" << traj.evaluateDeBoorT(t).transpose() << endl; - - if (t <= bspline_interval_) // First 3 control points in obstacles! - { - // cout << cps_.points.col(1).transpose() << "\n" - // << cps_.points.col(2).transpose() << "\n" - // << cps_.points.col(3).transpose() << "\n" - // << cps_.points.col(4).transpose() << endl; - ROS_WARN("First 3 control points in obstacles! return false, t=%f", t); - return false; - } - - break; - } - } - - // cout << "XXXXXX" << ((cps_.points.col(cps_.points.cols()-1) + 4*cps_.points.col(cps_.points.cols()-2) + cps_.points.col(cps_.points.cols()-3))/6 - local_target_pt_).norm() << endl; - - /*** collision check, phase 3 ***/ -//#define USE_SECOND_CLEARENCE_CHECK -#ifdef USE_SECOND_CLEARENCE_CHECK - bool flag_cls_xyp, flag_cls_xyn, flag_cls_zp, flag_cls_zn; - Eigen::Vector3d start_end_vec = traj.evaluateDeBoorT(tmp) - traj.evaluateDeBoorT(tm); - Eigen::Vector3d offset_xy(-start_end_vec(0), start_end_vec(1), 0); - offset_xy.normalize(); - Eigen::Vector3d offset_z = start_end_vec.cross(offset_xy); - offset_z.normalize(); - offset_xy *= cps_.clearance / 2; - offset_z *= cps_.clearance / 2; - - Eigen::MatrixXd check_pts(cps_.points.rows(), cps_.points.cols()); - for (Eigen::Index i = 0; i < cps_.points.cols(); i++) - { - check_pts.col(i) = cps_.points.col(i); - check_pts(0, i) += offset_xy(0); - check_pts(1, i) += offset_xy(1); - check_pts(2, i) += offset_xy(2); - } - flag_cls_xyp = initControlPoints(check_pts, false).size() > 0; - for (Eigen::Index i = 0; i < cps_.points.cols(); i++) - { - check_pts(0, i) -= 2 * offset_xy(0); - check_pts(1, i) -= 2 * offset_xy(1); - check_pts(2, i) -= 2 * offset_xy(2); - } - flag_cls_xyn = initControlPoints(check_pts, false).size() > 0; - for (Eigen::Index i = 0; i < cps_.points.cols(); i++) - { - check_pts(0, i) += offset_xy(0) + offset_z(0); - check_pts(1, i) += offset_xy(1) + offset_z(1); - check_pts(2, i) += offset_xy(2) + offset_z(2); - } - flag_cls_zp = initControlPoints(check_pts, false).size() > 0; - for (Eigen::Index i = 0; i < cps_.points.cols(); i++) - { - check_pts(0, i) -= 2 * offset_z(0); - check_pts(1, i) -= 2 * offset_z(1); - check_pts(2, i) -= 2 * offset_z(2); - } - flag_cls_zn = initControlPoints(check_pts, false).size() > 0; - if ((flag_cls_xyp ^ flag_cls_xyn) || (flag_cls_zp ^ flag_cls_zn)) - flag_occ = true; -#endif - - if (!flag_occ) - { - // comment - // printf("\033[32miter(+1)=%d,time(ms)=%5.3f,total_t(ms)=%5.3f,cost=%5.3f\n\033[0m", iter_num_, time_ms, total_time_ms, final_cost); - success = true; - } - else // restart - { - restart_nums++; - initControlPoints(cps_.points, false); - new_lambda2_ *= 2; - // comment - // printf("\033[32miter(+1)=%d,time(ms)=%5.3f, collided, keep optimizing\n\033[0m", iter_num_, time_ms); - } - } - else if (result == lbfgs::LBFGSERR_CANCELED) - { - flag_force_return = true; - rebound_times++; - // comment - // cout << "iter=" << iter_num_ << ",time(ms)=" << time_ms << ",rebound." << endl; - } - else - { - ROS_WARN("Solver error. Return = %d, %s. Skip this planning.", result, lbfgs::lbfgs_strerror(result)); - // while (ros::ok()); - } - - } while ( - ((flag_occ || ((min_ellip_dist_ != INIT_min_ellip_dist_) && (min_ellip_dist_ > swarm_clearance_))) && restart_nums < MAX_RESART_NUMS_SET) || - (flag_force_return && force_stop_type_ == STOP_FOR_REBOUND && rebound_times <= 20)); - - return success; - } - - bool BsplineOptimizer::refine_optimize() - { - iter_num_ = 0; - int start_id = order_; - int end_id = this->cps_.points.cols() - order_; - variable_num_ = 3 * (end_id - start_id); - - double q[variable_num_]; - double final_cost; - - memcpy(q, cps_.points.data() + 3 * start_id, variable_num_ * sizeof(q[0])); - - double origin_lambda4 = lambda4_; - bool flag_safe = true; - int iter_count = 0; - do - { - lbfgs::lbfgs_parameter_t lbfgs_params; - lbfgs::lbfgs_load_default_parameters(&lbfgs_params); - lbfgs_params.mem_size = 16; - lbfgs_params.max_iterations = 200; - lbfgs_params.g_epsilon = 0.001; - - int result = lbfgs::lbfgs_optimize(variable_num_, q, &final_cost, BsplineOptimizer::costFunctionRefine, NULL, NULL, this, &lbfgs_params); - if (result == lbfgs::LBFGS_CONVERGENCE || - result == lbfgs::LBFGSERR_MAXIMUMITERATION || - result == lbfgs::LBFGS_ALREADY_MINIMIZED || - result == lbfgs::LBFGS_STOP) - { - //pass - } - else - { - ROS_ERROR("Solver error in refining!, return = %d, %s", result, lbfgs::lbfgs_strerror(result)); - } - - UniformBspline traj = UniformBspline(cps_.points, 3, bspline_interval_); - double tm, tmp; - traj.getTimeSpan(tm, tmp); - double t_step = (tmp - tm) / ((traj.evaluateDeBoorT(tmp) - traj.evaluateDeBoorT(tm)).norm() / grid_map_->getResolution()); // Step size is defined as the maximum size that can passes throgth every gird. - for (double t = tm; t < tmp * 2 / 3; t += t_step) - { - if (grid_map_->getInflateOccupancy(traj.evaluateDeBoorT(t))) - { - // cout << "Refined traj hit_obs, t=" << t << " P=" << traj.evaluateDeBoorT(t).transpose() << endl; - - Eigen::MatrixXd ref_pts(ref_pts_.size(), 3); - for (size_t i = 0; i < ref_pts_.size(); i++) - { - ref_pts.row(i) = ref_pts_[i].transpose(); - } - - flag_safe = false; - break; - } - } - - if (!flag_safe) - lambda4_ *= 2; - - iter_count++; - } while (!flag_safe && iter_count <= 0); - - lambda4_ = origin_lambda4; - - //cout << "iter_num_=" << iter_num_ << endl; - - return flag_safe; - } - - void BsplineOptimizer::combineCostRebound(const double *x, double *grad, double &f_combine, const int n) - { - // cout << "drone_id_=" << drone_id_ << endl; - // cout << "cps_.points.size()=" << cps_.points.size() << endl; - // cout << "n=" << n << endl; - // cout << "sizeof(x[0])=" << sizeof(x[0]) << endl; - - memcpy(cps_.points.data() + 3 * order_, x, n * sizeof(x[0])); - - /* ---------- evaluate cost and gradient ---------- */ - double f_smoothness, f_distance, f_feasibility /*, f_mov_objs*/, f_swarm, f_terminal; - - Eigen::MatrixXd g_smoothness = Eigen::MatrixXd::Zero(3, cps_.size); - Eigen::MatrixXd g_distance = Eigen::MatrixXd::Zero(3, cps_.size); - Eigen::MatrixXd g_feasibility = Eigen::MatrixXd::Zero(3, cps_.size); - // Eigen::MatrixXd g_mov_objs = Eigen::MatrixXd::Zero(3, cps_.size); - Eigen::MatrixXd g_swarm = Eigen::MatrixXd::Zero(3, cps_.size); - Eigen::MatrixXd g_terminal = Eigen::MatrixXd::Zero(3, cps_.size); - - calcSmoothnessCost(cps_.points, f_smoothness, g_smoothness); - calcDistanceCostRebound(cps_.points, f_distance, g_distance, iter_num_, f_smoothness); - calcFeasibilityCost(cps_.points, f_feasibility, g_feasibility); - // calcMovingObjCost(cps_.points, f_mov_objs, g_mov_objs); - calcSwarmCost(cps_.points, f_swarm, g_swarm); - calcTerminalCost(cps_.points, f_terminal, g_terminal); - - f_combine = lambda1_ * f_smoothness + new_lambda2_ * f_distance + lambda3_ * f_feasibility + new_lambda2_ * f_swarm + lambda2_ * f_terminal; - //f_combine = lambda1_ * f_smoothness + new_lambda2_ * f_distance + lambda3_ * f_feasibility + new_lambda2_ * f_mov_objs; - //printf("origin %f %f %f %f\n", f_smoothness, f_distance, f_feasibility, f_combine); - - Eigen::MatrixXd grad_3D = lambda1_ * g_smoothness + new_lambda2_ * g_distance + lambda3_ * g_feasibility + new_lambda2_ * g_swarm + lambda2_ * g_terminal; - //Eigen::MatrixXd grad_3D = lambda1_ * g_smoothness + new_lambda2_ * g_distance + lambda3_ * g_feasibility + new_lambda2_ * g_mov_objs; - memcpy(grad, grad_3D.data() + 3 * order_, n * sizeof(grad[0])); - } - - void BsplineOptimizer::combineCostRefine(const double *x, double *grad, double &f_combine, const int n) - { - - memcpy(cps_.points.data() + 3 * order_, x, n * sizeof(x[0])); - - /* ---------- evaluate cost and gradient ---------- */ - double f_smoothness, f_fitness, f_feasibility; - - Eigen::MatrixXd g_smoothness = Eigen::MatrixXd::Zero(3, cps_.points.cols()); - Eigen::MatrixXd g_fitness = Eigen::MatrixXd::Zero(3, cps_.points.cols()); - Eigen::MatrixXd g_feasibility = Eigen::MatrixXd::Zero(3, cps_.points.cols()); - - //time_satrt = ros::Time::now(); - - calcSmoothnessCost(cps_.points, f_smoothness, g_smoothness); - calcFitnessCost(cps_.points, f_fitness, g_fitness); - calcFeasibilityCost(cps_.points, f_feasibility, g_feasibility); - - /* ---------- convert to solver format...---------- */ - f_combine = lambda1_ * f_smoothness + lambda4_ * f_fitness + lambda3_ * f_feasibility; - // printf("origin %f %f %f %f\n", f_smoothness, f_fitness, f_feasibility, f_combine); - - Eigen::MatrixXd grad_3D = lambda1_ * g_smoothness + lambda4_ * g_fitness + lambda3_ * g_feasibility; - memcpy(grad, grad_3D.data() + 3 * order_, n * sizeof(grad[0])); - } - -} // namespace ego_planner \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/src/gradient_descent_optimizer.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/src/gradient_descent_optimizer.cpp deleted file mode 100644 index c3371d6..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/src/gradient_descent_optimizer.cpp +++ /dev/null @@ -1,94 +0,0 @@ -#include - -#define RESET "\033[0m" -#define RED "\033[31m" - -GradientDescentOptimizer::RESULT -GradientDescentOptimizer::optimize(Eigen::VectorXd &x_init_optimal, double &opt_f) -{ - if (min_grad_ < 1e-10) - { - cout << RED << "min_grad_ is invalid:" << min_grad_ << RESET << endl; - return FAILED; - } - if (iter_limit_ <= 2) - { - cout << RED << "iter_limit_ is invalid:" << iter_limit_ << RESET << endl; - return FAILED; - } - - void *f_data = f_data_; - int iter = 2; - int invoke_count = 2; - bool force_return; - Eigen::VectorXd x_k(x_init_optimal), x_kp1(x_init_optimal.rows()); - double cost_k, cost_kp1, cost_min; - Eigen::VectorXd grad_k(x_init_optimal.rows()), grad_kp1(x_init_optimal.rows()); - - cost_k = objfun_(x_k, grad_k, force_return, f_data); - if (force_return) - return RETURN_BY_ORDER; - cost_min = cost_k; - double max_grad = max(abs(grad_k.maxCoeff()), abs(grad_k.minCoeff())); - constexpr double MAX_MOVEMENT_AT_FIRST_ITERATION = 0.1; // meter - double alpha0 = max_grad < MAX_MOVEMENT_AT_FIRST_ITERATION ? 1.0 : (MAX_MOVEMENT_AT_FIRST_ITERATION / max_grad); - x_kp1 = x_k - alpha0 * grad_k; - cost_kp1 = objfun_(x_kp1, grad_kp1, force_return, f_data); - if (force_return) - return RETURN_BY_ORDER; - if (cost_min > cost_kp1) - cost_min = cost_kp1; - - /*** start iteration ***/ - while (++iter <= iter_limit_ && invoke_count <= invoke_limit_) - { - Eigen::VectorXd s = x_kp1 - x_k; - Eigen::VectorXd y = grad_kp1 - grad_k; - double alpha = s.dot(y) / y.dot(y); - if (isnan(alpha) || isinf(alpha)) - { - cout << RED << "step size invalid! alpha=" << alpha << RESET << endl; - return FAILED; - } - - if (iter % 2) // to aviod copying operations - { - do - { - x_k = x_kp1 - alpha * grad_kp1; - cost_k = objfun_(x_k, grad_k, force_return, f_data); - invoke_count++; - if (force_return) - return RETURN_BY_ORDER; - alpha *= 0.5; - } while (cost_k > cost_kp1 - 1e-4 * alpha * grad_kp1.transpose() * grad_kp1); // Armijo condition - - if (grad_k.norm() < min_grad_) - { - opt_f = cost_k; - return FIND_MIN; - } - } - else - { - do - { - x_kp1 = x_k - alpha * grad_k; - cost_kp1 = objfun_(x_kp1, grad_kp1, force_return, f_data); - invoke_count++; - if (force_return) - return RETURN_BY_ORDER; - alpha *= 0.5; - } while (cost_kp1 > cost_k - 1e-4 * alpha * grad_k.transpose() * grad_k); // Armijo condition - - if (grad_kp1.norm() < min_grad_) - { - opt_f = cost_kp1; - return FIND_MIN; - } - } - } - - opt_f = iter_limit_ % 2 ? cost_k : cost_kp1; - return REACH_MAX_ITERATION; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/src/uniform_bspline.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/src/uniform_bspline.cpp deleted file mode 100644 index ff798f0..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/bspline_opt/src/uniform_bspline.cpp +++ /dev/null @@ -1,377 +0,0 @@ -#include "bspline_opt/uniform_bspline.h" -#include - -namespace ego_planner -{ - - UniformBspline::UniformBspline(const Eigen::MatrixXd &points, const int &order, - const double &interval) - { - setUniformBspline(points, order, interval); - } - - UniformBspline::~UniformBspline() {} - - void UniformBspline::setUniformBspline(const Eigen::MatrixXd &points, const int &order, - const double &interval) - { - control_points_ = points; - p_ = order; - interval_ = interval; - - n_ = points.cols() - 1; - m_ = n_ + p_ + 1; - - u_ = Eigen::VectorXd::Zero(m_ + 1); - for (int i = 0; i <= m_; ++i) - { - - if (i <= p_) - { - u_(i) = double(-p_ + i) * interval_; - } - else if (i > p_ && i <= m_ - p_) - { - u_(i) = u_(i - 1) + interval_; - } - else if (i > m_ - p_) - { - u_(i) = u_(i - 1) + interval_; - } - } - } - - void UniformBspline::setKnot(const Eigen::VectorXd &knot) { this->u_ = knot; } - - Eigen::VectorXd UniformBspline::getKnot() { return this->u_; } - - bool UniformBspline::getTimeSpan(double &um, double &um_p) - { - if (p_ > u_.rows() || m_ - p_ > u_.rows()) - return false; - - um = u_(p_); - um_p = u_(m_ - p_); - - return true; - } - - Eigen::MatrixXd UniformBspline::getControlPoint() { return control_points_; } - - Eigen::VectorXd UniformBspline::evaluateDeBoor(const double &u) - { - - double ub = min(max(u_(p_), u), u_(m_ - p_)); - - // determine which [ui,ui+1] lay in - int k = p_; - while (true) - { - if (u_(k + 1) >= ub) - break; - ++k; - } - - /* deBoor's alg */ - vector d; - for (int i = 0; i <= p_; ++i) - { - d.push_back(control_points_.col(k - p_ + i)); - // cout << d[i].transpose() << endl; - } - - for (int r = 1; r <= p_; ++r) - { - for (int i = p_; i >= r; --i) - { - double alpha = (ub - u_[i + k - p_]) / (u_[i + 1 + k - r] - u_[i + k - p_]); - // cout << "alpha: " << alpha << endl; - d[i] = (1 - alpha) * d[i - 1] + alpha * d[i]; - } - } - - return d[p_]; - } - - // Eigen::VectorXd UniformBspline::evaluateDeBoorT(const double& t) { - // return evaluateDeBoor(t + u_(p_)); - // } - - Eigen::MatrixXd UniformBspline::getDerivativeControlPoints() - { - // The derivative of a b-spline is also a b-spline, its order become p_-1 - // control point Qi = p_*(Pi+1-Pi)/(ui+p_+1-ui+1) - Eigen::MatrixXd ctp(control_points_.rows(), control_points_.cols() - 1); - for (int i = 0; i < ctp.cols(); ++i) - { - ctp.col(i) = - p_ * (control_points_.col(i + 1) - control_points_.col(i)) / (u_(i + p_ + 1) - u_(i + 1)); - } - return ctp; - } - - UniformBspline UniformBspline::getDerivative() - { - Eigen::MatrixXd ctp = getDerivativeControlPoints(); - UniformBspline derivative(ctp, p_ - 1, interval_); - - /* cut the first and last knot */ - Eigen::VectorXd knot(u_.rows() - 2); - knot = u_.segment(1, u_.rows() - 2); - derivative.setKnot(knot); - - return derivative; - } - - double UniformBspline::getInterval() { return interval_; } - - void UniformBspline::setPhysicalLimits(const double &vel, const double &acc, const double &tolerance) - { - limit_vel_ = vel; - limit_acc_ = acc; - limit_ratio_ = 1.1; - feasibility_tolerance_ = tolerance; - } - - bool UniformBspline::checkFeasibility(double &ratio, bool show) - { - bool fea = true; - - Eigen::MatrixXd P = control_points_; - int dimension = control_points_.rows(); - - /* check vel feasibility and insert points */ - double max_vel = -1.0; - double enlarged_vel_lim = limit_vel_ * (1.0 + feasibility_tolerance_) + 1e-4; - for (int i = 0; i < P.cols() - 1; ++i) - { - Eigen::VectorXd vel = p_ * (P.col(i + 1) - P.col(i)) / (u_(i + p_ + 1) - u_(i + 1)); - - if (fabs(vel(0)) > enlarged_vel_lim || fabs(vel(1)) > enlarged_vel_lim || - fabs(vel(2)) > enlarged_vel_lim) - { - - if (show) - cout << "[Check]: Infeasible vel " << i << " :" << vel.transpose() << endl; - fea = false; - - for (int j = 0; j < dimension; ++j) - { - max_vel = max(max_vel, fabs(vel(j))); - } - } - } - - /* acc feasibility */ - double max_acc = -1.0; - double enlarged_acc_lim = limit_acc_ * (1.0 + feasibility_tolerance_) + 1e-4; - for (int i = 0; i < P.cols() - 2; ++i) - { - - Eigen::VectorXd acc = p_ * (p_ - 1) * - ((P.col(i + 2) - P.col(i + 1)) / (u_(i + p_ + 2) - u_(i + 2)) - - (P.col(i + 1) - P.col(i)) / (u_(i + p_ + 1) - u_(i + 1))) / - (u_(i + p_ + 1) - u_(i + 2)); - - if (fabs(acc(0)) > enlarged_acc_lim || fabs(acc(1)) > enlarged_acc_lim || - fabs(acc(2)) > enlarged_acc_lim) - { - - if (show) - cout << "[Check]: Infeasible acc " << i << " :" << acc.transpose() << endl; - fea = false; - - for (int j = 0; j < dimension; ++j) - { - max_acc = max(max_acc, fabs(acc(j))); - } - } - } - - ratio = max(max_vel / limit_vel_, sqrt(fabs(max_acc) / limit_acc_)); - - return fea; - } - - void UniformBspline::lengthenTime(const double &ratio) - { - int num1 = 5; - int num2 = getKnot().rows() - 1 - 5; - - double delta_t = (ratio - 1.0) * (u_(num2) - u_(num1)); - double t_inc = delta_t / double(num2 - num1); - for (int i = num1 + 1; i <= num2; ++i) - u_(i) += double(i - num1) * t_inc; - for (int i = num2 + 1; i < u_.rows(); ++i) - u_(i) += delta_t; - } - - // void UniformBspline::recomputeInit() {} - - void UniformBspline::parameterizeToBspline(const double &ts, const vector &point_set, - const vector &start_end_derivative, - Eigen::MatrixXd &ctrl_pts) - { - if (ts <= 0) - { - cout << "[B-spline]:time step error." << endl; - return; - } - - if (point_set.size() <= 3) - { - cout << "[B-spline]:point set have only " << point_set.size() << " points." << endl; - return; - } - - if (start_end_derivative.size() != 4) - { - cout << "[B-spline]:derivatives error." << endl; - } - - int K = point_set.size(); - - // write A - Eigen::Vector3d prow(3), vrow(3), arow(3); - prow << 1, 4, 1; - vrow << -1, 0, 1; - arow << 1, -2, 1; - - Eigen::MatrixXd A = Eigen::MatrixXd::Zero(K + 4, K + 2); - - for (int i = 0; i < K; ++i) - A.block(i, i, 1, 3) = (1 / 6.0) * prow.transpose(); - - A.block(K, 0, 1, 3) = (1 / 2.0 / ts) * vrow.transpose(); - A.block(K + 1, K - 1, 1, 3) = (1 / 2.0 / ts) * vrow.transpose(); - - A.block(K + 2, 0, 1, 3) = (1 / ts / ts) * arow.transpose(); - A.block(K + 3, K - 1, 1, 3) = (1 / ts / ts) * arow.transpose(); - - //cout << "A" << endl << A << endl << endl; - - // write b - Eigen::VectorXd bx(K + 4), by(K + 4), bz(K + 4); - for (int i = 0; i < K; ++i) - { - bx(i) = point_set[i](0); - by(i) = point_set[i](1); - bz(i) = point_set[i](2); - } - - for (int i = 0; i < 4; ++i) - { - bx(K + i) = start_end_derivative[i](0); - by(K + i) = start_end_derivative[i](1); - bz(K + i) = start_end_derivative[i](2); - } - - // solve Ax = b - Eigen::VectorXd px = A.colPivHouseholderQr().solve(bx); - Eigen::VectorXd py = A.colPivHouseholderQr().solve(by); - Eigen::VectorXd pz = A.colPivHouseholderQr().solve(bz); - - // convert to control pts - ctrl_pts.resize(3, K + 2); - ctrl_pts.row(0) = px.transpose(); - ctrl_pts.row(1) = py.transpose(); - ctrl_pts.row(2) = pz.transpose(); - - // cout << "[B-spline]: parameterization ok." << endl; - } - - double UniformBspline::getTimeSum() - { - double tm, tmp; - if (getTimeSpan(tm, tmp)) - return tmp - tm; - else - return -1.0; - } - - double UniformBspline::getLength(const double &res) - { - double length = 0.0; - double dur = getTimeSum(); - Eigen::VectorXd p_l = evaluateDeBoorT(0.0), p_n; - for (double t = res; t <= dur + 1e-4; t += res) - { - p_n = evaluateDeBoorT(t); - length += (p_n - p_l).norm(); - p_l = p_n; - } - return length; - } - - double UniformBspline::getJerk() - { - UniformBspline jerk_traj = getDerivative().getDerivative().getDerivative(); - - Eigen::VectorXd times = jerk_traj.getKnot(); - Eigen::MatrixXd ctrl_pts = jerk_traj.getControlPoint(); - int dimension = ctrl_pts.rows(); - - double jerk = 0.0; - for (int i = 0; i < ctrl_pts.cols(); ++i) - { - for (int j = 0; j < dimension; ++j) - { - jerk += (times(i + 1) - times(i)) * ctrl_pts(j, i) * ctrl_pts(j, i); - } - } - - return jerk; - } - - void UniformBspline::getMeanAndMaxVel(double &mean_v, double &max_v) - { - UniformBspline vel = getDerivative(); - double tm, tmp; - vel.getTimeSpan(tm, tmp); - - double max_vel = -1.0, mean_vel = 0.0; - int num = 0; - for (double t = tm; t <= tmp; t += 0.01) - { - Eigen::VectorXd vxd = vel.evaluateDeBoor(t); - double vn = vxd.norm(); - - mean_vel += vn; - ++num; - if (vn > max_vel) - { - max_vel = vn; - } - } - - mean_vel = mean_vel / double(num); - mean_v = mean_vel; - max_v = max_vel; - } - - void UniformBspline::getMeanAndMaxAcc(double &mean_a, double &max_a) - { - UniformBspline acc = getDerivative().getDerivative(); - double tm, tmp; - acc.getTimeSpan(tm, tmp); - - double max_acc = -1.0, mean_acc = 0.0; - int num = 0; - for (double t = tm; t <= tmp; t += 0.01) - { - Eigen::VectorXd axd = acc.evaluateDeBoor(t); - double an = axd.norm(); - - mean_acc += an; - ++num; - if (an > max_acc) - { - max_acc = an; - } - } - - mean_acc = mean_acc / double(num); - mean_a = mean_acc; - max_a = max_acc; - } -} // namespace ego_planner diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/CMakeLists.txt deleted file mode 100644 index 1eacae4..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/CMakeLists.txt +++ /dev/null @@ -1,130 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(drone_detect) - -set(CMAKE_BUILD_TYPE "Release") -ADD_COMPILE_OPTIONS(-std=c++11 ) -ADD_COMPILE_OPTIONS(-std=c++14 ) -## By adding -Wall and -Werror, the compiler does not ignore warnings anymore, -## enforcing cleaner code. -set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") - -## Find catkin macros and libraries -find_package(catkin REQUIRED - COMPONENTS - roscpp - sensor_msgs - roslint - cv_bridge - message_filters -) - -## Find system libraries -find_package(Eigen3 REQUIRED) -find_package(OpenCV REQUIRED) -find_package(Boost REQUIRED) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( - INCLUDE_DIRS - include - ## This is only necessary because Eigen3 sets a non-standard EIGEN3_INCLUDE_DIR variable - ${EIGEN3_INCLUDE_DIR} - LIBRARIES - CATKIN_DEPENDS - roscpp - sensor_msgs - DEPENDS OpenCV Eigen Boost - ## find_package(Eigen3) provides a non standard EIGEN3_INCLUDE_DIR instead of Eigen3_INCLUDE_DIRS. - ## Therefore, the DEPEND does not work as expected and we need to add the directory to the INCLUDE_DIRS - # Eigen3 - - ## Boost is not part of the DEPENDS since it is only used in source files, - ## Dependees do not depend on Boost when they depend on this package. -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( - include - ${catkin_INCLUDE_DIRS} - # Set manually because Eigen sets a non standard INCLUDE DIR - ${EIGEN3_INCLUDE_DIR} - # Set because Boost is an internal dependency, not transitive. - ${Boost_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} - -) - -## Declare cpp executables -add_executable(${PROJECT_NAME} - src/${PROJECT_NAME}_node.cpp - src/drone_detector.cpp -) -target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_11) - -## Add dependencies to exported targets, like ROS msgs or srvs -add_dependencies(${PROJECT_NAME} - ${catkin_EXPORTED_TARGETS} -) - - -target_link_libraries(${PROJECT_NAME} - ${catkin_LIBRARIES} - ${OpenCV_LIBS} -) - -############# -## Install ## -############# - -# Mark executables and/or libraries for installation -install( - TARGETS ${PROJECT_NAME} - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -# Mark cpp header files for installation -install( - DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.h" -) - -# Mark other files for installation -install( - DIRECTORY doc - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -############# -## Testing ## -############# - -# if(${CATKIN_ENABLE_TESTING}) -# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread") -# ## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test -# test/test_drone_detector.cpp) - -# target_link_libraries(${PROJECT_NAME}-test) -# endif() - -########################## -## Static code analysis ## -########################## - -roslint_cpp() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/LICENSE b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/LICENSE deleted file mode 100644 index 9b02d46..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/LICENSE +++ /dev/null @@ -1,29 +0,0 @@ -Software License Agreement (BSD License) - -Copyright (c) 2017, Peter Fankhauser -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -* Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -* Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -* Neither the name of Autonomous Systems Lab nor ETH Zurich nor the names - of its contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/README.md b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/README.md deleted file mode 100644 index 2388e52..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/README.md +++ /dev/null @@ -1,97 +0,0 @@ -# Drone Detect - -## Overview - -This is a package for detecting other drones in depth image and then calculating their true pose error in the world frame of the observer drone. - - - -![Example image](doc/demo.jpg) - - - -## Usage - -You can launch the node alongside the main after you assigning the right topic name - -``` -roslaunch drone_detect drone_detect.launch -``` - - - -or add the following code in `run_in_sim.launch` - -```xml - - - - - - - - - - - - - - -``` - - - -## Config files - -* **camera.yaml** : The camera intrinsics are stored in this file -* **default.yaml**: Some parameters related to drone detection. - -```yaml -debug_flag: true -# the proportion of the pixel threshold to the total pixels projected from the drone to the depth map -estimate/pixel_ratio: 0.1 -# the radius of the pose errror sphere -estimate/max_pose_error: 0.4 -# the width and height of the model of drone -estimate/drone_width: 0.5 -estimate/drone_height: 0.1 -``` - - - -## Nodes - - -#### Subscribed Topics - -* **`/depth`** ([sensor_msgs::Image]) - - The depth image from pcl_render_node. - -* **`/colordepth`**([sensor_msgs::Image]) - - The color image from pcl_render_node - -* **`/camera_pose`** ([geometry_msgs::PoseStamped]) - - The camere pose from pcl_render_node - -The above three topics are synchronized when in use, the callback function is **`rcvDepthColorCamPoseCallback`** - -- **`/dronex_odom_sub_`** ([nav_msgs::Odometry]) - - The odometry of other drones - -#### Published Topics - -* **`/new_depth`** ([sensor_msgs::Image]) - - The new depth image after erasing the moving drones - -* **`/new_colordepth`**([sensor_msgs::Image]) - - The color image with some debug marks - -* **`/camera_pose_error`** ([geometry_msgs::PoseStamped]) - - The pose error of detected drones in world frame of the observer drone. \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/config/camera.yaml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/config/camera.yaml deleted file mode 100644 index 556e596..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/config/camera.yaml +++ /dev/null @@ -1,7 +0,0 @@ -cam_width: 640 -cam_height: 480 -cam_fx: 386.02557373046875 -cam_fy: 386.02557373046875 -cam_cx: 321.8554382324219 -cam_cy: 241.2396240234375 - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/config/default.yaml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/config/default.yaml deleted file mode 100644 index 37a666d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/config/default.yaml +++ /dev/null @@ -1,5 +0,0 @@ -# debug_flag: true -pixel_ratio: 0.1 -estimate/max_pose_error: 0.4 -estimate/drone_width: 0.5 -estimate/drone_height: 0.2 \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/doc/demo.jpg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/doc/demo.jpg 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K0;2!t)ZYN5$e$$u diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/include/drone_detector/drone_detector.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/include/drone_detector/drone_detector.h deleted file mode 100644 index 271210e..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/include/drone_detector/drone_detector.h +++ /dev/null @@ -1,156 +0,0 @@ -#pragma once -#include -#include -// ROS -#include -#include "std_msgs/String.h" -#include "std_msgs/Bool.h" -#include -#include -#include -// synchronize topic -#include -#include -#include -#include - -#include - -//include opencv and eigen -#include -#include -#include -#include -#include - -namespace detect { - -const int max_drone_num_ = 3; - -/*! - * Main class for the node to handle the ROS interfacing. - */ -class DroneDetector -{ - public: - /*! - * Constructor. - * @param nodeHandle the ROS node handle. - */ - DroneDetector(ros::NodeHandle& nodeHandle); - - /*! - * Destructor. - */ - virtual ~DroneDetector(); - - void test(); - private: - void readParameters(); - - // inline functions - double getDist2(const Eigen::Vector3d &p1, const Eigen::Vector3d &p2); - double getDist2(const Eigen::Vector4d &p1, const Eigen::Vector4d &p2); - Eigen::Vector4d depth2Pos(int u, int v, float depth); - Eigen::Vector4d depth2Pos(const Eigen::Vector2i &pixel, float depth) ; - Eigen::Vector2i pos2Depth(const Eigen::Vector4d &pose_in_camera) ; - bool isInSensorRange(const Eigen::Vector2i &pixel); - - bool countPixel(int drone_id, Eigen::Vector2i &true_pixel, Eigen::Vector4d &true_pose_cam); - void detect(int drone_id, Eigen::Vector2i &true_pixel); - - // subscribe callback function - void rcvDepthColorCamPoseCallback(const sensor_msgs::ImageConstPtr& depth_img, \ - const sensor_msgs::ImageConstPtr& color_img, \ - const geometry_msgs::PoseStampedConstPtr& camera_pose); - - void rcvDepthCamPoseCallback(const sensor_msgs::ImageConstPtr& depth_img, \ - const geometry_msgs::PoseStampedConstPtr& camera_pose); - - void rcvMyOdomCallback(const nav_msgs::Odometry& odom); - void rcvDepthImgCallback(const sensor_msgs::ImageConstPtr& depth_img); - - - void rcvDroneOdomCallbackBase(const nav_msgs::Odometry& odom, const int drone_id); - - void rcvDrone0OdomCallback(const nav_msgs::Odometry& odom); - void rcvDrone1OdomCallback(const nav_msgs::Odometry& odom); - void rcvDrone2OdomCallback(const nav_msgs::Odometry& odom); - void rcvDroneXOdomCallback(const nav_msgs::Odometry& odom); - - //! ROS node handle. - ros::NodeHandle& nh_; - - //! ROS topic subscriber. - // depth, colordepth, camera_pos subscriber - typedef message_filters::sync_policies::ApproximateTime SyncPolicyDepthColorImagePose; - typedef std::shared_ptr> SynchronizerDepthColorImagePose; - typedef message_filters::sync_policies::ApproximateTime SyncPolicyDepthImagePose; - typedef std::shared_ptr> SynchronizerDepthImagePose; - - // std::shared_ptr> depth_img_sub_; - std::shared_ptr> colordepth_img_sub_; - std::shared_ptr> camera_pos_sub_; - - SynchronizerDepthColorImagePose sync_depth_color_img_pose_; - SynchronizerDepthImagePose sync_depth_img_pose_; - // other drones subscriber - ros::Subscriber drone0_odom_sub_, drone1_odom_sub_, drone2_odom_sub_, droneX_odom_sub_; - std::string drone1_odom_topic_, drone2_odom_topic_; - - ros::Subscriber my_odom_sub_, depth_img_sub_; - bool has_odom_; - nav_msgs::Odometry my_odom_; - // ROS topic publisher - // new_depth_img: erase the detected drones - // new_colordepth_img: for debug - ros::Publisher new_depth_img_pub_; - ros::Publisher debug_depth_img_pub_; - - // parameters - //camera param - int img_width_, img_height_; - double fx_,fy_,cx_,cy_; - - double max_pose_error_; - double max_pose_error2_; - double drone_width_, drone_height_; - double pixel_ratio_; - int pixel_threshold_; - - // for debug - bool debug_flag_; - int debug_detect_result_[max_drone_num_]; - std::stringstream debug_img_text_[max_drone_num_]; - ros::Time debug_start_time_, debug_end_time_; - - ros::Publisher debug_info_pub_; - ros::Publisher drone_pose_err_pub_[max_drone_num_]; - - int my_id_; - cv::Mat depth_img_, color_img_; - - Eigen::Matrix4d cam2body_; - Eigen::Matrix4d cam2world_; - Eigen::Quaterniond cam2world_quat_; - Eigen::Vector4d my_pose_world_; - Eigen::Quaterniond my_attitude_world_; - Eigen::Vector4d my_last_pose_world_; - ros::Time my_last_odom_stamp_ = ros::TIME_MAX; - ros::Time my_last_camera_stamp_ = ros::TIME_MAX; - - Eigen::Matrix4d drone2world_[max_drone_num_]; - Eigen::Vector4d drone_pose_world_[max_drone_num_]; - Eigen::Quaterniond drone_attitude_world_[max_drone_num_]; - Eigen::Vector4d drone_pose_cam_[max_drone_num_]; - Eigen::Vector2i drone_ref_pixel_[max_drone_num_]; - - std::vector hit_pixels_[max_drone_num_]; - int valid_pixel_cnt_[max_drone_num_]; - - bool in_depth_[max_drone_num_] = {false}; - cv::Point searchbox_lu_[max_drone_num_], searchbox_rd_[max_drone_num_]; - cv::Point boundingbox_lu_[max_drone_num_], boundingbox_rd_[max_drone_num_]; -}; - -} /* namespace */ diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/launch/drone_detect.launch b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/launch/drone_detect.launch deleted file mode 100644 index 6aa4a25..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/launch/drone_detect.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/launch/ros_package_template_overlying_params.launch b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/launch/ros_package_template_overlying_params.launch deleted file mode 100644 index 0ac3e22..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/launch/ros_package_template_overlying_params.launch +++ /dev/null @@ -1,27 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/package.xml deleted file mode 100644 index bef3270..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/package.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - drone_detect - 0.1.0 - Detect other drones in depth image. - Jiangchao Zhu - BSD - Jiangchao Zhu - - - catkin - - boost - - eigen - roscpp - sensor_msgs - - roslint - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/src/drone_detect_node.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/src/drone_detect_node.cpp deleted file mode 100644 index 8e29362..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/src/drone_detect_node.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include -#include "drone_detector/drone_detector.h" - -int main(int argc, char** argv) -{ - ros::init(argc, argv, "drone_detect"); - ros::NodeHandle nh("~"); - - detect::DroneDetector drone_detector(nh); - drone_detector.test(); - - ros::spin(); - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/src/drone_detector.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/src/drone_detector.cpp deleted file mode 100644 index d3bacd3..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/src/drone_detector.cpp +++ /dev/null @@ -1,423 +0,0 @@ -#include "drone_detector/drone_detector.h" - -// STD -#include - -namespace detect { - -DroneDetector::DroneDetector(ros::NodeHandle& nodeHandle) - : nh_(nodeHandle) -{ - readParameters(); - - // depth_img_sub_.reset(new message_filters::Subscriber(nh_, "depth", 50, ros::TransportHints().tcpNoDelay())); - // colordepth_img_sub_.reset(new message_filters::Subscriber(nh_, "colordepth", 50)); - // camera_pos_sub_.reset(new message_filters::Subscriber(nh_, "camera_pose", 50)); - - my_odom_sub_ = nh_.subscribe("odometry", 100, &DroneDetector::rcvMyOdomCallback, this, ros::TransportHints().tcpNoDelay()); - depth_img_sub_ = nh_.subscribe("depth", 50, &DroneDetector::rcvDepthImgCallback, this, ros::TransportHints().tcpNoDelay()); - // sync_depth_color_img_pose_->registerCallback(boost::bind(&DroneDetector::rcvDepthColorCamPoseCallback, this, _1, _2, _3)); - - // drone0_odom_sub_ = nh_.subscribe("drone0", 50, &DroneDetector::rcvDrone0OdomCallback, this); - // drone1_odom_sub_ = nh_.subscribe("drone1", 50, &DroneDetector::rcvDrone1OdomCallback, this); - // drone2_odom_sub_ = nh_.subscribe("drone2", 50, &DroneDetector::rcvDrone2OdomCallback, this); - droneX_odom_sub_ = nh_.subscribe("/others_odom", 100, &DroneDetector::rcvDroneXOdomCallback, this, ros::TransportHints().tcpNoDelay()); - - new_depth_img_pub_ = nh_.advertise("new_depth_image", 50); - debug_depth_img_pub_ = nh_.advertise("debug_depth_image", 50); - - debug_info_pub_ = nh_.advertise("/debug_info", 50); - - cam2body_ << 0.0, 0.0, 1.0, 0.0, - -1.0, 0.0, 0.0, 0.0, - 0.0, -1.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 1.0; - - // init drone_pose_err_pub - for(int i = 0; i < max_drone_num_; i++) { - if(i != my_id_) - drone_pose_err_pub_[i] = nh_.advertise("drone"+std::to_string(i)+"to"+std::to_string(my_id_)+"_pose_err", 50); - } - - ROS_INFO("Successfully launched node."); -} - -DroneDetector::~DroneDetector() -{ -} - -void DroneDetector::readParameters() -{ - // camera params - nh_.getParam("cam_width", img_width_); - nh_.getParam("cam_height", img_height_); - nh_.getParam("cam_fx", fx_); - nh_.getParam("cam_fy", fy_); - nh_.getParam("cam_cx", cx_); - nh_.getParam("cam_cy", cy_); - - // - nh_.getParam("debug_flag", debug_flag_); - nh_.getParam("pixel_ratio", pixel_ratio_); - nh_.getParam("my_id", my_id_); - nh_.getParam("estimate/drone_width", drone_width_); - nh_.getParam("estimate/drone_height", drone_height_); - nh_.getParam("estimate/max_pose_error", max_pose_error_); - - max_pose_error2_ = max_pose_error_*max_pose_error_; -} - -// inline functions -inline double DroneDetector::getDist2(const Eigen::Vector3d &p1, const Eigen::Vector3d &p2) -{ - double delta_x = p1(0)-p2(0); - double delta_y = p1(1)-p2(1); - double delta_z = p1(2)-p2(2); - return delta_x*delta_x+delta_y*delta_y+delta_z*delta_z; -} - -inline double DroneDetector::getDist2(const Eigen::Vector4d &p1, const Eigen::Vector4d &p2) -{ - double delta_x = p1(0)-p2(0); - double delta_y = p1(1)-p2(1); - double delta_z = p1(2)-p2(2); - return delta_x*delta_x+delta_y*delta_y+delta_z*delta_z; -} - -inline Eigen::Vector4d DroneDetector::depth2Pos(int u, int v, float depth) -{ - Eigen::Vector4d pose_in_camera; - pose_in_camera(0) = (u - cx_) * depth / fx_; - pose_in_camera(1) = (v - cy_) * depth / fy_; - pose_in_camera(2) = depth; - pose_in_camera(3) = 1.0; - return pose_in_camera; -} - -inline Eigen::Vector4d DroneDetector::depth2Pos(const Eigen::Vector2i &pixel, float depth) -{ - Eigen::Vector4d pose_in_camera; - pose_in_camera(0) = (pixel(0) - cx_) * depth / fx_; - pose_in_camera(1) = (pixel(1) - cy_) * depth / fy_; - pose_in_camera(2) = depth; - pose_in_camera(3) = 1.0; - return pose_in_camera; -} - -inline Eigen::Vector2i DroneDetector::pos2Depth(const Eigen::Vector4d &pose_in_camera) -{ - float depth = pose_in_camera(2); - Eigen::Vector2i pixel; - pixel(0) = pose_in_camera(0) * fx_ / depth + cx_ + 0.5; - pixel(1) = pose_in_camera(1) * fy_ / depth + cy_ + 0.5; - return pixel; -} - -inline bool DroneDetector::isInSensorRange(const Eigen::Vector2i &pixel) -{ - if (pixel(0)>=0 && pixel(1) >= 0 && pixel(0) <= img_width_ && pixel(1) <= img_height_) return true; - else - return false; -} - -void DroneDetector::rcvMyOdomCallback(const nav_msgs::Odometry& odom) -{ - my_odom_ = odom; - Eigen::Matrix4d body2world = Eigen::Matrix4d::Identity(); - - my_pose_world_(0) = odom.pose.pose.position.x; - my_pose_world_(1) = odom.pose.pose.position.y; - my_pose_world_(2) = odom.pose.pose.position.z; - my_pose_world_(3) = 1.0; - my_attitude_world_.x() = odom.pose.pose.orientation.x; - my_attitude_world_.y() = odom.pose.pose.orientation.y; - my_attitude_world_.z() = odom.pose.pose.orientation.z; - my_attitude_world_.w() = odom.pose.pose.orientation.w; - body2world.block<3,3>(0,0) = my_attitude_world_.toRotationMatrix(); - body2world(0,3) = my_pose_world_(0); - body2world(1,3) = my_pose_world_(1); - body2world(2,3) = my_pose_world_(2); - - //convert to cam pose - cam2world_ = body2world * cam2body_; - cam2world_quat_ = cam2world_.block<3,3>(0,0); - - // my_last_odom_stamp_ = odom.header.stamp; - - // my_last_pose_world_(0) = odom.pose.pose.position.x; - // my_last_pose_world_(1) = odom.pose.pose.position.y; - // my_last_pose_world_(2) = odom.pose.pose.position.z; - // my_last_pose_world_(3) = 1.0; - - //publish tf - // static tf::TransformBroadcaster br; - // tf::Transform transform; - // transform.setOrigin( tf::Vector3(cam2world(0,3), cam2world(1,3), cam2world(2,3) )); - // transform.setRotation(tf::Quaternion(cam2world_quat.x(), cam2world_quat.y(), cam2world_quat.z(), cam2world_quat.w())); - // br.sendTransform(tf::StampedTransform(transform, my_last_odom_stamp, "world", "camera")); - //publish transform from world frame to quadrotor frame. -} -void DroneDetector::rcvDepthImgCallback(const sensor_msgs::ImageConstPtr& depth_img) -{ - /* get depth image */ - cv_bridge::CvImagePtr cv_ptr; - cv_ptr = cv_bridge::toCvCopy(depth_img, depth_img->encoding); - cv_ptr->image.copyTo(depth_img_); - - debug_start_time_ = ros::Time::now(); - - Eigen::Vector2i true_pixel[max_drone_num_]; - for (int i = 0; i < max_drone_num_; i++) { - if (in_depth_[i]) { - detect(i, true_pixel[i]); - } - } - - cv_bridge::CvImage out_msg; - for (int i = 0; i < max_drone_num_; i++) { - if (in_depth_[i]) { - // erase hit pixels in depth - for(int k = 0; k < int(hit_pixels_[i].size()); k++) { - // depth_img_.at(hit_pixels_[i][k](1), hit_pixels_[i][k](0)) = 0; - uint16_t *row_ptr; - row_ptr = depth_img_.ptr(hit_pixels_[i][k](1)); - (*(row_ptr+hit_pixels_[i][k](0))) = 0.0; - } - } - } - debug_end_time_ = ros::Time::now(); - // ROS_WARN("cost_total_time = %lf", (debug_end_time_ - debug_start_time_).toSec()*1000.0); - out_msg.header = depth_img->header; - out_msg.encoding = depth_img->encoding; - out_msg.image = depth_img_.clone(); - new_depth_img_pub_.publish(out_msg.toImageMsg()); - - std_msgs::String msg; - std::stringstream ss; - if(debug_flag_) { - for (int i = 0; i < max_drone_num_; i++) { - if (in_depth_[i]) { - // add bound box in colormap - // cv::Rect rect(_bbox_lu.x, _bbox_lu.y, _bbox_rd.x, _bbox_rd.y);//左上坐标（x,y）和矩形的长(x)宽(y) - cv::rectangle(depth_img_, cv::Rect(searchbox_lu_[i], searchbox_rd_[i]), cv::Scalar(0, 0, 0), 5, cv::LINE_8, 0); - cv::rectangle(depth_img_, cv::Rect(boundingbox_lu_[i], boundingbox_rd_[i]), cv::Scalar(0, 0, 0), 5, cv::LINE_8, 0); - if (debug_detect_result_[i] == 1) { - ss << "no enough " << hit_pixels_[i].size(); - } else if(debug_detect_result_[i] == 2) { - ss << "success"; - } - } else { - ss << "no detect"; - } - } - out_msg.header = depth_img->header; - out_msg.encoding = depth_img->encoding; - out_msg.image = depth_img_.clone(); - debug_depth_img_pub_.publish(out_msg.toImageMsg()); - msg.data = ss.str(); - debug_info_pub_.publish(msg); - } -} - -void DroneDetector::rcvDroneOdomCallbackBase(const nav_msgs::Odometry& odom, int drone_id) -{ - if (drone_id == my_id_) { - return; - } - Eigen::Matrix4d drone2world = Eigen::Matrix4d::Identity(); - drone_pose_world_[drone_id](0) = odom.pose.pose.position.x; - drone_pose_world_[drone_id](1) = odom.pose.pose.position.y; - drone_pose_world_[drone_id](2) = odom.pose.pose.position.z; - drone_pose_world_[drone_id](3) = 1.0; - - drone_attitude_world_[drone_id].x() = odom.pose.pose.orientation.x; - drone_attitude_world_[drone_id].y() = odom.pose.pose.orientation.y; - drone_attitude_world_[drone_id].z() = odom.pose.pose.orientation.z; - drone_attitude_world_[drone_id].w() = odom.pose.pose.orientation.w; - drone2world.block<3,3>(0,0) = drone_attitude_world_[drone_id].toRotationMatrix(); - - drone2world(0,3) = drone_pose_world_[drone_id](0); - drone2world(1,3) = drone_pose_world_[drone_id](1); - drone2world(2,3) = drone_pose_world_[drone_id](2); - - drone_pose_cam_[drone_id] = cam2world_.inverse() * drone_pose_world_[drone_id]; - // if the drone is in sensor range - drone_ref_pixel_[drone_id] = pos2Depth(drone_pose_cam_[drone_id]); - if (drone_pose_cam_[drone_id](2) > 0 && isInSensorRange(drone_ref_pixel_[drone_id])) { - in_depth_[drone_id] = true; - } else { - in_depth_[drone_id] = false; - debug_detect_result_[drone_id] = 0; - } -} - -void DroneDetector::rcvDrone0OdomCallback(const nav_msgs::Odometry& odom) -{ - rcvDroneOdomCallbackBase(odom, 0); -} - -void DroneDetector::rcvDrone1OdomCallback(const nav_msgs::Odometry& odom) -{ - rcvDroneOdomCallbackBase(odom, 1); -} - -void DroneDetector::rcvDrone2OdomCallback(const nav_msgs::Odometry& odom) -{ - rcvDroneOdomCallbackBase(odom, 2); -} - -void DroneDetector::rcvDroneXOdomCallback(const nav_msgs::Odometry& odom) -{ - std::string numstr = odom.child_frame_id.substr(6); - try - { - int drone_id = std::stoi(numstr); - rcvDroneOdomCallbackBase(odom, drone_id); - } - catch(const std::exception& e) - { - std::cout << e.what() << '\n'; - } -} - -bool DroneDetector::countPixel(int drone_id, Eigen::Vector2i &true_pixel, Eigen::Vector4d &true_pose_cam) -{ - boundingbox_lu_[drone_id].x = img_width_; - boundingbox_rd_[drone_id].x = 0; - boundingbox_lu_[drone_id].y = img_height_; - boundingbox_rd_[drone_id].y = 0; - - valid_pixel_cnt_[drone_id] = 0; - hit_pixels_[drone_id].clear(); - - Eigen::Vector2i tmp_pixel; - Eigen::Vector4d tmp_pose_cam; - int search_radius = 2*max_pose_error_*fx_/drone_pose_cam_[drone_id](2); - float depth; - searchbox_lu_[drone_id].x = drone_ref_pixel_[drone_id](0) - search_radius; - searchbox_lu_[drone_id].y = drone_ref_pixel_[drone_id](1) - search_radius; - searchbox_rd_[drone_id].x = drone_ref_pixel_[drone_id](0) + search_radius; - searchbox_rd_[drone_id].y = drone_ref_pixel_[drone_id](1) + search_radius; - // check the tmp_p around ref_pixel - for(int i = -search_radius; i <= search_radius; i++) - for(int j = -search_radius; j <= search_radius; j++) - { - tmp_pixel(0) = drone_ref_pixel_[drone_id](0) + j; - tmp_pixel(1) = drone_ref_pixel_[drone_id](1) + i; - if(tmp_pixel(0) < 0 || tmp_pixel(0) >= img_width_ || tmp_pixel(1) < 0 || tmp_pixel(1) >= img_height_) - continue; - // depth = depth_img_.at(tmp_pixel(1), tmp_pixel(0)); - uint16_t *row_ptr; - row_ptr = depth_img_.ptr(tmp_pixel(1)); - depth = (*(row_ptr+tmp_pixel(0))) / 1000.0; - // ROS_WARN("depth = %lf", depth); - // get tmp_pose in cam frame - tmp_pose_cam = depth2Pos(tmp_pixel(0), tmp_pixel(1), depth); - double dist2 = getDist2(tmp_pose_cam, drone_pose_cam_[drone_id]); - // ROS_WARN("dist2 = %lf", dist2); - if (dist2 < max_pose_error2_) { - valid_pixel_cnt_[drone_id]++; - hit_pixels_[drone_id].push_back(tmp_pixel); - boundingbox_lu_[drone_id].x = tmp_pixel(0) < boundingbox_lu_[drone_id].x ? tmp_pixel(0) : boundingbox_lu_[drone_id].x; - boundingbox_lu_[drone_id].y = tmp_pixel(1) < boundingbox_lu_[drone_id].y ? tmp_pixel(1) : boundingbox_lu_[drone_id].y; - boundingbox_rd_[drone_id].x = tmp_pixel(0) > boundingbox_rd_[drone_id].x ? tmp_pixel(0) : boundingbox_rd_[drone_id].x; - boundingbox_rd_[drone_id].y = tmp_pixel(1) > boundingbox_rd_[drone_id].y ? tmp_pixel(1) : boundingbox_rd_[drone_id].y; - } - } - pixel_threshold_ = (drone_width_*fx_/drone_pose_cam_[drone_id](2)) * (drone_height_*fy_/drone_pose_cam_[drone_id](2))*pixel_ratio_; - if (valid_pixel_cnt_[drone_id] > pixel_threshold_) { - int step = 1, size = (boundingbox_rd_[drone_id].y-boundingbox_lu_[drone_id].y) < (boundingbox_rd_[drone_id].x-boundingbox_lu_[drone_id].x) ? (boundingbox_rd_[drone_id].y-boundingbox_lu_[drone_id].y) : (boundingbox_rd_[drone_id].x-boundingbox_lu_[drone_id].x); - int init_x = (boundingbox_lu_[drone_id].x+boundingbox_rd_[drone_id].x)/2, init_y = (boundingbox_lu_[drone_id].y+boundingbox_rd_[drone_id].y)/2; - int x_flag = 1, y_flag = 1; - int x_idx = 0, y_idx = 0; - uint16_t *row_ptr; - row_ptr = depth_img_.ptr(tmp_pixel(1)); - depth = (*(row_ptr+tmp_pixel(0))) / 1000.0; - tmp_pose_cam = depth2Pos(init_x, init_y, depth); - if (getDist2(tmp_pose_cam, drone_pose_cam_[drone_id]) < max_pose_error2_){ - true_pixel(0) = init_x; - true_pixel(1) = init_y; - true_pose_cam = tmp_pose_cam; - return true; - } - while(step(tmp_pixel(1)); - depth = (*(row_ptr+tmp_pixel(0))) / 1000.0; - tmp_pose_cam = depth2Pos(init_x, init_y, depth); - if (getDist2(tmp_pose_cam, drone_pose_cam_[drone_id]) < max_pose_error2_) { - true_pixel(0) = init_x; - true_pixel(1) = init_y; - true_pose_cam = tmp_pose_cam; - return true; - } - x_idx++; - } - x_idx = 0; - x_flag = -x_flag; - while(y_idx(tmp_pixel(1)); - depth = (*(row_ptr+tmp_pixel(0))) / 1000.0; - tmp_pose_cam = depth2Pos(init_x, init_y, depth); - if (getDist2(tmp_pose_cam, drone_pose_cam_[drone_id]) < max_pose_error2_){ - true_pixel(0) = init_x; - true_pixel(1) = init_y; - true_pose_cam = tmp_pose_cam; - return true; - } - y_idx++; - } - y_idx = 0; - y_flag = -y_flag; - step++; - } - while(x_idx(tmp_pixel(1)); - depth = (*(row_ptr+tmp_pixel(0))) / 1000.0; - tmp_pose_cam = depth2Pos(init_x, init_y, depth); - if (getDist2(tmp_pose_cam, drone_pose_cam_[drone_id]) < max_pose_error2_){ - true_pixel(0) = init_x; - true_pixel(1) = init_y; - true_pose_cam = tmp_pose_cam; - return true; - } - x_idx++; - } - } - return false; -} - -void DroneDetector::detect(int drone_id, Eigen::Vector2i &true_pixel) -{ - Eigen::Vector4d true_pose_cam, pose_error; - bool found = countPixel(drone_id, true_pixel, true_pose_cam); - if (found) { - // ROS_WARN("FOUND"); - pose_error = cam2world_*true_pose_cam - drone_pose_world_[drone_id]; - debug_detect_result_[drone_id] = 2; - - geometry_msgs::PoseStamped out_msg; - out_msg.header.stamp = my_last_camera_stamp_; - out_msg.header.frame_id = "/drone_detect"; - out_msg.pose.position.x = pose_error(0); - out_msg.pose.position.y = pose_error(1); - out_msg.pose.position.z = pose_error(2); - drone_pose_err_pub_[drone_id].publish(out_msg); - - } else { - // ROS_WARN("NOT FOUND"); - debug_detect_result_[drone_id] = 1; - } -} - -void DroneDetector::test() { - ROS_WARN("my_id = %d", my_id_); -} - -} /* namespace */ diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/test/test_drone_detector.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/test/test_drone_detector.cpp deleted file mode 100644 index 2fc9dd5..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/test/test_drone_detector.cpp +++ /dev/null @@ -1,10 +0,0 @@ -// gtest -#include - -// Run all the tests that were declared with TEST() -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - srand((int)time(0)); - return RUN_ALL_TESTS(); -} \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/path_searching/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/path_searching/CMakeLists.txt deleted file mode 100644 index 13f1f66..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/path_searching/CMakeLists.txt +++ /dev/null @@ -1,42 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(path_searching) - -set(CMAKE_BUILD_TYPE "Release") -ADD_COMPILE_OPTIONS(-std=c++11 ) -ADD_COMPILE_OPTIONS(-std=c++14 ) -set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") - -find_package(Eigen3 REQUIRED) -find_package(PCL 1.7 REQUIRED) - -find_package(catkin REQUIRED COMPONENTS - roscpp - rospy - std_msgs - visualization_msgs - plan_env - cv_bridge -) - - -catkin_package( - INCLUDE_DIRS include - LIBRARIES path_searching - CATKIN_DEPENDS plan_env -# DEPENDS system_lib -) - -include_directories( - SYSTEM - include - ${catkin_INCLUDE_DIRS} - ${Eigen3_INCLUDE_DIRS} - ${PCL_INCLUDE_DIRS} -) - -add_library( path_searching - src/dyn_a_star.cpp - ) -target_link_libraries( path_searching - ${catkin_LIBRARIES} - ) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/path_searching/include/path_searching/dyn_a_star.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/path_searching/include/path_searching/dyn_a_star.h deleted file mode 100644 index 388668b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/path_searching/include/path_searching/dyn_a_star.h +++ /dev/null @@ -1,115 +0,0 @@ -#ifndef _DYN_A_STAR_H_ -#define _DYN_A_STAR_H_ - -#include -#include -#include -#include -#include -#include - -constexpr double inf = 1 >> 20; -struct GridNode; -typedef GridNode *GridNodePtr; - -struct GridNode -{ - enum enum_state - { - OPENSET = 1, - CLOSEDSET = 2, - UNDEFINED = 3 - }; - - int rounds{0}; // Distinguish every call - enum enum_state state - { - UNDEFINED - }; - Eigen::Vector3i index; - - double gScore{inf}, fScore{inf}; - GridNodePtr cameFrom{NULL}; -}; - -class NodeComparator -{ -public: - bool operator()(GridNodePtr node1, GridNodePtr node2) - { - return node1->fScore > node2->fScore; - } -}; - -class AStar -{ -private: - GridMap::Ptr grid_map_; - - inline void coord2gridIndexFast(const double x, const double y, const double z, int &id_x, int &id_y, int &id_z); - - double getDiagHeu(GridNodePtr node1, GridNodePtr node2); - double getManhHeu(GridNodePtr node1, GridNodePtr node2); - double getEuclHeu(GridNodePtr node1, GridNodePtr node2); - inline double getHeu(GridNodePtr node1, GridNodePtr node2); - - bool ConvertToIndexAndAdjustStartEndPoints(const Eigen::Vector3d start_pt, const Eigen::Vector3d end_pt, Eigen::Vector3i &start_idx, Eigen::Vector3i &end_idx); - - inline Eigen::Vector3d Index2Coord(const Eigen::Vector3i &index) const; - inline bool Coord2Index(const Eigen::Vector3d &pt, Eigen::Vector3i &idx) const; - - //bool (*checkOccupancyPtr)( const Eigen::Vector3d &pos ); - - inline bool checkOccupancy(const Eigen::Vector3d &pos) { return (bool)grid_map_->getInflateOccupancy(pos); } - - std::vector retrievePath(GridNodePtr current); - - double step_size_, inv_step_size_; - Eigen::Vector3d center_; - Eigen::Vector3i CENTER_IDX_, POOL_SIZE_; - const double tie_breaker_ = 1.0 + 1.0 / 10000; - - std::vector gridPath_; - - GridNodePtr ***GridNodeMap_; - std::priority_queue, NodeComparator> openSet_; - - int rounds_{0}; - -public: - typedef std::shared_ptr Ptr; - - AStar(){}; - ~AStar(); - - void initGridMap(GridMap::Ptr occ_map, const Eigen::Vector3i pool_size); - - bool AstarSearch(const double step_size, Eigen::Vector3d start_pt, Eigen::Vector3d end_pt); - - std::vector getPath(); -}; - -inline double AStar::getHeu(GridNodePtr node1, GridNodePtr node2) -{ - return tie_breaker_ * getDiagHeu(node1, node2); -} - -inline Eigen::Vector3d AStar::Index2Coord(const Eigen::Vector3i &index) const -{ - return ((index - CENTER_IDX_).cast() * step_size_) + center_; -}; - -inline bool AStar::Coord2Index(const Eigen::Vector3d &pt, Eigen::Vector3i &idx) const -{ - idx = ((pt - center_) * inv_step_size_ + Eigen::Vector3d(0.5, 0.5, 0.5)).cast() + CENTER_IDX_; - - if (idx(0) < 0 || idx(0) >= POOL_SIZE_(0) || idx(1) < 0 || idx(1) >= POOL_SIZE_(1) || idx(2) < 0 || idx(2) >= POOL_SIZE_(2)) - { - ROS_ERROR("Ran out of pool, index=%d %d %d", idx(0), idx(1), idx(2)); - return false; - } - - return true; -}; - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/path_searching/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/path_searching/package.xml deleted file mode 100644 index 0394974..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/path_searching/package.xml +++ /dev/null @@ -1,71 +0,0 @@ - - - path_searching - 0.0.0 - The path_searching package - - - - - iszhouxin - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - rospy - std_msgs - plan_env - roscpp - rospy - std_msgs - plan_env - roscpp - rospy - std_msgs - plan_env - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/path_searching/src/dyn_a_star.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/path_searching/src/dyn_a_star.cpp deleted file mode 100644 index 744daa9..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/path_searching/src/dyn_a_star.cpp +++ /dev/null @@ -1,260 +0,0 @@ -#include "path_searching/dyn_a_star.h" - -using namespace std; -using namespace Eigen; - -AStar::~AStar() -{ - for (int i = 0; i < POOL_SIZE_(0); i++) - for (int j = 0; j < POOL_SIZE_(1); j++) - for (int k = 0; k < POOL_SIZE_(2); k++) - delete GridNodeMap_[i][j][k]; -} - -void AStar::initGridMap(GridMap::Ptr occ_map, const Eigen::Vector3i pool_size) -{ - POOL_SIZE_ = pool_size; - CENTER_IDX_ = pool_size / 2; - - GridNodeMap_ = new GridNodePtr **[POOL_SIZE_(0)]; - for (int i = 0; i < POOL_SIZE_(0); i++) - { - GridNodeMap_[i] = new GridNodePtr *[POOL_SIZE_(1)]; - for (int j = 0; j < POOL_SIZE_(1); j++) - { - GridNodeMap_[i][j] = new GridNodePtr[POOL_SIZE_(2)]; - for (int k = 0; k < POOL_SIZE_(2); k++) - { - GridNodeMap_[i][j][k] = new GridNode; - } - } - } - - grid_map_ = occ_map; -} - -double AStar::getDiagHeu(GridNodePtr node1, GridNodePtr node2) -{ - double dx = abs(node1->index(0) - node2->index(0)); - double dy = abs(node1->index(1) - node2->index(1)); - double dz = abs(node1->index(2) - node2->index(2)); - - double h = 0.0; - int diag = min(min(dx, dy), dz); - dx -= diag; - dy -= diag; - dz -= diag; - - if (dx == 0) - { - h = 1.0 * sqrt(3.0) * diag + sqrt(2.0) * min(dy, dz) + 1.0 * abs(dy - dz); - } - if (dy == 0) - { - h = 1.0 * sqrt(3.0) * diag + sqrt(2.0) * min(dx, dz) + 1.0 * abs(dx - dz); - } - if (dz == 0) - { - h = 1.0 * sqrt(3.0) * diag + sqrt(2.0) * min(dx, dy) + 1.0 * abs(dx - dy); - } - return h; -} - -double AStar::getManhHeu(GridNodePtr node1, GridNodePtr node2) -{ - double dx = abs(node1->index(0) - node2->index(0)); - double dy = abs(node1->index(1) - node2->index(1)); - double dz = abs(node1->index(2) - node2->index(2)); - - return dx + dy + dz; -} - -double AStar::getEuclHeu(GridNodePtr node1, GridNodePtr node2) -{ - return (node2->index - node1->index).norm(); -} - -vector AStar::retrievePath(GridNodePtr current) -{ - vector path; - path.push_back(current); - - while (current->cameFrom != NULL) - { - current = current->cameFrom; - path.push_back(current); - } - - return path; -} - -bool AStar::ConvertToIndexAndAdjustStartEndPoints(Vector3d start_pt, Vector3d end_pt, Vector3i &start_idx, Vector3i &end_idx) -{ - if (!Coord2Index(start_pt, start_idx) || !Coord2Index(end_pt, end_idx)) - return false; - - if (checkOccupancy(Index2Coord(start_idx))) - { - //ROS_WARN("Start point is insdide an obstacle."); - do - { - start_pt = (start_pt - end_pt).normalized() * step_size_ + start_pt; - if (!Coord2Index(start_pt, start_idx)) - return false; - } while (checkOccupancy(Index2Coord(start_idx))); - } - - if (checkOccupancy(Index2Coord(end_idx))) - { - //ROS_WARN("End point is insdide an obstacle."); - do - { - end_pt = (end_pt - start_pt).normalized() * step_size_ + end_pt; - if (!Coord2Index(end_pt, end_idx)) - return false; - } while (checkOccupancy(Index2Coord(end_idx))); - } - - return true; -} - -bool AStar::AstarSearch(const double step_size, Vector3d start_pt, Vector3d end_pt) -{ - ros::Time time_1 = ros::Time::now(); - ++rounds_; - - step_size_ = step_size; - inv_step_size_ = 1 / step_size; - center_ = (start_pt + end_pt) / 2; - - Vector3i start_idx, end_idx; - if (!ConvertToIndexAndAdjustStartEndPoints(start_pt, end_pt, start_idx, end_idx)) - { - ROS_ERROR("Unable to handle the initial or end point, force return!"); - return false; - } - - // if ( start_pt(0) > -1 && start_pt(0) < 0 ) - // cout << "start_pt=" << start_pt.transpose() << " end_pt=" << end_pt.transpose() << endl; - - GridNodePtr startPtr = GridNodeMap_[start_idx(0)][start_idx(1)][start_idx(2)]; - GridNodePtr endPtr = GridNodeMap_[end_idx(0)][end_idx(1)][end_idx(2)]; - - std::priority_queue, NodeComparator> empty; - openSet_.swap(empty); - - GridNodePtr neighborPtr = NULL; - GridNodePtr current = NULL; - - startPtr->index = start_idx; - startPtr->rounds = rounds_; - startPtr->gScore = 0; - startPtr->fScore = getHeu(startPtr, endPtr); - startPtr->state = GridNode::OPENSET; //put start node in open set - startPtr->cameFrom = NULL; - openSet_.push(startPtr); //put start in open set - - endPtr->index = end_idx; - - double tentative_gScore; - - int num_iter = 0; - while (!openSet_.empty()) - { - num_iter++; - current = openSet_.top(); - openSet_.pop(); - - // if ( num_iter < 10000 ) - // cout << "current=" << current->index.transpose() << endl; - - if (current->index(0) == endPtr->index(0) && current->index(1) == endPtr->index(1) && current->index(2) == endPtr->index(2)) - { - // ros::Time time_2 = ros::Time::now(); - // printf("\033[34mA star iter:%d, time:%.3f\033[0m\n",num_iter, (time_2 - time_1).toSec()*1000); - // if((time_2 - time_1).toSec() > 0.1) - // ROS_WARN("Time consume in A star path finding is %f", (time_2 - time_1).toSec() ); - gridPath_ = retrievePath(current); - return true; - } - current->state = GridNode::CLOSEDSET; //move current node from open set to closed set. - - for (int dx = -1; dx <= 1; dx++) - for (int dy = -1; dy <= 1; dy++) - for (int dz = -1; dz <= 1; dz++) - { - if (dx == 0 && dy == 0 && dz == 0) - continue; - - Vector3i neighborIdx; - neighborIdx(0) = (current->index)(0) + dx; - neighborIdx(1) = (current->index)(1) + dy; - neighborIdx(2) = (current->index)(2) + dz; - - if (neighborIdx(0) < 1 || neighborIdx(0) >= POOL_SIZE_(0) - 1 || neighborIdx(1) < 1 || neighborIdx(1) >= POOL_SIZE_(1) - 1 || neighborIdx(2) < 1 || neighborIdx(2) >= POOL_SIZE_(2) - 1) - { - continue; - } - - neighborPtr = GridNodeMap_[neighborIdx(0)][neighborIdx(1)][neighborIdx(2)]; - neighborPtr->index = neighborIdx; - - bool flag_explored = neighborPtr->rounds == rounds_; - - if (flag_explored && neighborPtr->state == GridNode::CLOSEDSET) - { - continue; //in closed set. - } - - neighborPtr->rounds = rounds_; - - if (checkOccupancy(Index2Coord(neighborPtr->index))) - { - continue; - } - - double static_cost = sqrt(dx * dx + dy * dy + dz * dz); - tentative_gScore = current->gScore + static_cost; - - if (!flag_explored) - { - //discover a new node - neighborPtr->state = GridNode::OPENSET; - neighborPtr->cameFrom = current; - neighborPtr->gScore = tentative_gScore; - neighborPtr->fScore = tentative_gScore + getHeu(neighborPtr, endPtr); - openSet_.push(neighborPtr); //put neighbor in open set and record it. - } - else if (tentative_gScore < neighborPtr->gScore) - { //in open set and need update - neighborPtr->cameFrom = current; - neighborPtr->gScore = tentative_gScore; - neighborPtr->fScore = tentative_gScore + getHeu(neighborPtr, endPtr); - } - } - ros::Time time_2 = ros::Time::now(); - if ((time_2 - time_1).toSec() > 0.2) - { - ROS_WARN("Failed in A star path searching !!! 0.2 seconds time limit exceeded."); - return false; - } - } - - ros::Time time_2 = ros::Time::now(); - - if ((time_2 - time_1).toSec() > 0.1) - ROS_WARN("Time consume in A star path finding is %.3fs, iter=%d", (time_2 - time_1).toSec(), num_iter); - - return false; -} - -vector AStar::getPath() -{ - vector path; - - for (auto ptr : gridPath_) - path.push_back(Index2Coord(ptr->index)); - - reverse(path.begin(), path.end()); - return path; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/CMakeLists.txt deleted file mode 100644 index 701e9af..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/CMakeLists.txt +++ /dev/null @@ -1,59 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(plan_env) - -set(CMAKE_BUILD_TYPE "Release") -ADD_COMPILE_OPTIONS(-std=c++11 ) -ADD_COMPILE_OPTIONS(-std=c++14 ) -set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") - -find_package(OpenCV REQUIRED) - - -find_package(catkin REQUIRED COMPONENTS - roscpp - rospy - std_msgs - visualization_msgs - cv_bridge - message_filters -) - -find_package(Eigen3 REQUIRED) -find_package(PCL 1.7 REQUIRED) - -catkin_package( - INCLUDE_DIRS include - LIBRARIES plan_env - CATKIN_DEPENDS roscpp std_msgs - DEPENDS OpenCV -# DEPENDS system_lib -) - -include_directories( - SYSTEM - include - ${catkin_INCLUDE_DIRS} - ${Eigen3_INCLUDE_DIRS} - ${PCL_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} -) - -link_directories(${PCL_LIBRARY_DIRS}) - -add_library( plan_env - src/grid_map.cpp - src/raycast.cpp - src/obj_predictor.cpp - ) -target_link_libraries( plan_env - ${catkin_LIBRARIES} - ${PCL_LIBRARIES} - ${OpenCV_LIBS} - ) - -add_executable(obj_generator - src/obj_generator.cpp -) -target_link_libraries(obj_generator - ${catkin_LIBRARIES} - ) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/include/plan_env/grid_map.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/include/plan_env/grid_map.h deleted file mode 100644 index bba2603..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/include/plan_env/grid_map.h +++ /dev/null @@ -1,804 +0,0 @@ -#ifndef _GRID_MAP_H -#define _GRID_MAP_H - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include -#include -#include -#include - -#include - -#define logit(x) (log((x) / (1 - (x)))) - -using namespace std; - -// voxel hashing -template -struct matrix_hash : std::unary_function { - std::size_t operator()(T const& matrix) const { - size_t seed = 0; - for (size_t i = 0; i < matrix.size(); ++i) { - auto elem = *(matrix.data() + i); - seed ^= std::hash()(elem) + 0x9e3779b9 + (seed << 6) + (seed >> 2); - } - return seed; - } -}; - -// constant parameters - -struct MappingParameters { - - /* map properties */ - Eigen::Vector3d map_origin_, map_size_; - Eigen::Vector3d map_min_boundary_, map_max_boundary_; // map range in pos - Eigen::Vector3i map_voxel_num_; // map range in index - Eigen::Vector3d local_update_range_; - double resolution_, resolution_inv_; - double obstacles_inflation_; - string frame_id_; - int pose_type_; - - /* camera parameters */ - double cx_, cy_, fx_, fy_; - - /* time out */ - double odom_depth_timeout_; - - /* depth image projection filtering */ - double depth_filter_maxdist_, depth_filter_mindist_, depth_filter_tolerance_; - int depth_filter_margin_; - bool use_depth_filter_; - double k_depth_scaling_factor_; - int skip_pixel_; - - /* raycasting */ - double p_hit_, p_miss_, p_min_, p_max_, p_occ_; // occupancy probability - double prob_hit_log_, prob_miss_log_, clamp_min_log_, clamp_max_log_, - min_occupancy_log_; // logit of occupancy probability - double min_ray_length_, max_ray_length_; // range of doing raycasting - - /* local map update and clear */ - int local_map_margin_; - - /* visualization and computation time display */ - double visualization_truncate_height_, virtual_ceil_height_, ground_height_, virtual_ceil_yp_, virtual_ceil_yn_; - bool show_occ_time_; - - /* active mapping */ - double unknown_flag_; -}; - -// intermediate mapping data for fusion - -struct MappingData { - // main map data, occupancy of each voxel and Euclidean distance - - std::vector occupancy_buffer_; - std::vector occupancy_buffer_inflate_; - - // camera position and pose data - - Eigen::Vector3d camera_pos_, last_camera_pos_; - Eigen::Matrix3d camera_r_m_, last_camera_r_m_; - Eigen::Matrix4d cam2body_; - - // depth image data - - cv::Mat depth_image_, last_depth_image_; - int image_cnt_; - - // flags of map state - - bool occ_need_update_, local_updated_; - bool has_first_depth_; - bool has_odom_, has_cloud_; - - // odom_depth_timeout_ - ros::Time last_occ_update_time_; - bool flag_depth_odom_timeout_; - bool flag_use_depth_fusion; - - // depth image projected point cloud - - vector proj_points_; - int proj_points_cnt; - - // flag buffers for speeding up raycasting - - vector count_hit_, count_hit_and_miss_; - vector flag_traverse_, flag_rayend_; - char raycast_num_; - queue cache_voxel_; - - // range of updating grid - - Eigen::Vector3i local_bound_min_, local_bound_max_; - - // computation time - - double fuse_time_, max_fuse_time_; - int update_num_; - - EIGEN_MAKE_ALIGNED_OPERATOR_NEW -}; - -class GridMap { -public: - GridMap() {} - ~GridMap() {} - - enum { POSE_STAMPED = 1, ODOMETRY = 2, INVALID_IDX = -10000 }; - - // occupancy map management - void resetBuffer(); - void resetBuffer(Eigen::Vector3d min, Eigen::Vector3d max); - - inline void posToIndex(const Eigen::Vector3d& pos, Eigen::Vector3i& id); - inline void indexToPos(const Eigen::Vector3i& id, Eigen::Vector3d& pos); - inline int toAddress(const Eigen::Vector3i& id); - inline int toAddress(int& x, int& y, int& z); - inline bool isInMap(const Eigen::Vector3d& pos); - inline bool isInMap(const Eigen::Vector3i& idx); - - inline void setOccupancy(Eigen::Vector3d pos, double occ = 1); - inline void setOccupied(Eigen::Vector3d pos); - inline int getOccupancy(Eigen::Vector3d pos); - inline int getOccupancy(Eigen::Vector3i id); - inline int getInflateOccupancy(Eigen::Vector3d pos); - - inline void boundIndex(Eigen::Vector3i& id); - inline bool isUnknown(const Eigen::Vector3i& id); - inline bool isUnknown(const Eigen::Vector3d& pos); - inline bool isKnownFree(const Eigen::Vector3i& id); - inline bool isKnownOccupied(const Eigen::Vector3i& id); - - void initMap(ros::NodeHandle& nh); - - void publishMap(); - void publishMapInflate(bool all_info = false); - - void publishDepth(); - - bool hasDepthObservation(); - bool odomValid(); - void getRegion(Eigen::Vector3d& ori, Eigen::Vector3d& size); - inline double getResolution(); - Eigen::Vector3d getOrigin(); - int getVoxelNum(); - bool getOdomDepthTimeout() { return md_.flag_depth_odom_timeout_; } - - typedef std::shared_ptr Ptr; - - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - -private: - MappingParameters mp_; - MappingData md_; - - // get depth image and camera pose - void depthPoseCallback(const sensor_msgs::ImageConstPtr& img, - const geometry_msgs::PoseStampedConstPtr& pose); - void extrinsicCallback(const nav_msgs::OdometryConstPtr& odom); - void depthOdomCallback(const sensor_msgs::ImageConstPtr& img, const nav_msgs::OdometryConstPtr& odom); - void cloudCallback(const sensor_msgs::PointCloud2ConstPtr& img); - void odomCallback(const nav_msgs::OdometryConstPtr& odom); - - // update occupancy by raycasting - void updateOccupancyCallback(const ros::TimerEvent& /*event*/); - void visCallback(const ros::TimerEvent& /*event*/); - - // main update process - void projectDepthImage(); - void raycastProcess(); - void clearAndInflateLocalMap(); - - inline void inflatePoint(const Eigen::Vector3i& pt, int step, vector& pts); - int setCacheOccupancy(Eigen::Vector3d pos, int occ); - Eigen::Vector3d closetPointInMap(const Eigen::Vector3d& pt, const Eigen::Vector3d& camera_pt); - - // typedef message_filters::sync_policies::ExactTime SyncPolicyImageOdom; typedef - // message_filters::sync_policies::ExactTime SyncPolicyImagePose; - typedef message_filters::sync_policies::ApproximateTime - SyncPolicyImageOdom; - typedef message_filters::sync_policies::ApproximateTime - SyncPolicyImagePose; - typedef shared_ptr> SynchronizerImagePose; - typedef shared_ptr> SynchronizerImageOdom; - - ros::NodeHandle node_; - shared_ptr> depth_sub_; - shared_ptr> pose_sub_; - shared_ptr> odom_sub_; - SynchronizerImagePose sync_image_pose_; - SynchronizerImageOdom sync_image_odom_; - - ros::Subscriber indep_cloud_sub_, indep_odom_sub_, extrinsic_sub_; - ros::Publisher map_pub_, map_inf_pub_; - ros::Timer occ_timer_, vis_timer_; - - // - uniform_real_distribution rand_noise_; - normal_distribution rand_noise2_; - default_random_engine eng_; -}; - -/* ============================== definition of inline function - * ============================== */ - -inline int GridMap::toAddress(const Eigen::Vector3i& id) { - return id(0) * mp_.map_voxel_num_(1) * mp_.map_voxel_num_(2) + id(1) * mp_.map_voxel_num_(2) + id(2); -} - -inline int GridMap::toAddress(int& x, int& y, int& z) { - return x * mp_.map_voxel_num_(1) * mp_.map_voxel_num_(2) + y * mp_.map_voxel_num_(2) + z; -} - -inline void GridMap::boundIndex(Eigen::Vector3i& id) { - Eigen::Vector3i id1; - id1(0) = max(min(id(0), mp_.map_voxel_num_(0) - 1), 0); - id1(1) = max(min(id(1), mp_.map_voxel_num_(1) - 1), 0); - id1(2) = max(min(id(2), mp_.map_voxel_num_(2) - 1), 0); - id = id1; -} - -inline bool GridMap::isUnknown(const Eigen::Vector3i& id) { - Eigen::Vector3i id1 = id; - boundIndex(id1); - return md_.occupancy_buffer_[toAddress(id1)] < mp_.clamp_min_log_ - 1e-3; -} - -inline bool GridMap::isUnknown(const Eigen::Vector3d& pos) { - Eigen::Vector3i idc; - posToIndex(pos, idc); - return isUnknown(idc); -} - -inline bool GridMap::isKnownFree(const Eigen::Vector3i& id) { - Eigen::Vector3i id1 = id; - boundIndex(id1); - int adr = toAddress(id1); - - // return md_.occupancy_buffer_[adr] >= mp_.clamp_min_log_ && - // md_.occupancy_buffer_[adr] < mp_.min_occupancy_log_; - return md_.occupancy_buffer_[adr] >= mp_.clamp_min_log_ && md_.occupancy_buffer_inflate_[adr] == 0; -} - -inline bool GridMap::isKnownOccupied(const Eigen::Vector3i& id) { - Eigen::Vector3i id1 = id; - boundIndex(id1); - int adr = toAddress(id1); - - return md_.occupancy_buffer_inflate_[adr] == 1; -} - -inline void GridMap::setOccupied(Eigen::Vector3d pos) { - if (!isInMap(pos)) return; - - Eigen::Vector3i id; - posToIndex(pos, id); - - md_.occupancy_buffer_inflate_[id(0) * mp_.map_voxel_num_(1) * mp_.map_voxel_num_(2) + - id(1) * mp_.map_voxel_num_(2) + id(2)] = 1; -} - -inline void GridMap::setOccupancy(Eigen::Vector3d pos, double occ) { - if (occ != 1 && occ != 0) { - cout << "occ value error!" << endl; - return; - } - - if (!isInMap(pos)) return; - - Eigen::Vector3i id; - posToIndex(pos, id); - - md_.occupancy_buffer_[toAddress(id)] = occ; -} - -inline int GridMap::getOccupancy(Eigen::Vector3d pos) { - if (!isInMap(pos)) return -1; - - Eigen::Vector3i id; - posToIndex(pos, id); - - return md_.occupancy_buffer_[toAddress(id)] > mp_.min_occupancy_log_ ? 1 : 0; -} - -inline int GridMap::getInflateOccupancy(Eigen::Vector3d pos) { - if (!isInMap(pos)) return -1; - - Eigen::Vector3i id; - posToIndex(pos, id); - - return int(md_.occupancy_buffer_inflate_[toAddress(id)]); -} - -inline int GridMap::getOccupancy(Eigen::Vector3i id) { - if (id(0) < 0 || id(0) >= mp_.map_voxel_num_(0) || id(1) < 0 || id(1) >= mp_.map_voxel_num_(1) || - id(2) < 0 || id(2) >= mp_.map_voxel_num_(2)) - return -1; - - return md_.occupancy_buffer_[toAddress(id)] > mp_.min_occupancy_log_ ? 1 : 0; -} - -inline bool GridMap::isInMap(const Eigen::Vector3d& pos) { - if (pos(0) < mp_.map_min_boundary_(0) + 1e-4 || pos(1) < mp_.map_min_boundary_(1) + 1e-4 || - pos(2) < mp_.map_min_boundary_(2) + 1e-4) { - // cout << "less than min range!" << endl; - return false; - } - if (pos(0) > mp_.map_max_boundary_(0) - 1e-4 || pos(1) > mp_.map_max_boundary_(1) - 1e-4 || - pos(2) > mp_.map_max_boundary_(2) - 1e-4) { - return false; - } - return true; -} - -inline bool GridMap::isInMap(const Eigen::Vector3i& idx) { - if (idx(0) < 0 || idx(1) < 0 || idx(2) < 0) { - return false; - } - if (idx(0) > mp_.map_voxel_num_(0) - 1 || idx(1) > mp_.map_voxel_num_(1) - 1 || - idx(2) > mp_.map_voxel_num_(2) - 1) { - return false; - } - return true; -} - -inline void GridMap::posToIndex(const Eigen::Vector3d& pos, Eigen::Vector3i& id) { - for (int i = 0; i < 3; ++i) id(i) = floor((pos(i) - mp_.map_origin_(i)) * mp_.resolution_inv_); -} - -inline void GridMap::indexToPos(const Eigen::Vector3i& id, Eigen::Vector3d& pos) { - for (int i = 0; i < 3; ++i) pos(i) = (id(i) + 0.5) * mp_.resolution_ + mp_.map_origin_(i); -} - -inline void GridMap::inflatePoint(const Eigen::Vector3i& pt, int step, vector& pts) { - int num = 0; - - /* ---------- + shape inflate ---------- */ - // for (int x = -step; x <= step; ++x) - // { - // if (x == 0) - // continue; - // pts[num++] = Eigen::Vector3i(pt(0) + x, pt(1), pt(2)); - // } - // for (int y = -step; y <= step; ++y) - // { - // if (y == 0) - // continue; - // pts[num++] = Eigen::Vector3i(pt(0), pt(1) + y, pt(2)); - // } - // for (int z = -1; z <= 1; ++z) - // { - // pts[num++] = Eigen::Vector3i(pt(0), pt(1), pt(2) + z); - // } - - /* ---------- all inflate ---------- */ - for (int x = -step; x <= step; ++x) - for (int y = -step; y <= step; ++y) - for (int z = -step; z <= step; ++z) { - pts[num++] = Eigen::Vector3i(pt(0) + x, pt(1) + y, pt(2) + z); - } -} - -inline double GridMap::getResolution() { return mp_.resolution_; } - -#endif - -// #ifndef _GRID_MAP_H -// #define _GRID_MAP_H - -// #include -// #include -// #include -// #include -// #include -// #include -// #include -// #include -// #include -// #include -// #include - -// #include -// #include -// #include - -// #include -// #include -// #include -// #include - -// #include - -// #define logit(x) (log((x) / (1 - (x)))) - -// using namespace std; - -// // voxel hashing -// template -// struct matrix_hash : std::unary_function { -// std::size_t operator()(T const& matrix) const { -// size_t seed = 0; -// for (size_t i = 0; i < matrix.size(); ++i) { -// auto elem = *(matrix.data() + i); -// seed ^= std::hash()(elem) + 0x9e3779b9 + (seed << 6) + (seed >> 2); -// } -// return seed; -// } -// }; - -// // constant parameters - -// struct MappingParameters { - -// /* map properties */ -// Eigen::Vector3d map_origin_, map_size_; -// Eigen::Vector3d map_min_boundary_, map_max_boundary_; // map range in pos -// Eigen::Vector3i map_voxel_num_; // map range in index -// Eigen::Vector3d local_update_range_; -// double resolution_, resolution_inv_; -// double obstacles_inflation_; -// string frame_id_; -// int pose_type_; - -// /* camera parameters */ -// double cx_, cy_, fx_, fy_; - -// /* depth image projection filtering */ -// double depth_filter_maxdist_, depth_filter_mindist_, depth_filter_tolerance_; -// int depth_filter_margin_; -// bool use_depth_filter_; -// double k_depth_scaling_factor_; -// int skip_pixel_; - -// /* raycasting */ -// double p_hit_, p_miss_, p_min_, p_max_, p_occ_; // occupancy probability -// double prob_hit_log_, prob_miss_log_, clamp_min_log_, clamp_max_log_, -// min_occupancy_log_; // logit of occupancy probability -// double min_ray_length_, max_ray_length_; // range of doing raycasting - -// /* local map update and clear */ -// int local_map_margin_; - -// /* visualization and computation time display */ -// double visualization_truncate_height_, virtual_ceil_height_, ground_height_; -// bool show_occ_time_; - -// /* active mapping */ -// double unknown_flag_; -// }; - -// // intermediate mapping data for fusion - -// struct MappingData { -// // main map data, occupancy of each voxel and Euclidean distance - -// std::vector occupancy_buffer_; -// std::vector occupancy_buffer_inflate_; - -// // camera position and pose data - -// Eigen::Vector3d camera_pos_, last_camera_pos_; -// Eigen::Quaterniond camera_q_, last_camera_q_; - -// // depth image data - -// cv::Mat depth_image_, last_depth_image_; -// int image_cnt_; - -// // flags of map state - -// bool occ_need_update_, local_updated_; -// bool has_first_depth_; -// bool has_odom_, has_cloud_; - -// // depth image projected point cloud - -// vector proj_points_; -// int proj_points_cnt; - -// // flag buffers for speeding up raycasting - -// vector count_hit_, count_hit_and_miss_; -// vector flag_traverse_, flag_rayend_; -// char raycast_num_; -// queue cache_voxel_; - -// // range of updating grid - -// Eigen::Vector3i local_bound_min_, local_bound_max_; - -// // computation time - -// double fuse_time_, max_fuse_time_; -// int update_num_; - -// EIGEN_MAKE_ALIGNED_OPERATOR_NEW -// }; - -// class GridMap { -// public: -// GridMap() {} -// ~GridMap() {} - -// enum { POSE_STAMPED = 1, ODOMETRY = 2, INVALID_IDX = -10000 }; - -// // occupancy map management -// void resetBuffer(); -// void resetBuffer(Eigen::Vector3d min, Eigen::Vector3d max); - -// inline void posToIndex(const Eigen::Vector3d& pos, Eigen::Vector3i& id); -// inline void indexToPos(const Eigen::Vector3i& id, Eigen::Vector3d& pos); -// inline int toAddress(const Eigen::Vector3i& id); -// inline int toAddress(int& x, int& y, int& z); -// inline bool isInMap(const Eigen::Vector3d& pos); -// inline bool isInMap(const Eigen::Vector3i& idx); - -// inline void setOccupancy(Eigen::Vector3d pos, double occ = 1); -// inline void setOccupied(Eigen::Vector3d pos); -// inline int getOccupancy(Eigen::Vector3d pos); -// inline int getOccupancy(Eigen::Vector3i id); -// inline int getInflateOccupancy(Eigen::Vector3d pos); - -// inline void boundIndex(Eigen::Vector3i& id); -// inline bool isUnknown(const Eigen::Vector3i& id); -// inline bool isUnknown(const Eigen::Vector3d& pos); -// inline bool isKnownFree(const Eigen::Vector3i& id); -// inline bool isKnownOccupied(const Eigen::Vector3i& id); - -// void initMap(ros::NodeHandle& nh); - -// void publishMap(); -// void publishMapInflate(bool all_info = false); - -// void publishUnknown(); -// void publishDepth(); - -// bool hasDepthObservation(); -// bool odomValid(); -// void getRegion(Eigen::Vector3d& ori, Eigen::Vector3d& size); -// inline double getResolution(); -// Eigen::Vector3d getOrigin(); -// int getVoxelNum(); - -// typedef std::shared_ptr Ptr; - -// EIGEN_MAKE_ALIGNED_OPERATOR_NEW - -// private: -// MappingParameters mp_; -// MappingData md_; - -// // get depth image and camera pose -// void depthPoseCallback(const sensor_msgs::ImageConstPtr& img, -// const geometry_msgs::PoseStampedConstPtr& pose); -// void depthOdomCallback(const sensor_msgs::ImageConstPtr& img, const nav_msgs::OdometryConstPtr& odom); -// void cloudCallback(const sensor_msgs::PointCloud2ConstPtr& img); -// void odomCallback(const nav_msgs::OdometryConstPtr& odom); - -// // update occupancy by raycasting -// void updateOccupancyCallback(const ros::TimerEvent& /*event*/); -// void visCallback(const ros::TimerEvent& /*event*/); - -// // main update process -// void projectDepthImage(); -// void raycastProcess(); -// void clearAndInflateLocalMap(); - -// inline void inflatePoint(const Eigen::Vector3i& pt, int step, vector& pts); -// int setCacheOccupancy(Eigen::Vector3d pos, int occ); -// Eigen::Vector3d closetPointInMap(const Eigen::Vector3d& pt, const Eigen::Vector3d& camera_pt); - -// // typedef message_filters::sync_policies::ExactTime SyncPolicyImageOdom; typedef -// // message_filters::sync_policies::ExactTime SyncPolicyImagePose; -// typedef message_filters::sync_policies::ApproximateTime -// SyncPolicyImageOdom; -// typedef message_filters::sync_policies::ApproximateTime -// SyncPolicyImagePose; -// typedef shared_ptr> SynchronizerImagePose; -// typedef shared_ptr> SynchronizerImageOdom; - -// ros::NodeHandle node_; -// shared_ptr> depth_sub_; -// shared_ptr> pose_sub_; -// shared_ptr> odom_sub_; -// SynchronizerImagePose sync_image_pose_; -// SynchronizerImageOdom sync_image_odom_; - -// ros::Subscriber indep_cloud_sub_, indep_odom_sub_; -// ros::Publisher map_pub_, map_inf_pub_; -// ros::Publisher unknown_pub_; -// ros::Timer occ_timer_, vis_timer_; - -// // -// uniform_real_distribution rand_noise_; -// normal_distribution rand_noise2_; -// default_random_engine eng_; -// }; - -// /* ============================== definition of inline function -// * ============================== */ - -// inline int GridMap::toAddress(const Eigen::Vector3i& id) { -// return id(0) * mp_.map_voxel_num_(1) * mp_.map_voxel_num_(2) + id(1) * mp_.map_voxel_num_(2) + id(2); -// } - -// inline int GridMap::toAddress(int& x, int& y, int& z) { -// return x * mp_.map_voxel_num_(1) * mp_.map_voxel_num_(2) + y * mp_.map_voxel_num_(2) + z; -// } - -// inline void GridMap::boundIndex(Eigen::Vector3i& id) { -// Eigen::Vector3i id1; -// id1(0) = max(min(id(0), mp_.map_voxel_num_(0) - 1), 0); -// id1(1) = max(min(id(1), mp_.map_voxel_num_(1) - 1), 0); -// id1(2) = max(min(id(2), mp_.map_voxel_num_(2) - 1), 0); -// id = id1; -// } - -// inline bool GridMap::isUnknown(const Eigen::Vector3i& id) { -// Eigen::Vector3i id1 = id; -// boundIndex(id1); -// return md_.occupancy_buffer_[toAddress(id1)] < mp_.clamp_min_log_ - 1e-3; -// } - -// inline bool GridMap::isUnknown(const Eigen::Vector3d& pos) { -// Eigen::Vector3i idc; -// posToIndex(pos, idc); -// return isUnknown(idc); -// } - -// inline bool GridMap::isKnownFree(const Eigen::Vector3i& id) { -// Eigen::Vector3i id1 = id; -// boundIndex(id1); -// int adr = toAddress(id1); - -// // return md_.occupancy_buffer_[adr] >= mp_.clamp_min_log_ && -// // md_.occupancy_buffer_[adr] < mp_.min_occupancy_log_; -// return md_.occupancy_buffer_[adr] >= mp_.clamp_min_log_ && md_.occupancy_buffer_inflate_[adr] == 0; -// } - -// inline bool GridMap::isKnownOccupied(const Eigen::Vector3i& id) { -// Eigen::Vector3i id1 = id; -// boundIndex(id1); -// int adr = toAddress(id1); - -// return md_.occupancy_buffer_inflate_[adr] == 1; -// } - -// inline void GridMap::setOccupied(Eigen::Vector3d pos) { -// if (!isInMap(pos)) return; - -// Eigen::Vector3i id; -// posToIndex(pos, id); - -// md_.occupancy_buffer_inflate_[id(0) * mp_.map_voxel_num_(1) * mp_.map_voxel_num_(2) + -// id(1) * mp_.map_voxel_num_(2) + id(2)] = 1; -// } - -// inline void GridMap::setOccupancy(Eigen::Vector3d pos, double occ) { -// if (occ != 1 && occ != 0) { -// cout << "occ value error!" << endl; -// return; -// } - -// if (!isInMap(pos)) return; - -// Eigen::Vector3i id; -// posToIndex(pos, id); - -// md_.occupancy_buffer_[toAddress(id)] = occ; -// } - -// inline int GridMap::getOccupancy(Eigen::Vector3d pos) { -// if (!isInMap(pos)) return -1; - -// Eigen::Vector3i id; -// posToIndex(pos, id); - -// return md_.occupancy_buffer_[toAddress(id)] > mp_.min_occupancy_log_ ? 1 : 0; -// } - -// inline int GridMap::getInflateOccupancy(Eigen::Vector3d pos) { -// if (!isInMap(pos)) return -1; - -// Eigen::Vector3i id; -// posToIndex(pos, id); - -// return int(md_.occupancy_buffer_inflate_[toAddress(id)]); -// } - -// inline int GridMap::getOccupancy(Eigen::Vector3i id) { -// if (id(0) < 0 || id(0) >= mp_.map_voxel_num_(0) || id(1) < 0 || id(1) >= mp_.map_voxel_num_(1) || -// id(2) < 0 || id(2) >= mp_.map_voxel_num_(2)) -// return -1; - -// return md_.occupancy_buffer_[toAddress(id)] > mp_.min_occupancy_log_ ? 1 : 0; -// } - -// inline bool GridMap::isInMap(const Eigen::Vector3d& pos) { -// if (pos(0) < mp_.map_min_boundary_(0) + 1e-4 || pos(1) < mp_.map_min_boundary_(1) + 1e-4 || -// pos(2) < mp_.map_min_boundary_(2) + 1e-4) { -// // cout << "less than min range!" << endl; -// return false; -// } -// if (pos(0) > mp_.map_max_boundary_(0) - 1e-4 || pos(1) > mp_.map_max_boundary_(1) - 1e-4 || -// pos(2) > mp_.map_max_boundary_(2) - 1e-4) { -// return false; -// } -// return true; -// } - -// inline bool GridMap::isInMap(const Eigen::Vector3i& idx) { -// if (idx(0) < 0 || idx(1) < 0 || idx(2) < 0) { -// return false; -// } -// if (idx(0) > mp_.map_voxel_num_(0) - 1 || idx(1) > mp_.map_voxel_num_(1) - 1 || -// idx(2) > mp_.map_voxel_num_(2) - 1) { -// return false; -// } -// return true; -// } - -// inline void GridMap::posToIndex(const Eigen::Vector3d& pos, Eigen::Vector3i& id) { -// for (int i = 0; i < 3; ++i) id(i) = floor((pos(i) - mp_.map_origin_(i)) * mp_.resolution_inv_); -// } - -// inline void GridMap::indexToPos(const Eigen::Vector3i& id, Eigen::Vector3d& pos) { -// for (int i = 0; i < 3; ++i) pos(i) = (id(i) + 0.5) * mp_.resolution_ + mp_.map_origin_(i); -// } - -// inline void GridMap::inflatePoint(const Eigen::Vector3i& pt, int step, vector& pts) { -// int num = 0; - -// /* ---------- + shape inflate ---------- */ -// // for (int x = -step; x <= step; ++x) -// // { -// // if (x == 0) -// // continue; -// // pts[num++] = Eigen::Vector3i(pt(0) + x, pt(1), pt(2)); -// // } -// // for (int y = -step; y <= step; ++y) -// // { -// // if (y == 0) -// // continue; -// // pts[num++] = Eigen::Vector3i(pt(0), pt(1) + y, pt(2)); -// // } -// // for (int z = -1; z <= 1; ++z) -// // { -// // pts[num++] = Eigen::Vector3i(pt(0), pt(1), pt(2) + z); -// // } - -// /* ---------- all inflate ---------- */ -// for (int x = -step; x <= step; ++x) -// for (int y = -step; y <= step; ++y) -// for (int z = -step; z <= step; ++z) { -// pts[num++] = Eigen::Vector3i(pt(0) + x, pt(1) + y, pt(2) + z); -// } -// } - -// inline double GridMap::getResolution() { return mp_.resolution_; } - -// #endif \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/include/plan_env/linear_obj_model.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/include/plan_env/linear_obj_model.hpp deleted file mode 100644 index 574e3b0..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/include/plan_env/linear_obj_model.hpp +++ /dev/null @@ -1,267 +0,0 @@ -/** -* This file is part of Fast-Planner. -* -* Copyright 2019 Boyu Zhou, Aerial Robotics Group, Hong Kong University of Science and Technology, -* Developed by Boyu Zhou , -* for more information see . -* If you use this code, please cite the respective publications as -* listed on the above website. -* -* Fast-Planner is free software: you can redistribute it and/or modify -* it under the terms of the GNU Lesser General Public License as published by -* the Free Software Foundation, either version 3 of the License, or -* (at your option) any later version. -* -* Fast-Planner is distributed in the hope that it will be useful, -* but WITHOUT ANY WARRANTY; without even the implied warranty of -* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -* GNU General Public License for more details. -* -* You should have received a copy of the GNU Lesser General Public License -* along with Fast-Planner. If not, see . -*/ - - - -#ifndef _LINEAR_OBJ_MODEL_H_ -#define _LINEAR_OBJ_MODEL_H_ - -#include -#include -#include - -class LinearObjModel { -private: - bool last_out_bound_{false}; - int input_type_; - /* data */ -public: - LinearObjModel(/* args */); - ~LinearObjModel(); - - void initialize(Eigen::Vector3d p, Eigen::Vector3d v, Eigen::Vector3d a, double yaw, double yaw_dot, - Eigen::Vector3d color, Eigen::Vector3d scale, int input_type); - - void setLimits(Eigen::Vector3d bound, Eigen::Vector2d vel, Eigen::Vector2d acc); - - void update(double dt); // linear trippler integrator model - - static bool collide(LinearObjModel& obj1, LinearObjModel& obj2); - - // void setInput(Eigen::Vector3d acc) { - // acc_ = acc; - // } - void setInput(Eigen::Vector3d vel) { - vel_ = vel; - } - - void setYawDot(double yaw_dot) { - yaw_dot_ = yaw_dot; - } - - Eigen::Vector3d getPosition() { - return pos_; - } - void setPosition(Eigen::Vector3d pos) { - pos_ = pos; - } - - Eigen::Vector3d getVelocity() { - return vel_; - } - - void setVelocity(double x, double y, double z) { - vel_ = Eigen::Vector3d(x, y, z); - } - - Eigen::Vector3d getColor() { - return color_; - } - Eigen::Vector3d getScale() { - return scale_; - } - - double getYaw() { - return yaw_; - } - -private: - Eigen::Vector3d pos_, vel_, acc_; - Eigen::Vector3d color_, scale_; - double yaw_, yaw_dot_; - - Eigen::Vector3d bound_; - Eigen::Vector2d limit_v_, limit_a_; -}; - -LinearObjModel::LinearObjModel(/* args */) { -} - -LinearObjModel::~LinearObjModel() { -} - -void LinearObjModel::initialize(Eigen::Vector3d p, Eigen::Vector3d v, Eigen::Vector3d a, double yaw, - double yaw_dot, Eigen::Vector3d color, Eigen::Vector3d scale, int input_type) { - pos_ = p; - vel_ = v; - acc_ = a; - color_ = color; - scale_ = scale; - input_type_ = input_type; - - yaw_ = yaw; - yaw_dot_ = yaw_dot; -} - -void LinearObjModel::setLimits(Eigen::Vector3d bound, Eigen::Vector2d vel, Eigen::Vector2d acc) { - bound_ = bound; - limit_v_ = vel; - limit_a_ = acc; -} - -void LinearObjModel::update(double dt) { - Eigen::Vector3d p0, v0, a0; - p0 = pos_, v0 = vel_, a0 = acc_; - //std::cout << v0.transpose() << std::endl; - - /* ---------- use acc as input ---------- */ - if ( input_type_ == 2 ) - { - vel_ = v0 + acc_ * dt; - for (int i = 0; i < 3; ++i) - { - if (vel_(i) > 0) vel_(i) = std::max(limit_v_(0), std::min(vel_(i), - limit_v_(1))); - if (vel_(i) <= 0) vel_(i) = std::max(-limit_v_(1), std::min(vel_(i), - -limit_v_(0))); - } - - pos_ = p0 + v0 * dt + 0.5 * acc_ * pow(dt, 2); - - /* ---------- reflect acc when collide with bound ---------- */ - if ( pos_(0) <= bound_(0) && pos_(0) >= -bound_(0) && - pos_(1) <= bound_(1) && pos_(1) >= -bound_(1) && - pos_(2) <= bound_(2) && pos_(2) >= 0 - ) - { - last_out_bound_ = false; - } - else if ( !last_out_bound_ ) - { - last_out_bound_ = true; - - // if ( pos_(0) > bound_(0) || pos_(0) < -bound_(0) ) acc_(0) = -acc_(0); - // if ( pos_(1) > bound_(1) || pos_(1) < -bound_(1) ) acc_(1) = -acc_(1); - // if ( pos_(2) > bound_(2) || pos_(2) < -bound_(2) ) acc_(2) = -acc_(2); - acc_ = -acc_; - //ROS_ERROR("AAAAAAAAAAAAAAAAAAa"); - } - } - // for (int i = 0; i < 2; ++i) - // { - // pos_(i) = std::min(pos_(i), bound_(i)); - // pos_(i) = std::max(pos_(i), -bound_(i)); - // } - // pos_(2) = std::min(pos_(2), bound_(2)); - // pos_(2) = std::max(pos_(2), 0.0); - - /* ---------- use vel as input ---------- */ - else if ( input_type_ == 1 ) - { - pos_ = p0 + v0 * dt; - for (int i = 0; i < 2; ++i) { - pos_(i) = std::min(pos_(i), bound_(i)); - pos_(i) = std::max(pos_(i), -bound_(i)); - } - pos_(2) = std::min(pos_(2), bound_(2)); - pos_(2) = std::max(pos_(2), 0.0); - - yaw_ += yaw_dot_ * dt; - - const double PI = 3.1415926; - if (yaw_ > 2 * PI) yaw_ -= 2 * PI; - - const double tol = 0.1; - if (pos_(0) > bound_(0) - tol) { - pos_(0) = bound_(0) - tol; - vel_(0) = -vel_(0); - } - if (pos_(0) < -bound_(0) + tol) { - pos_(0) = -bound_(0) + tol; - vel_(0) = -vel_(0); - } - - if (pos_(1) > bound_(1) - tol) { - pos_(1) = bound_(1) - tol; - vel_(1) = -vel_(1); - } - if (pos_(1) < -bound_(1) + tol) { - pos_(1) = -bound_(1) + tol; - vel_(1) = -vel_(1); - } - - if (pos_(2) > bound_(2) - tol) { - pos_(2) = bound_(2) - tol; - vel_(2) = -vel_(2); - } - if (pos_(2) < tol) { - pos_(2) = tol; - vel_(2) = -vel_(2); - } - } - - // /* ---------- reflect when collide with bound ---------- */ - - - //std::cout << pos_.transpose() << " " << bound_.transpose() << std::endl; -} - -bool LinearObjModel::collide(LinearObjModel& obj1, LinearObjModel& obj2) { - Eigen::Vector3d pos1, pos2, vel1, vel2, scale1, scale2; - pos1 = obj1.getPosition(); - vel1 = obj1.getVelocity(); - scale1 = obj1.getScale(); - - pos2 = obj2.getPosition(); - vel2 = obj2.getVelocity(); - scale2 = obj2.getScale(); - - /* ---------- collide ---------- */ - bool collide = fabs(pos1(0) - pos2(0)) < 0.5 * (scale1(0) + scale2(0)) && - fabs(pos1(1) - pos2(1)) < 0.5 * (scale1(1) + scale2(1)) && - fabs(pos1(2) - pos2(2)) < 0.5 * (scale1(2) + scale2(2)); - - if (collide) { - double tol[3]; - tol[0] = 0.5 * (scale1(0) + scale2(0)) - fabs(pos1(0) - pos2(0)); - tol[1] = 0.5 * (scale1(1) + scale2(1)) - fabs(pos1(1) - pos2(1)); - tol[2] = 0.5 * (scale1(2) + scale2(2)) - fabs(pos1(2) - pos2(2)); - - for (int i = 0; i < 3; ++i) { - if (tol[i] < tol[(i + 1) % 3] && tol[i] < tol[(i + 2) % 3]) { - vel1(i) = -vel1(i); - vel2(i) = -vel2(i); - obj1.setVelocity(vel1(0), vel1(1), vel1(2)); - obj2.setVelocity(vel2(0), vel2(1), vel2(2)); - - if (pos1(i) >= pos2(i)) { - pos1(i) += tol[i]; - pos2(i) -= tol[i]; - } else { - pos1(i) -= tol[i]; - pos2(i) += tol[i]; - } - obj1.setPosition(pos1); - obj2.setPosition(pos2); - - break; - } - } - - return true; - } else { - return false; - } -} - -#endif \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/include/plan_env/obj_predictor.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/include/plan_env/obj_predictor.h deleted file mode 100644 index fb2e86b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/include/plan_env/obj_predictor.h +++ /dev/null @@ -1,176 +0,0 @@ -/** -* This file is part of Fast-Planner. -* -* Copyright 2019 Boyu Zhou, Aerial Robotics Group, Hong Kong University of Science and Technology, -* Developed by Boyu Zhou , -* for more information see . -* If you use this code, please cite the respective publications as -* listed on the above website. -* -* Fast-Planner is free software: you can redistribute it and/or modify -* it under the terms of the GNU Lesser General Public License as published by -* the Free Software Foundation, either version 3 of the License, or -* (at your option) any later version. -* -* Fast-Planner is distributed in the hope that it will be useful, -* but WITHOUT ANY WARRANTY; without even the implied warranty of -* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -* GNU General Public License for more details. -* -* You should have received a copy of the GNU Lesser General Public License -* along with Fast-Planner. If not, see . -*/ - - - -#ifndef _OBJ_PREDICTOR_H_ -#define _OBJ_PREDICTOR_H_ - -#include -#include -#include -#include -#include -#include -#include - -using std::cout; -using std::endl; -using std::list; -using std::shared_ptr; -using std::unique_ptr; -using std::vector; - -namespace fast_planner { -class PolynomialPrediction; -typedef shared_ptr> ObjPrediction; -typedef shared_ptr> ObjScale; - -/* ========== prediction polynomial ========== */ -class PolynomialPrediction { -private: - vector> polys; - double t1, t2; // start / end - ros::Time global_start_time_; - -public: - PolynomialPrediction(/* args */) { - } - ~PolynomialPrediction() { - } - - void setPolynomial(vector>& pls) { - polys = pls; - } - void setTime(double t1, double t2) { - this->t1 = t1; - this->t2 = t2; - } - void setGlobalStartTime(ros::Time global_start_time) { - global_start_time_ = global_start_time; - } - - bool valid() { - return polys.size() == 3; - } - - /* note that t should be in [t1, t2] */ - Eigen::Vector3d evaluate(double t) { - Eigen::Matrix tv; - tv << 1.0, pow(t, 1), pow(t, 2), pow(t, 3), pow(t, 4), pow(t, 5); - - Eigen::Vector3d pt; - pt(0) = tv.dot(polys[0]), pt(1) = tv.dot(polys[1]), pt(2) = tv.dot(polys[2]); - - return pt; - } - - Eigen::Vector3d evaluateConstVel(double t) { - Eigen::Matrix tv; - tv << 1.0, pow(t-global_start_time_.toSec(), 1); - - // cout << t-global_start_time_.toSec() << endl; - - Eigen::Vector3d pt; - pt(0) = tv.dot(polys[0].head(2)), pt(1) = tv.dot(polys[1].head(2)), pt(2) = tv.dot(polys[2].head(2)); - - return pt; - } -}; - -/* ========== subscribe and record object history ========== */ -class ObjHistory { -public: - int skip_num_; - int queue_size_; - ros::Time global_start_time_; - - ObjHistory() { - } - ~ObjHistory() { - } - - void init(int id, int skip_num, int queue_size, ros::Time global_start_time); - - void poseCallback(const geometry_msgs::PoseStampedConstPtr& msg); - - void clear() { - history_.clear(); - } - - void getHistory(list& his) { - his = history_; - } - -private: - list history_; // x,y,z;t - int skip_; - int obj_idx_; - Eigen::Vector3d scale_; -}; - -/* ========== predict future trajectory using history ========== */ -class ObjPredictor { -private: - ros::NodeHandle node_handle_; - - int obj_num_; - double lambda_; - double predict_rate_; - - vector pose_subs_; - ros::Subscriber marker_sub_; - ros::Timer predict_timer_; - vector> obj_histories_; - - /* share data with planner */ - ObjPrediction predict_trajs_; - ObjScale obj_scale_; - vector scale_init_; - - void markerCallback(const visualization_msgs::MarkerConstPtr& msg); - - void predictCallback(const ros::TimerEvent& e); - void predictPolyFit(); - void predictConstVel(); - -public: - ObjPredictor(/* args */); - ObjPredictor(ros::NodeHandle& node); - ~ObjPredictor(); - - void init(); - - ObjPrediction getPredictionTraj(); - ObjScale getObjScale(); - int getObjNums() {return obj_num_;} - - Eigen::Vector3d evaluatePoly(int obs_id, double time); - Eigen::Vector3d evaluateConstVel(int obs_id, double time); - - typedef shared_ptr Ptr; -}; - -} // namespace fast_planner - -#endif \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/include/plan_env/raycast.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/include/plan_env/raycast.h deleted file mode 100644 index 23e0876..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/include/plan_env/raycast.h +++ /dev/null @@ -1,63 +0,0 @@ -#ifndef RAYCAST_H_ -#define RAYCAST_H_ - -#include -#include - -double signum(double x); - -double mod(double value, double modulus); - -double intbound(double s, double ds); - -void Raycast(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const Eigen::Vector3d& min, - const Eigen::Vector3d& max, int& output_points_cnt, Eigen::Vector3d* output); - -void Raycast(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const Eigen::Vector3d& min, - const Eigen::Vector3d& max, std::vector* output); - -class RayCaster { -private: - /* data */ - Eigen::Vector3d start_; - Eigen::Vector3d end_; - Eigen::Vector3d direction_; - Eigen::Vector3d min_; - Eigen::Vector3d max_; - int x_; - int y_; - int z_; - int endX_; - int endY_; - int endZ_; - double maxDist_; - double dx_; - double dy_; - double dz_; - int stepX_; - int stepY_; - int stepZ_; - double tMaxX_; - double tMaxY_; - double tMaxZ_; - double tDeltaX_; - double tDeltaY_; - double tDeltaZ_; - double dist_; - - int step_num_; - -public: - RayCaster(/* args */) { - } - ~RayCaster() { - } - - bool setInput(const Eigen::Vector3d& start, - const Eigen::Vector3d& end /* , const Eigen::Vector3d& min, - const Eigen::Vector3d& max */); - - bool step(Eigen::Vector3d& ray_pt); -}; - -#endif // RAYCAST_H_ \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/package.xml deleted file mode 100644 index 7a55ca1..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/package.xml +++ /dev/null @@ -1,68 +0,0 @@ - - - plan_env - 0.0.0 - The plan_env package - - - - - iszhouxin - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - rospy - std_msgs - roscpp - rospy - std_msgs - roscpp - rospy - std_msgs - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/src/grid_map.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/src/grid_map.cpp deleted file mode 100644 index 439e824..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/src/grid_map.cpp +++ /dev/null @@ -1,1122 +0,0 @@ -#include "plan_env/grid_map.h" - -// #define current_img_ md_.depth_image_[image_cnt_ & 1] -// #define last_img_ md_.depth_image_[!(image_cnt_ & 1)] - -void GridMap::initMap(ros::NodeHandle &nh) -{ - node_ = nh; - - /* get parameter */ - int uav_id; - double x_size, y_size, z_size; - // 分辨率 - node_.param("grid_map/uav_id", uav_id, 1); - node_.param("grid_map/resolution", mp_.resolution_, -1.0); - node_.param("grid_map/map_size_x", x_size, -1.0); - node_.param("grid_map/map_size_y", y_size, -1.0); - node_.param("grid_map/map_size_z", z_size, -1.0); - node_.param("grid_map/local_update_range_x", mp_.local_update_range_(0), -1.0); - node_.param("grid_map/local_update_range_y", mp_.local_update_range_(1), -1.0); - node_.param("grid_map/local_update_range_z", mp_.local_update_range_(2), -1.0); - // 膨胀距离 - node_.param("grid_map/obstacles_inflation", mp_.obstacles_inflation_, -1.0); - // 相机参数 - node_.param("grid_map/fx", mp_.fx_, -1.0); - node_.param("grid_map/fy", mp_.fy_, -1.0); - node_.param("grid_map/cx", mp_.cx_, -1.0); - node_.param("grid_map/cy", mp_.cy_, -1.0); - // depth filter - node_.param("grid_map/use_depth_filter", mp_.use_depth_filter_, true); - node_.param("grid_map/depth_filter_tolerance", mp_.depth_filter_tolerance_, -1.0); - node_.param("grid_map/depth_filter_maxdist", mp_.depth_filter_maxdist_, -1.0); - node_.param("grid_map/depth_filter_mindist", mp_.depth_filter_mindist_, -1.0); - node_.param("grid_map/depth_filter_margin", mp_.depth_filter_margin_, -1); - node_.param("grid_map/k_depth_scaling_factor", mp_.k_depth_scaling_factor_, -1.0); - node_.param("grid_map/skip_pixel", mp_.skip_pixel_, -1); - // local fusion - node_.param("grid_map/p_hit", mp_.p_hit_, 0.70); - node_.param("grid_map/p_miss", mp_.p_miss_, 0.35); - node_.param("grid_map/p_min", mp_.p_min_, 0.12); - node_.param("grid_map/p_max", mp_.p_max_, 0.97); - node_.param("grid_map/p_occ", mp_.p_occ_, 0.80); - node_.param("grid_map/min_ray_length", mp_.min_ray_length_, -0.1); - node_.param("grid_map/max_ray_length", mp_.max_ray_length_, -0.1); - - node_.param("grid_map/visualization_truncate_height", mp_.visualization_truncate_height_, -0.1); - node_.param("grid_map/virtual_ceil_height", mp_.virtual_ceil_height_, -0.1); - node_.param("grid_map/virtual_ceil_yp", mp_.virtual_ceil_yp_, -0.1); - node_.param("grid_map/virtual_ceil_yn", mp_.virtual_ceil_yn_, -0.1); - - node_.param("grid_map/show_occ_time", mp_.show_occ_time_, false); - node_.param("grid_map/pose_type", mp_.pose_type_, 1); - - node_.param("grid_map/frame_id", mp_.frame_id_, string("world")); - // 地图边缘 - node_.param("grid_map/local_map_margin", mp_.local_map_margin_, 1); - // 地面高度 - node_.param("grid_map/ground_height", mp_.ground_height_, 0.0); - - node_.param("grid_map/odom_depth_timeout", mp_.odom_depth_timeout_, 1.0); - - if( mp_.virtual_ceil_height_ - mp_.ground_height_ > z_size) - { - // 天花板高度 = 地面高度 + z_size - mp_.virtual_ceil_height_ = mp_.ground_height_ + z_size; - } - - mp_.resolution_inv_ = 1 / mp_.resolution_; - //todo: different map origin - if(uav_id==1) - { - mp_.map_origin_ = Eigen::Vector3d(-x_size / 2.0, -y_size / 2.0, mp_.ground_height_); - } - else if(uav_id==2) - { - mp_.map_origin_ = Eigen::Vector3d(-x_size / 2.0, -y_size / 2.0, mp_.ground_height_); - } - else - { - mp_.map_origin_ = Eigen::Vector3d(-x_size / 2.0, -y_size / 2.0, mp_.ground_height_); - } - mp_.map_size_ = Eigen::Vector3d(x_size, y_size, z_size); - - //logit(x) (log((x) / (1 - (x)))) - mp_.prob_hit_log_ = logit(mp_.p_hit_); - mp_.prob_miss_log_ = logit(mp_.p_miss_); - mp_.clamp_min_log_ = logit(mp_.p_min_); - mp_.clamp_max_log_ = logit(mp_.p_max_); - mp_.min_occupancy_log_ = logit(mp_.p_occ_); - mp_.unknown_flag_ = 0.01; - - // cout << "hit: " << mp_.prob_hit_log_ << endl; - // cout << "miss: " << mp_.prob_miss_log_ << endl; - // cout << "min log: " << mp_.clamp_min_log_ << endl; - // cout << "max: " << mp_.clamp_max_log_ << endl; - // cout << "thresh log: " << mp_.min_occupancy_log_ << endl; - - for (int i = 0; i < 3; ++i) - mp_.map_voxel_num_(i) = ceil(mp_.map_size_(i) / mp_.resolution_); - - mp_.map_min_boundary_ = mp_.map_origin_; - mp_.map_max_boundary_ = mp_.map_origin_ + mp_.map_size_; - - // initialize data buffers - - int buffer_size = mp_.map_voxel_num_(0) * mp_.map_voxel_num_(1) * mp_.map_voxel_num_(2); - - md_.occupancy_buffer_ = vector(buffer_size, mp_.clamp_min_log_ - mp_.unknown_flag_); - md_.occupancy_buffer_inflate_ = vector(buffer_size, 0); - - md_.count_hit_and_miss_ = vector(buffer_size, 0); - md_.count_hit_ = vector(buffer_size, 0); - md_.flag_rayend_ = vector(buffer_size, -1); - md_.flag_traverse_ = vector(buffer_size, -1); - - md_.raycast_num_ = 0; - - md_.proj_points_.resize(640 * 480 / mp_.skip_pixel_ / mp_.skip_pixel_); - md_.proj_points_cnt = 0; - - // 相机外参数 - md_.cam2body_ << 0.0, 0.0, 1.0, 0.0, - -1.0, 0.0, 0.0, 0.0, - 0.0, -1.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 1.0; - - /* init callback */ - - depth_sub_.reset(new message_filters::Subscriber(node_, "grid_map/depth", 50)); - // 相机外参 - extrinsic_sub_ = node_.subscribe("/vins_estimator/extrinsic", 10, &GridMap::extrinsicCallback, this); //sub - - if (mp_.pose_type_ == POSE_STAMPED) - { - pose_sub_.reset( - new message_filters::Subscriber(node_, "grid_map/pose", 25)); - - sync_image_pose_.reset(new message_filters::Synchronizer( - SyncPolicyImagePose(100), *depth_sub_, *pose_sub_)); - sync_image_pose_->registerCallback(boost::bind(&GridMap::depthPoseCallback, this, _1, _2)); - } - else if (mp_.pose_type_ == ODOMETRY) - { - odom_sub_.reset(new message_filters::Subscriber(node_, "grid_map/odom", 100, ros::TransportHints().tcpNoDelay())); - - sync_image_odom_.reset(new message_filters::Synchronizer( - SyncPolicyImageOdom(100), *depth_sub_, *odom_sub_)); - sync_image_odom_->registerCallback(boost::bind(&GridMap::depthOdomCallback, this, _1, _2)); - } - - // use odometry and point cloud - indep_cloud_sub_ = - node_.subscribe("grid_map/cloud", 10, &GridMap::cloudCallback, this); - indep_odom_sub_ = - node_.subscribe("grid_map/odom", 10, &GridMap::odomCallback, this); - - occ_timer_ = node_.createTimer(ros::Duration(0.05), &GridMap::updateOccupancyCallback, this); - vis_timer_ = node_.createTimer(ros::Duration(0.11), &GridMap::visCallback, this); - - map_pub_ = node_.advertise("grid_map/occupancy", 10); - map_inf_pub_ = node_.advertise("grid_map/occupancy_inflate", 10); - - md_.occ_need_update_ = false; - md_.local_updated_ = false; - md_.has_first_depth_ = false; - md_.has_odom_ = false; - md_.has_cloud_ = false; - md_.image_cnt_ = 0; - md_.last_occ_update_time_.fromSec(0); - - md_.fuse_time_ = 0.0; - md_.update_num_ = 0; - md_.max_fuse_time_ = 0.0; - - md_.flag_depth_odom_timeout_ = false; - md_.flag_use_depth_fusion = false; - - // rand_noise_ = uniform_real_distribution(-0.2, 0.2); - // rand_noise2_ = normal_distribution(0, 0.2); - // random_device rd; - // eng_ = default_random_engine(rd()); -} - -void GridMap::resetBuffer() -{ - Eigen::Vector3d min_pos = mp_.map_min_boundary_; - Eigen::Vector3d max_pos = mp_.map_max_boundary_; - - resetBuffer(min_pos, max_pos); - - md_.local_bound_min_ = Eigen::Vector3i::Zero(); - md_.local_bound_max_ = mp_.map_voxel_num_ - Eigen::Vector3i::Ones(); -} - -void GridMap::resetBuffer(Eigen::Vector3d min_pos, Eigen::Vector3d max_pos) -{ - - Eigen::Vector3i min_id, max_id; - posToIndex(min_pos, min_id); - posToIndex(max_pos, max_id); - - boundIndex(min_id); - boundIndex(max_id); - - /* reset occ and dist buffer */ - for (int x = min_id(0); x <= max_id(0); ++x) - for (int y = min_id(1); y <= max_id(1); ++y) - for (int z = min_id(2); z <= max_id(2); ++z) - { - md_.occupancy_buffer_inflate_[toAddress(x, y, z)] = 0; - } -} - -int GridMap::setCacheOccupancy(Eigen::Vector3d pos, int occ) -{ - if (occ != 1 && occ != 0) - return INVALID_IDX; - - Eigen::Vector3i id; - posToIndex(pos, id); - int idx_ctns = toAddress(id); - - md_.count_hit_and_miss_[idx_ctns] += 1; - - if (md_.count_hit_and_miss_[idx_ctns] == 1) - { - md_.cache_voxel_.push(id); - } - - if (occ == 1) - md_.count_hit_[idx_ctns] += 1; - - return idx_ctns; -} - -void GridMap::projectDepthImage() -{ - // md_.proj_points_.clear(); - md_.proj_points_cnt = 0; - - uint16_t *row_ptr; - // int cols = current_img_.cols, rows = current_img_.rows; - int cols = md_.depth_image_.cols; - int rows = md_.depth_image_.rows; - int skip_pix = mp_.skip_pixel_; - - double depth; - - Eigen::Matrix3d camera_r = md_.camera_r_m_; - - if (!mp_.use_depth_filter_) - { - for (int v = 0; v < rows; v+=skip_pix) - { - row_ptr = md_.depth_image_.ptr(v); - - for (int u = 0; u < cols; u+=skip_pix) - { - - Eigen::Vector3d proj_pt; - depth = (*row_ptr++) / mp_.k_depth_scaling_factor_; - proj_pt(0) = (u - mp_.cx_) * depth / mp_.fx_; - proj_pt(1) = (v - mp_.cy_) * depth / mp_.fy_; - proj_pt(2) = depth; - - proj_pt = camera_r * proj_pt + md_.camera_pos_; - - if (u == 320 && v == 240) - std::cout << "depth: " << depth << std::endl; - md_.proj_points_[md_.proj_points_cnt++] = proj_pt; - } - } - } - /* use depth filter */ - else - { - - if (!md_.has_first_depth_) - md_.has_first_depth_ = true; - else - { - Eigen::Vector3d pt_cur, pt_world, pt_reproj; - - Eigen::Matrix3d last_camera_r_inv; - last_camera_r_inv = md_.last_camera_r_m_.inverse(); - const double inv_factor = 1.0 / mp_.k_depth_scaling_factor_; - - for (int v = mp_.depth_filter_margin_; v < rows - mp_.depth_filter_margin_; v += mp_.skip_pixel_) - { - row_ptr = md_.depth_image_.ptr(v) + mp_.depth_filter_margin_; - - for (int u = mp_.depth_filter_margin_; u < cols - mp_.depth_filter_margin_; - u += mp_.skip_pixel_) - { - - depth = (*row_ptr) * inv_factor; - row_ptr = row_ptr + mp_.skip_pixel_; - - // filter depth - // depth += rand_noise_(eng_); - // if (depth > 0.01) depth += rand_noise2_(eng_); - - if (*row_ptr == 0) - { - depth = mp_.max_ray_length_ + 0.1; - } - else if (depth < mp_.depth_filter_mindist_) - { - continue; - } - else if (depth > mp_.depth_filter_maxdist_) - { - depth = mp_.max_ray_length_ + 0.1; - } - - // project to world frame - pt_cur(0) = (u - mp_.cx_) * depth / mp_.fx_; - pt_cur(1) = (v - mp_.cy_) * depth / mp_.fy_; - pt_cur(2) = depth; - - pt_world = camera_r * pt_cur + md_.camera_pos_; - // if (!isInMap(pt_world)) { - // pt_world = closetPointInMap(pt_world, md_.camera_pos_); - // } - - md_.proj_points_[md_.proj_points_cnt++] = pt_world; - - // check consistency with last image, disabled... - if (false) - { - pt_reproj = last_camera_r_inv * (pt_world - md_.last_camera_pos_); - double uu = pt_reproj.x() * mp_.fx_ / pt_reproj.z() + mp_.cx_; - double vv = pt_reproj.y() * mp_.fy_ / pt_reproj.z() + mp_.cy_; - - if (uu >= 0 && uu < cols && vv >= 0 && vv < rows) - { - if (fabs(md_.last_depth_image_.at((int)vv, (int)uu) * inv_factor - - pt_reproj.z()) < mp_.depth_filter_tolerance_) - { - md_.proj_points_[md_.proj_points_cnt++] = pt_world; - } - } - else - { - md_.proj_points_[md_.proj_points_cnt++] = pt_world; - } - } - } - } - } - } - - /* maintain camera pose for consistency check */ - - md_.last_camera_pos_ = md_.camera_pos_; - md_.last_camera_r_m_ = md_.camera_r_m_; - md_.last_depth_image_ = md_.depth_image_; -} - -void GridMap::raycastProcess() -{ - // if (md_.proj_points_.size() == 0) - if (md_.proj_points_cnt == 0) - return; - - ros::Time t1, t2; - - md_.raycast_num_ += 1; - - int vox_idx; - double length; - - // bounding box of updated region - double min_x = mp_.map_max_boundary_(0); - double min_y = mp_.map_max_boundary_(1); - double min_z = mp_.map_max_boundary_(2); - // printf("bounding box min:[%f,%f,%f]\n",min_x,min_y,min_z); - - double max_x = mp_.map_min_boundary_(0); - double max_y = mp_.map_min_boundary_(1); - double max_z = mp_.map_min_boundary_(2); - // printf("bounding box max:[%f,%f,%f]\n",max_x,max_y,max_z); - - RayCaster raycaster; - Eigen::Vector3d half = Eigen::Vector3d(0.5, 0.5, 0.5); - Eigen::Vector3d ray_pt, pt_w; - - for (int i = 0; i < md_.proj_points_cnt; ++i) - { - pt_w = md_.proj_points_[i]; - - // set flag for projected point - - if (!isInMap(pt_w)) - { - pt_w = closetPointInMap(pt_w, md_.camera_pos_); - - length = (pt_w - md_.camera_pos_).norm(); - if (length > mp_.max_ray_length_) - { - pt_w = (pt_w - md_.camera_pos_) / length * mp_.max_ray_length_ + md_.camera_pos_; - } - vox_idx = setCacheOccupancy(pt_w, 0); - } - else - { - length = (pt_w - md_.camera_pos_).norm(); - - if (length > mp_.max_ray_length_) - { - pt_w = (pt_w - md_.camera_pos_) / length * mp_.max_ray_length_ + md_.camera_pos_; - vox_idx = setCacheOccupancy(pt_w, 0); - } - else - { - vox_idx = setCacheOccupancy(pt_w, 1); - } - } - - max_x = max(max_x, pt_w(0)); - max_y = max(max_y, pt_w(1)); - max_z = max(max_z, pt_w(2)); - - min_x = min(min_x, pt_w(0)); - min_y = min(min_y, pt_w(1)); - min_z = min(min_z, pt_w(2)); - - // raycasting between camera center and point - - if (vox_idx != INVALID_IDX) - { - if (md_.flag_rayend_[vox_idx] == md_.raycast_num_) - { - continue; - } - else - { - md_.flag_rayend_[vox_idx] = md_.raycast_num_; - } - } - - raycaster.setInput(pt_w / mp_.resolution_, md_.camera_pos_ / mp_.resolution_); - - while (raycaster.step(ray_pt)) - { - Eigen::Vector3d tmp = (ray_pt + half) * mp_.resolution_; - length = (tmp - md_.camera_pos_).norm(); - - // if (length < mp_.min_ray_length_) break; - - vox_idx = setCacheOccupancy(tmp, 0); - - if (vox_idx != INVALID_IDX) - { - if (md_.flag_traverse_[vox_idx] == md_.raycast_num_) - { - break; - } - else - { - md_.flag_traverse_[vox_idx] = md_.raycast_num_; - } - } - } - } - - min_x = min(min_x, md_.camera_pos_(0)); - min_y = min(min_y, md_.camera_pos_(1)); - min_z = min(min_z, md_.camera_pos_(2)); - - max_x = max(max_x, md_.camera_pos_(0)); - max_y = max(max_y, md_.camera_pos_(1)); - max_z = max(max_z, md_.camera_pos_(2)); - max_z = max(max_z, mp_.ground_height_); - - // printf("bounding box max:000[%f,%f,%f]\n",max_x,max_y,max_z); - // printf("bounding box min:000[%f,%f,%f]\n",min_x,min_x,min_x); - posToIndex(Eigen::Vector3d(max_x, max_y, max_z), md_.local_bound_max_); - posToIndex(Eigen::Vector3d(min_x, min_y, min_z), md_.local_bound_min_); - // printf("md_.local_bound_min_000:[%d,%d,%d]\n",md_.local_bound_min_(0),md_.local_bound_min_(1),md_.local_bound_min_(2)); - boundIndex(md_.local_bound_min_); - // printf("md_.local_bound_max_000:[%d,%d,%d]\n",md_.local_bound_max_(0),md_.local_bound_max_(1),md_.local_bound_max_(2)); - boundIndex(md_.local_bound_max_); - - md_.local_updated_ = true; - - // update occupancy cached in queue - Eigen::Vector3d local_range_min = md_.camera_pos_ - mp_.local_update_range_; - Eigen::Vector3d local_range_max = md_.camera_pos_ + mp_.local_update_range_; - - Eigen::Vector3i min_id, max_id; - posToIndex(local_range_min, min_id); - posToIndex(local_range_max, max_id); - boundIndex(min_id); - boundIndex(max_id); - - // std::cout << "cache all: " << md_.cache_voxel_.size() << std::endl; - - while (!md_.cache_voxel_.empty()) - { - - Eigen::Vector3i idx = md_.cache_voxel_.front(); - int idx_ctns = toAddress(idx); - md_.cache_voxel_.pop(); - - double log_odds_update = - md_.count_hit_[idx_ctns] >= md_.count_hit_and_miss_[idx_ctns] - md_.count_hit_[idx_ctns] ? mp_.prob_hit_log_ : mp_.prob_miss_log_; - - md_.count_hit_[idx_ctns] = md_.count_hit_and_miss_[idx_ctns] = 0; - - if (log_odds_update >= 0 && md_.occupancy_buffer_[idx_ctns] >= mp_.clamp_max_log_) - { - continue; - } - else if (log_odds_update <= 0 && md_.occupancy_buffer_[idx_ctns] <= mp_.clamp_min_log_) - { - md_.occupancy_buffer_[idx_ctns] = mp_.clamp_min_log_; - continue; - } - - bool in_local = idx(0) >= min_id(0) && idx(0) <= max_id(0) && idx(1) >= min_id(1) && - idx(1) <= max_id(1) && idx(2) >= min_id(2) && idx(2) <= max_id(2); - if (!in_local) - { - md_.occupancy_buffer_[idx_ctns] = mp_.clamp_min_log_; - } - - md_.occupancy_buffer_[idx_ctns] = - std::min(std::max(md_.occupancy_buffer_[idx_ctns] + log_odds_update, mp_.clamp_min_log_), - mp_.clamp_max_log_); - } -} - -Eigen::Vector3d GridMap::closetPointInMap(const Eigen::Vector3d &pt, const Eigen::Vector3d &camera_pt) -{ - Eigen::Vector3d diff = pt - camera_pt; - Eigen::Vector3d max_tc = mp_.map_max_boundary_ - camera_pt; - Eigen::Vector3d min_tc = mp_.map_min_boundary_ - camera_pt; - - double min_t = 1000000; - - for (int i = 0; i < 3; ++i) - { - if (fabs(diff[i]) > 0) - { - - double t1 = max_tc[i] / diff[i]; - if (t1 > 0 && t1 < min_t) - min_t = t1; - - double t2 = min_tc[i] / diff[i]; - if (t2 > 0 && t2 < min_t) - min_t = t2; - } - } - - return camera_pt + (min_t - 1e-3) * diff; -} - -void GridMap::clearAndInflateLocalMap() -{ - /*clear outside local*/ - const int vec_margin = 5; - // Eigen::Vector3i min_vec_margin = min_vec - Eigen::Vector3i(vec_margin, - // vec_margin, vec_margin); Eigen::Vector3i max_vec_margin = max_vec + - // Eigen::Vector3i(vec_margin, vec_margin, vec_margin); - - // printf("md_.local_bound_min_:[%d,%d,%d]\n",md_.local_bound_min_(0),md_.local_bound_min_(1),md_.local_bound_min_(2)); - Eigen::Vector3i min_cut = md_.local_bound_min_ - - Eigen::Vector3i(mp_.local_map_margin_, mp_.local_map_margin_, mp_.local_map_margin_); - // printf("md_.local_bound_max_:[%d,%d,%d]\n",md_.local_bound_max_(0),md_.local_bound_max_(1),md_.local_bound_max_(2)); - Eigen::Vector3i max_cut = md_.local_bound_max_ + - Eigen::Vector3i(mp_.local_map_margin_, mp_.local_map_margin_, mp_.local_map_margin_); - boundIndex(min_cut); - // printf("min_cut:[%d,%d,%d]\n",min_cut(0),min_cut(1),min_cut(2)); - boundIndex(max_cut); - // printf("max_cut:[%d,%d,%d]\n",max_cut(0),max_cut(1),max_cut(2)); - - Eigen::Vector3i min_cut_m = min_cut - Eigen::Vector3i(vec_margin, vec_margin, vec_margin); - Eigen::Vector3i max_cut_m = max_cut + Eigen::Vector3i(vec_margin, vec_margin, vec_margin); - boundIndex(min_cut_m); - // printf("min_cut_m:[%d,%d,%d]\n",min_cut_m(0),min_cut_m(1),min_cut_m(2)); - boundIndex(max_cut_m); - // printf("max_cut_m:[%d,%d,%d]\n\n",max_cut_m(0),max_cut_m(1),max_cut_m(2)); - - // clear data outside the local range - - for (int x = min_cut_m(0); x <= max_cut_m(0); ++x) - for (int y = min_cut_m(1); y <= max_cut_m(1); ++y) - { - - for (int z = min_cut_m(2); z < min_cut(2); ++z) - { - int idx = toAddress(x, y, z); - md_.occupancy_buffer_[idx] = mp_.clamp_min_log_ - mp_.unknown_flag_; - } - - for (int z = max_cut(2) + 1; z <= max_cut_m(2); ++z) - { - int idx = toAddress(x, y, z); - md_.occupancy_buffer_[idx] = mp_.clamp_min_log_ - mp_.unknown_flag_; - } - } - - for (int z = min_cut_m(2); z <= max_cut_m(2); ++z) - for (int x = min_cut_m(0); x <= max_cut_m(0); ++x) - { - - for (int y = min_cut_m(1); y < min_cut(1); ++y) - { - int idx = toAddress(x, y, z); - md_.occupancy_buffer_[idx] = mp_.clamp_min_log_ - mp_.unknown_flag_; - } - - for (int y = max_cut(1) + 1; y <= max_cut_m(1); ++y) - { - int idx = toAddress(x, y, z); - md_.occupancy_buffer_[idx] = mp_.clamp_min_log_ - mp_.unknown_flag_; - } - } - - for (int y = min_cut_m(1); y <= max_cut_m(1); ++y) - for (int z = min_cut_m(2); z <= max_cut_m(2); ++z) - { - - for (int x = min_cut_m(0); x < min_cut(0); ++x) - { - int idx = toAddress(x, y, z); - md_.occupancy_buffer_[idx] = mp_.clamp_min_log_ - mp_.unknown_flag_; - } - - for (int x = max_cut(0) + 1; x <= max_cut_m(0); ++x) - { - int idx = toAddress(x, y, z); - md_.occupancy_buffer_[idx] = mp_.clamp_min_log_ - mp_.unknown_flag_; - } - } - - // inflate occupied voxels to compensate robot size - - int inf_step = ceil(mp_.obstacles_inflation_ / mp_.resolution_); - // int inf_step_z = 1; - vector inf_pts(pow(2 * inf_step + 1, 3)); - // inf_pts.resize(4 * inf_step + 3); - Eigen::Vector3i inf_pt; - - // clear outdated data - for (int x = md_.local_bound_min_(0); x <= md_.local_bound_max_(0); ++x) - for (int y = md_.local_bound_min_(1); y <= md_.local_bound_max_(1); ++y) - for (int z = md_.local_bound_min_(2); z <= md_.local_bound_max_(2); ++z) - { - md_.occupancy_buffer_inflate_[toAddress(x, y, z)] = 0; - } - - // inflate obstacles - for (int x = md_.local_bound_min_(0); x <= md_.local_bound_max_(0); ++x) - for (int y = md_.local_bound_min_(1); y <= md_.local_bound_max_(1); ++y) - for (int z = md_.local_bound_min_(2); z <= md_.local_bound_max_(2); ++z) - { - - if (md_.occupancy_buffer_[toAddress(x, y, z)] > mp_.min_occupancy_log_) - { - inflatePoint(Eigen::Vector3i(x, y, z), inf_step, inf_pts); - - for (int k = 0; k < (int)inf_pts.size(); ++k) - { - inf_pt = inf_pts[k]; - int idx_inf = toAddress(inf_pt); - if (idx_inf < 0 || - idx_inf >= mp_.map_voxel_num_(0) * mp_.map_voxel_num_(1) * mp_.map_voxel_num_(2)) - { - continue; - } - md_.occupancy_buffer_inflate_[idx_inf] = 1; - } - } - } - - // add virtual ceiling to limit flight height - if (mp_.virtual_ceil_height_ > -0.5) { - int ceil_id = floor((mp_.virtual_ceil_height_ - mp_.map_origin_(2)) * mp_.resolution_inv_) - 1; - for (int x = md_.local_bound_min_(0); x <= md_.local_bound_max_(0); ++x) - for (int y = md_.local_bound_min_(1); y <= md_.local_bound_max_(1); ++y) { - md_.occupancy_buffer_inflate_[toAddress(x, y, ceil_id)] = 1; - } - } -} - -void GridMap::visCallback(const ros::TimerEvent & /*event*/) -{ - - publishMapInflate(true); - publishMap(); -} - -void GridMap::updateOccupancyCallback(const ros::TimerEvent & /*event*/) -{ - if (md_.last_occ_update_time_.toSec() < 1.0 ) md_.last_occ_update_time_ = ros::Time::now(); - - if (!md_.occ_need_update_) - { - if ( md_.flag_use_depth_fusion && (ros::Time::now() - md_.last_occ_update_time_).toSec() > mp_.odom_depth_timeout_ ) - { - ROS_ERROR("odom or depth lost! ros::Time::now()=%f, md_.last_occ_update_time_=%f, mp_.odom_depth_timeout_=%f", - ros::Time::now().toSec(), md_.last_occ_update_time_.toSec(), mp_.odom_depth_timeout_); - md_.flag_depth_odom_timeout_ = true; - } - return; - } - - // std::cout << "updateOccupancyCallback 1!" << std::endl; - md_.last_occ_update_time_ = ros::Time::now(); - - /* update occupancy */ - // ros::Time t1, t2, t3, t4; - // t1 = ros::Time::now(); - - projectDepthImage(); - // t2 = ros::Time::now(); - raycastProcess(); - // t3 = ros::Time::now(); - - if (md_.local_updated_) - clearAndInflateLocalMap(); - - // t4 = ros::Time::now(); - - // cout << setprecision(7); - // cout << "t2=" << (t2-t1).toSec() << " t3=" << (t3-t2).toSec() << " t4=" << (t4-t3).toSec() << endl;; - - // md_.fuse_time_ += (t2 - t1).toSec(); - // md_.max_fuse_time_ = max(md_.max_fuse_time_, (t2 - t1).toSec()); - - // if (mp_.show_occ_time_) - // ROS_WARN("Fusion: cur t = %lf, avg t = %lf, max t = %lf", (t2 - t1).toSec(), - // md_.fuse_time_ / md_.update_num_, md_.max_fuse_time_); - - md_.occ_need_update_ = false; - md_.local_updated_ = false; -} - -void GridMap::depthPoseCallback(const sensor_msgs::ImageConstPtr &img, - const geometry_msgs::PoseStampedConstPtr &pose) -{ - - std::cout << "test 1!" << std::endl; - - /* get depth image */ - cv_bridge::CvImagePtr cv_ptr; - cv_ptr = cv_bridge::toCvCopy(img, img->encoding); - - if (img->encoding == sensor_msgs::image_encodings::TYPE_32FC1) - { - (cv_ptr->image).convertTo(cv_ptr->image, CV_16UC1, mp_.k_depth_scaling_factor_); - } - cv_ptr->image.copyTo(md_.depth_image_); - - // std::cout << "depth: " << md_.depth_image_.cols << ", " << md_.depth_image_.rows << std::endl; - - /* get pose */ - md_.camera_pos_(0) = pose->pose.position.x; - md_.camera_pos_(1) = pose->pose.position.y; - md_.camera_pos_(2) = pose->pose.position.z; - md_.camera_r_m_ = Eigen::Quaterniond(pose->pose.orientation.w, pose->pose.orientation.x, - pose->pose.orientation.y, pose->pose.orientation.z) - .toRotationMatrix(); - if (isInMap(md_.camera_pos_)) - { - md_.has_odom_ = true; - md_.update_num_ += 1; - md_.occ_need_update_ = true; - } - else - { - md_.occ_need_update_ = false; - } - - md_.flag_use_depth_fusion = true; -} - -void GridMap::odomCallback(const nav_msgs::OdometryConstPtr &odom) -{ - if (md_.has_first_depth_) - return; - - md_.camera_pos_(0) = odom->pose.pose.position.x; - md_.camera_pos_(1) = odom->pose.pose.position.y; - md_.camera_pos_(2) = odom->pose.pose.position.z; - - md_.has_odom_ = true; -} - -void GridMap::cloudCallback(const sensor_msgs::PointCloud2ConstPtr &img) -{ - - pcl::PointCloud latest_cloud; - pcl::fromROSMsg(*img, latest_cloud); - - md_.has_cloud_ = true; - - if (!md_.has_odom_) - { - std::cout << "no odom!" << std::endl; - return; - } - - //ROS_INFO("test 3"); - - if (latest_cloud.points.size() == 0) - return; - - if (isnan(md_.camera_pos_(0)) || isnan(md_.camera_pos_(1)) || isnan(md_.camera_pos_(2))) - return; - - this->resetBuffer(md_.camera_pos_ - mp_.local_update_range_, - md_.camera_pos_ + mp_.local_update_range_); - - pcl::PointXYZ pt; - Eigen::Vector3d p3d, p3d_inf; - - int inf_step = ceil(mp_.obstacles_inflation_ / mp_.resolution_); - int inf_step_z = 1; - - double max_x, max_y, max_z, min_x, min_y, min_z; - - min_x = mp_.map_max_boundary_(0); - min_y = mp_.map_max_boundary_(1); - min_z = mp_.map_max_boundary_(2); - - max_x = mp_.map_min_boundary_(0); - max_y = mp_.map_min_boundary_(1); - max_z = mp_.map_min_boundary_(2); - - for (size_t i = 0; i < latest_cloud.points.size(); ++i) - { - pt = latest_cloud.points[i]; - p3d(0) = pt.x, p3d(1) = pt.y, p3d(2) = pt.z; - - /* point inside update range */ - Eigen::Vector3d devi = p3d - md_.camera_pos_; - Eigen::Vector3i inf_pt; - - if (fabs(devi(0)) < mp_.local_update_range_(0) && fabs(devi(1)) < mp_.local_update_range_(1) && - fabs(devi(2)) < mp_.local_update_range_(2)) - { - - /* inflate the point */ - for (int x = -inf_step; x <= inf_step; ++x) - for (int y = -inf_step; y <= inf_step; ++y) - for (int z = -inf_step_z; z <= inf_step_z; ++z) - { - - p3d_inf(0) = pt.x + x * mp_.resolution_; - p3d_inf(1) = pt.y + y * mp_.resolution_; - p3d_inf(2) = pt.z + z * mp_.resolution_; - - max_x = max(max_x, p3d_inf(0)); - max_y = max(max_y, p3d_inf(1)); - max_z = max(max_z, p3d_inf(2)); - - min_x = min(min_x, p3d_inf(0)); - min_y = min(min_y, p3d_inf(1)); - min_z = min(min_z, p3d_inf(2)); - - posToIndex(p3d_inf, inf_pt); - - if (!isInMap(inf_pt)) - continue; - - int idx_inf = toAddress(inf_pt); - - md_.occupancy_buffer_inflate_[idx_inf] = 1; - } - } - } - - min_x = min(min_x, md_.camera_pos_(0)); - min_y = min(min_y, md_.camera_pos_(1)); - min_z = min(min_z, md_.camera_pos_(2)); - - max_x = max(max_x, md_.camera_pos_(0)); - max_y = max(max_y, md_.camera_pos_(1)); - max_z = max(max_z, md_.camera_pos_(2)); - - max_z = max(max_z, mp_.ground_height_); - - posToIndex(Eigen::Vector3d(max_x, max_y, max_z), md_.local_bound_max_); - posToIndex(Eigen::Vector3d(min_x, min_y, min_z), md_.local_bound_min_); - - boundIndex(md_.local_bound_min_); - boundIndex(md_.local_bound_max_); - - // add virtual ceiling to limit flight height - if (mp_.virtual_ceil_height_ > -0.5) { - int ceil_id = floor((mp_.virtual_ceil_height_ - mp_.map_origin_(2)) * mp_.resolution_inv_) - 1; - for (int x = md_.local_bound_min_(0); x <= md_.local_bound_max_(0); ++x) - for (int y = md_.local_bound_min_(1); y <= md_.local_bound_max_(1); ++y) { - md_.occupancy_buffer_inflate_[toAddress(x, y, ceil_id)] = 1; - } - } -} - -void GridMap::publishMap() -{ - - if (map_pub_.getNumSubscribers() <= 0) - return; - - pcl::PointXYZ pt; - pcl::PointCloud cloud; - - Eigen::Vector3i min_cut = md_.local_bound_min_; - Eigen::Vector3i max_cut = md_.local_bound_max_; - - int lmm = mp_.local_map_margin_ / 2; - min_cut -= Eigen::Vector3i(lmm, lmm, lmm); - max_cut += Eigen::Vector3i(lmm, lmm, lmm); - - boundIndex(min_cut); - boundIndex(max_cut); - - for (int x = min_cut(0); x <= max_cut(0); ++x) - for (int y = min_cut(1); y <= max_cut(1); ++y) - for (int z = min_cut(2); z <= max_cut(2); ++z) - { - if (md_.occupancy_buffer_[toAddress(x, y, z)] < mp_.min_occupancy_log_) - continue; - - Eigen::Vector3d pos; - indexToPos(Eigen::Vector3i(x, y, z), pos); - if (pos(2) > mp_.visualization_truncate_height_) - continue; - - pt.x = pos(0); - pt.y = pos(1); - pt.z = pos(2); - cloud.push_back(pt); - } - - //border - for(int i = 0; i < mp_.map_voxel_num_(0); i++) - { - pt.x = mp_.map_min_boundary_(0)+i*mp_.resolution_; - pt.y = mp_.map_min_boundary_(1); - pt.z = mp_.map_min_boundary_(2); - cloud.push_back(pt); - - pt.x = mp_.map_min_boundary_(0)+i*mp_.resolution_; - pt.y = mp_.map_max_boundary_(1); - pt.z = mp_.map_min_boundary_(2); - cloud.push_back(pt); - } - - for(int i = 0; i < mp_.map_voxel_num_(1); i++) - { - pt.x = mp_.map_min_boundary_(0); - pt.y = mp_.map_min_boundary_(1)+i*mp_.resolution_; - pt.z = mp_.map_min_boundary_(2); - cloud.push_back(pt); - - pt.x = mp_.map_max_boundary_(0); - pt.y = mp_.map_min_boundary_(1)+i*mp_.resolution_; - pt.z = mp_.map_min_boundary_(2); - cloud.push_back(pt); - } - - cloud.width = cloud.points.size(); - cloud.height = 1; - cloud.is_dense = true; - cloud.header.frame_id = mp_.frame_id_; - - sensor_msgs::PointCloud2 cloud_msg; - - pcl::toROSMsg(cloud, cloud_msg); - map_pub_.publish(cloud_msg); -} - -void GridMap::publishMapInflate(bool all_info) -{ - - if (map_inf_pub_.getNumSubscribers() <= 0) - return; - - pcl::PointXYZ pt; - pcl::PointCloud cloud; - - Eigen::Vector3i min_cut = md_.local_bound_min_; - Eigen::Vector3i max_cut = md_.local_bound_max_; - - if (all_info) - { - int lmm = mp_.local_map_margin_; - min_cut -= Eigen::Vector3i(lmm, lmm, lmm); - max_cut += Eigen::Vector3i(lmm, lmm, lmm); - } - - boundIndex(min_cut); - boundIndex(max_cut); - - for (int x = min_cut(0); x <= max_cut(0); ++x) - for (int y = min_cut(1); y <= max_cut(1); ++y) - for (int z = min_cut(2); z <= max_cut(2); ++z) - { - if (md_.occupancy_buffer_inflate_[toAddress(x, y, z)] == 0) - continue; - - Eigen::Vector3d pos; - indexToPos(Eigen::Vector3i(x, y, z), pos); - if (pos(2) > mp_.visualization_truncate_height_) - continue; - - pt.x = pos(0); - pt.y = pos(1); - pt.z = pos(2); - cloud.push_back(pt); - } - - //border x - for(int i = 0; i < mp_.map_voxel_num_(0); i++) - { - pt.x = mp_.map_min_boundary_(0)+i*mp_.resolution_; - pt.y = mp_.map_min_boundary_(1); - pt.z = mp_.map_min_boundary_(2); - cloud.push_back(pt); - - pt.x = mp_.map_min_boundary_(0)+i*mp_.resolution_; - pt.y = mp_.map_max_boundary_(1); - pt.z = mp_.map_min_boundary_(2); - cloud.push_back(pt); - } - //border y - for(int i = 0; i < mp_.map_voxel_num_(1); i++) - { - pt.x = mp_.map_min_boundary_(0); - pt.y = mp_.map_min_boundary_(1)+i*mp_.resolution_; - pt.z = mp_.map_min_boundary_(2); - cloud.push_back(pt); - - pt.x = mp_.map_max_boundary_(0); - pt.y = mp_.map_min_boundary_(1)+i*mp_.resolution_; - pt.z = mp_.map_min_boundary_(2); - cloud.push_back(pt); - } - - cloud.width = cloud.points.size(); - cloud.height = 1; - cloud.is_dense = true; - cloud.header.frame_id = mp_.frame_id_; - sensor_msgs::PointCloud2 cloud_msg; - - pcl::toROSMsg(cloud, cloud_msg); - map_inf_pub_.publish(cloud_msg); - - // ROS_INFO("pub map"); -} - -bool GridMap::odomValid() { return md_.has_odom_; } - -bool GridMap::hasDepthObservation() { return md_.has_first_depth_; } - -Eigen::Vector3d GridMap::getOrigin() { return mp_.map_origin_; } - -// int GridMap::getVoxelNum() { -// return mp_.map_voxel_num_[0] * mp_.map_voxel_num_[1] * mp_.map_voxel_num_[2]; -// } - -void GridMap::getRegion(Eigen::Vector3d &ori, Eigen::Vector3d &size) -{ - ori = mp_.map_origin_, size = mp_.map_size_; -} - -void GridMap::extrinsicCallback(const nav_msgs::OdometryConstPtr &odom) -{ - Eigen::Quaterniond cam2body_q = Eigen::Quaterniond(odom->pose.pose.orientation.w, - odom->pose.pose.orientation.x, - odom->pose.pose.orientation.y, - odom->pose.pose.orientation.z); - Eigen::Matrix3d cam2body_r_m = cam2body_q.toRotationMatrix(); - md_.cam2body_.block<3, 3>(0, 0) = cam2body_r_m; - md_.cam2body_(0, 3) = odom->pose.pose.position.x; - md_.cam2body_(1, 3) = odom->pose.pose.position.y; - md_.cam2body_(2, 3) = odom->pose.pose.position.z; - md_.cam2body_(3, 3) = 1.0; -} - -void GridMap::depthOdomCallback(const sensor_msgs::ImageConstPtr &img, - const nav_msgs::OdometryConstPtr &odom) -{ - /* get pose */ - Eigen::Quaterniond body_q = Eigen::Quaterniond(odom->pose.pose.orientation.w, - odom->pose.pose.orientation.x, - odom->pose.pose.orientation.y, - odom->pose.pose.orientation.z); - Eigen::Matrix3d body_r_m = body_q.toRotationMatrix(); - Eigen::Matrix4d body2world; - body2world.block<3, 3>(0, 0) = body_r_m; - body2world(0, 3) = odom->pose.pose.position.x; - body2world(1, 3) = odom->pose.pose.position.y; - body2world(2, 3) = odom->pose.pose.position.z; - body2world(3, 3) = 1.0; - - Eigen::Matrix4d cam_T = body2world * md_.cam2body_; - md_.camera_pos_(0) = cam_T(0, 3); - md_.camera_pos_(1) = cam_T(1, 3); - md_.camera_pos_(2) = cam_T(2, 3); - md_.camera_r_m_ = cam_T.block<3, 3>(0, 0); - - /* get depth image */ - cv_bridge::CvImagePtr cv_ptr; - cv_ptr = cv_bridge::toCvCopy(img, img->encoding); - if (img->encoding == sensor_msgs::image_encodings::TYPE_32FC1) - { - (cv_ptr->image).convertTo(cv_ptr->image, CV_16UC1, mp_.k_depth_scaling_factor_); - } - cv_ptr->image.copyTo(md_.depth_image_); - - md_.occ_need_update_ = true; - md_.flag_use_depth_fusion = true; - - // reset depth lost flag - if(md_.flag_depth_odom_timeout_ == true) md_.flag_depth_odom_timeout_ = false; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/src/obj_generator.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/src/obj_generator.cpp deleted file mode 100644 index 20b0701..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/src/obj_generator.cpp +++ /dev/null @@ -1,238 +0,0 @@ -/** -* This file is part of Fast-Planner. -* -* Copyright 2019 Boyu Zhou, Aerial Robotics Group, Hong Kong University of Science and Technology, -* Developed by Boyu Zhou , -* for more information see . -* If you use this code, please cite the respective publications as -* listed on the above website. -* -* Fast-Planner is free software: you can redistribute it and/or modify -* it under the terms of the GNU Lesser General Public License as published by -* the Free Software Foundation, either version 3 of the License, or -* (at your option) any later version. -* -* Fast-Planner is distributed in the hope that it will be useful, -* but WITHOUT ANY WARRANTY; without even the implied warranty of -* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -* GNU General Public License for more details. -* -* You should have received a copy of the GNU Lesser General Public License -* along with Fast-Planner. If not, see . -*/ - - - -#include "visualization_msgs/Marker.h" -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -using namespace std; - -int obj_num, _input_type; -double _x_size, _y_size, _h_size, _vel, _yaw_dot, _acc_r1, _acc_r2, _acc_z, _scale1, _scale2, _interval; - - -ros::Publisher obj_pub; // visualize marker -vector pose_pubs; // obj pose (from optitrack) -vector obj_models; - -random_device rd; -default_random_engine eng(rd()); -uniform_real_distribution rand_pos_x; -uniform_real_distribution rand_pos_y; -uniform_real_distribution rand_h; -uniform_real_distribution rand_vel; -uniform_real_distribution rand_acc_r; -uniform_real_distribution rand_acc_t; -uniform_real_distribution rand_acc_z; -uniform_real_distribution rand_color; -uniform_real_distribution rand_scale; -uniform_real_distribution rand_yaw_dot; -uniform_real_distribution rand_yaw; - -ros::Time time_update, time_change; - -void updateCallback(const ros::TimerEvent& e); -void visualizeObj(int id); - -int main(int argc, char** argv) { - ros::init(argc, argv, "dynamic_obj"); - ros::NodeHandle node("~"); - - /* ---------- initialize ---------- */ - node.param("obj_generator/obj_num", obj_num, 20); - node.param("obj_generator/x_size", _x_size, 10.0); - node.param("obj_generator/y_size", _y_size, 10.0); - node.param("obj_generator/h_size", _h_size, 2.0); - node.param("obj_generator/vel", _vel, 2.0); - node.param("obj_generator/yaw_dot", _yaw_dot, 2.0); - node.param("obj_generator/acc_r1", _acc_r1, 2.0); - node.param("obj_generator/acc_r2", _acc_r2, 2.0); - node.param("obj_generator/acc_z", _acc_z, 0.0); - node.param("obj_generator/scale1", _scale1, 0.5); - node.param("obj_generator/scale2", _scale2, 1.0); - node.param("obj_generator/interval", _interval, 100.0); - node.param("obj_generator/input_type", _input_type, 1); - - obj_pub = node.advertise("/dynamic/obj", 10); - for (int i = 0; i < obj_num; ++i) { - ros::Publisher pose_pub = - node.advertise("/dynamic/pose_" + to_string(i), 10); - pose_pubs.push_back(pose_pub); - } - - ros::Timer update_timer = node.createTimer(ros::Duration(1 / 30.0), updateCallback); - cout << "[dynamic]: initialize with " + to_string(obj_num) << " moving obj." << endl; - ros::Duration(1.0).sleep(); - - rand_color = uniform_real_distribution(0.0, 1.0); - rand_pos_x = uniform_real_distribution(-_x_size/2, _x_size/2); - rand_pos_y = uniform_real_distribution(-_y_size/2, _y_size/2); - rand_h = uniform_real_distribution(0.0, _h_size); - rand_vel = uniform_real_distribution(-_vel, _vel); - rand_acc_t = uniform_real_distribution(0.0, 6.28); - rand_acc_r = uniform_real_distribution(_acc_r1, _acc_r2); - rand_acc_z = uniform_real_distribution(-_acc_z, _acc_z); - rand_scale = uniform_real_distribution(_scale1, _scale2); - rand_yaw = uniform_real_distribution(0.0, 2 * 3.141592); - rand_yaw_dot = uniform_real_distribution(-_yaw_dot, _yaw_dot); - - /* ---------- give initial value of each obj ---------- */ - for (int i = 0; i < obj_num; ++i) { - LinearObjModel model; - Eigen::Vector3d pos(rand_pos_x(eng), rand_pos_y(eng), rand_h(eng)); - Eigen::Vector3d vel(rand_vel(eng), rand_vel(eng), 0.0); - Eigen::Vector3d color(rand_color(eng), rand_color(eng), rand_color(eng)); - Eigen::Vector3d scale(rand_scale(eng), 1.5 * rand_scale(eng), 5.0*rand_scale(eng)); - double yaw = rand_yaw(eng); - double yaw_dot = rand_yaw_dot(eng); - - double r, t, z; - r = rand_acc_r(eng); - t = rand_acc_t(eng); - z = rand_acc_z(eng); - Eigen::Vector3d acc(r * cos(t), r * sin(t), z); - - if ( _input_type == 1 ) - { - model.initialize(pos, vel, acc, yaw, yaw_dot, color, scale, _input_type); // Vel input - } - else - { - model.initialize(pos, Eigen::Vector3d(0,0,0), acc, yaw, yaw_dot, color, scale, _input_type); // Acc input - } - model.setLimits(Eigen::Vector3d(_x_size/2, _y_size/2, _h_size), Eigen::Vector2d(0.0, _vel), - Eigen::Vector2d(0, 0)); - obj_models.push_back(model); - } - - time_update = ros::Time::now(); - time_change = ros::Time::now(); - - /* ---------- start loop ---------- */ - ros::spin(); - - return 0; -} - -void updateCallback(const ros::TimerEvent& e) { - ros::Time time_now = ros::Time::now(); - - /* ---------- change input ---------- */ - // double dtc = (time_now - time_change).toSec(); - // if (dtc > _interval) { - // for (int i = 0; i < obj_num; ++i) { - // /* ---------- use acc input ---------- */ - // // double r, t, z; - // // r = rand_acc_r(eng); - // // t = rand_acc_t(eng); - // // z = rand_acc_z(eng); - // // Eigen::Vector3d acc(r * cos(t), r * sin(t), z); - // // obj_models[i].setInput(acc); - - // /* ---------- use vel input ---------- */ - // double vx, vy, vz, yd; - // vx = rand_vel(eng); - // vy = rand_vel(eng); - // vz = 0.0; - // yd = rand_yaw_dot(eng); - - // obj_models[i].setInput(Eigen::Vector3d(vx, vy, vz)); - // obj_models[i].setYawDot(yd); - // } - // time_change = time_now; - // } - - /* ---------- update obj state ---------- */ - double dt = (time_now - time_update).toSec(); - time_update = time_now; - for (int i = 0; i < obj_num; ++i) { - obj_models[i].update(dt); - visualizeObj(i); - ros::Duration(0.000001).sleep(); - } - - /* ---------- collision ---------- */ - // for (int i = 0; i < obj_num; ++i) - // for (int j = i + 1; j < obj_num; ++j) { - // bool collision = LinearObjModel::collide(obj_models[i], obj_models[j]); - // if (collision) { - // double yd1 = rand_yaw_dot(eng); - // double yd2 = rand_yaw_dot(eng); - // obj_models[i].setYawDot(yd1); - // obj_models[j].setYawDot(yd2); - // } - // } -} - -void visualizeObj(int id) { - Eigen::Vector3d pos, color, scale; - pos = obj_models[id].getPosition(); - color = obj_models[id].getColor(); - scale = obj_models[id].getScale(); - double yaw = obj_models[id].getYaw(); - - Eigen::Matrix3d rot; - rot << cos(yaw), -sin(yaw), 0.0, sin(yaw), cos(yaw), 0.0, 0.0, 0.0, 1.0; - - Eigen::Quaterniond qua; - qua = rot; - - /* ---------- rviz ---------- */ - visualization_msgs::Marker mk; - mk.header.frame_id = "world"; - mk.header.stamp = ros::Time::now(); - mk.type = visualization_msgs::Marker::CUBE; - mk.action = visualization_msgs::Marker::ADD; - mk.id = id; - - mk.scale.x = scale(0), mk.scale.y = scale(1), mk.scale.z = scale(2); - mk.color.a = 1.0, mk.color.r = color(0), mk.color.g = color(1), mk.color.b = color(2); - - mk.pose.orientation.w = qua.w(); - mk.pose.orientation.x = qua.x(); - mk.pose.orientation.y = qua.y(); - mk.pose.orientation.z = qua.z(); - - mk.pose.position.x = pos(0), mk.pose.position.y = pos(1), mk.pose.position.z = pos(2); - - obj_pub.publish(mk); - - /* ---------- pose ---------- */ - geometry_msgs::PoseStamped pose; - pose.header.frame_id = "world"; - pose.header.seq = id; - pose.pose.position.x = pos(0), pose.pose.position.y = pos(1), pose.pose.position.z = pos(2); - pose.pose.orientation.w = 1.0; - pose_pubs[id].publish(pose); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/src/obj_predictor.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/src/obj_predictor.cpp deleted file mode 100644 index d960cda..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/src/obj_predictor.cpp +++ /dev/null @@ -1,289 +0,0 @@ -/** -* This file is part of Fast-Planner. -* -* Copyright 2019 Boyu Zhou, Aerial Robotics Group, Hong Kong University of Science and Technology, -* Developed by Boyu Zhou , -* for more information see . -* If you use this code, please cite the respective publications as -* listed on the above website. -* -* Fast-Planner is free software: you can redistribute it and/or modify -* it under the terms of the GNU Lesser General Public License as published by -* the Free Software Foundation, either version 3 of the License, or -* (at your option) any later version. -* -* Fast-Planner is distributed in the hope that it will be useful, -* but WITHOUT ANY WARRANTY; without even the implied warranty of -* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -* GNU General Public License for more details. -* -* You should have received a copy of the GNU Lesser General Public License -* along with Fast-Planner. If not, see . -*/ - - - -#include -#include - -namespace fast_planner { -/* ============================== obj history_ ============================== */ - -// int ObjHistory::queue_size_; -// int ObjHistory::skip_num_; -// ros::Time ObjHistory::global_start_time_; - -void ObjHistory::init(int id, int skip_num, int queue_size, ros::Time global_start_time) { - clear(); - skip_ = 0; - obj_idx_ = id; - skip_num_ = skip_num; - queue_size_ = queue_size; - global_start_time_ = global_start_time; -} - -void ObjHistory::poseCallback(const geometry_msgs::PoseStampedConstPtr& msg) { - ++skip_; - if (skip_ < skip_num_) return; - - Eigen::Vector4d pos_t; - pos_t(0) = msg->pose.position.x, pos_t(1) = msg->pose.position.y, pos_t(2) = msg->pose.position.z; - pos_t(3) = (ros::Time::now() - global_start_time_).toSec(); - - history_.push_back(pos_t); - // cout << "idx: " << obj_idx_ << "pos_t: " << pos_t.transpose() << endl; - - if (history_.size() > queue_size_) history_.pop_front(); - - skip_ = 0; -} - -// ObjHistory:: -/* ============================== obj predictor ============================== - */ -ObjPredictor::ObjPredictor(/* args */) { -} - -ObjPredictor::ObjPredictor(ros::NodeHandle& node) { - this->node_handle_ = node; -} - -ObjPredictor::~ObjPredictor() { -} - -void ObjPredictor::init() { - /* get param */ - int queue_size, skip_nums; - - node_handle_.param("prediction/obj_num", obj_num_, 0); - node_handle_.param("prediction/lambda", lambda_, 1.0); - node_handle_.param("prediction/predict_rate", predict_rate_, 1.0); - node_handle_.param("prediction/queue_size", queue_size, 10); - node_handle_.param("prediction/skip_nums", skip_nums, 1); - - predict_trajs_.reset(new vector); - predict_trajs_->resize(obj_num_); - - obj_scale_.reset(new vector); - obj_scale_->resize(obj_num_); - scale_init_.resize(obj_num_); - for (int i = 0; i < obj_num_; i++) - scale_init_[i] = false; - - /* subscribe to pose */ - ros::Time t_now = ros::Time::now(); - for (int i = 0; i < obj_num_; i++) { - shared_ptr obj_his(new ObjHistory); - - obj_his->init(i, skip_nums, queue_size, t_now); - obj_histories_.push_back(obj_his); - - ros::Subscriber pose_sub = node_handle_.subscribe( - "/dynamic/pose_" + std::to_string(i), 10, &ObjHistory::poseCallback, obj_his.get()); - - pose_subs_.push_back(pose_sub); - - predict_trajs_->at(i).setGlobalStartTime(t_now); - } - - marker_sub_ = node_handle_.subscribe("/dynamic/obj", 10, - &ObjPredictor::markerCallback, this); - - /* update prediction */ - predict_timer_ = - node_handle_.createTimer(ros::Duration(1 / predict_rate_), &ObjPredictor::predictCallback, this); -} - -ObjPrediction ObjPredictor::getPredictionTraj() { - return this->predict_trajs_; -} - -ObjScale ObjPredictor::getObjScale() { - return this->obj_scale_; -} - -void ObjPredictor::predictPolyFit() { - /* iterate all obj */ - for (int i = 0; i < obj_num_; i++) { - /* ---------- write A and b ---------- */ - Eigen::Matrix A; - Eigen::Matrix temp; - Eigen::Matrix bm[3]; // poly coefficent - vector> pm(3); - - A.setZero(); - for (int i = 0; i < 3; ++i) - bm[i].setZero(); - - /* ---------- estimation error ---------- */ - list his; - obj_histories_[i]->getHistory(his); - for (list::iterator it = his.begin(); it != his.end(); ++it) { - Eigen::Vector3d qi = (*it).head(3); - double ti = (*it)(3); - - /* A */ - temp << 1.0, ti, pow(ti, 2), pow(ti, 3), pow(ti, 4), pow(ti, 5); - for (int j = 0; j < 6; ++j) - A.row(j) += 2.0 * pow(ti, j) * temp.transpose(); - - /* b */ - for (int dim = 0; dim < 3; ++dim) - bm[dim] += 2.0 * qi(dim) * temp; - } - - /* ---------- acceleration regulator ---------- */ - double t1 = his.front()(3); - double t2 = his.back()(3); - - temp << 0.0, 0.0, 2 * t1 - 2 * t2, 3 * pow(t1, 2) - 3 * pow(t2, 2), 4 * pow(t1, 3) - 4 * pow(t2, 3), - 5 * pow(t1, 4) - 5 * pow(t2, 4); - A.row(2) += -4 * lambda_ * temp.transpose(); - - temp << 0.0, 0.0, pow(t1, 2) - pow(t2, 2), 2 * pow(t1, 3) - 2 * pow(t2, 3), - 3 * pow(t1, 4) - 3 * pow(t2, 4), 4 * pow(t1, 5) - 4 * pow(t2, 5); - A.row(3) += -12 * lambda_ * temp.transpose(); - - temp << 0.0, 0.0, 20 * pow(t1, 3) - 20 * pow(t2, 3), 45 * pow(t1, 4) - 45 * pow(t2, 4), - 72 * pow(t1, 5) - 72 * pow(t2, 5), 100 * pow(t1, 6) - 100 * pow(t2, 6); - A.row(4) += -4.0 / 5.0 * lambda_ * temp.transpose(); - - temp << 0.0, 0.0, 35 * pow(t1, 4) - 35 * pow(t2, 4), 84 * pow(t1, 5) - 84 * pow(t2, 5), - 140 * pow(t1, 6) - 140 * pow(t2, 6), 200 * pow(t1, 7) - 200 * pow(t2, 7); - A.row(5) += -4.0 / 7.0 * lambda_ * temp.transpose(); - - /* ---------- solve ---------- */ - for (int j = 0; j < 3; j++) { - pm[j] = A.colPivHouseholderQr().solve(bm[j]); - } - - /* ---------- update prediction container ---------- */ - predict_trajs_->at(i).setPolynomial(pm); - predict_trajs_->at(i).setTime(t1, t2); - } -} - -void ObjPredictor::predictCallback(const ros::TimerEvent& e) { - // predictPolyFit(); - predictConstVel(); -} - -void ObjPredictor::markerCallback(const visualization_msgs::MarkerConstPtr& msg) { - int idx = msg->id; - (*obj_scale_)[idx](0) = msg->scale.x; - (*obj_scale_)[idx](1) = msg->scale.y; - (*obj_scale_)[idx](2) = msg->scale.z; - - scale_init_[idx] = true; - - int finish_num = 0; - for (int i = 0; i < obj_num_; i++) { - if (scale_init_[i]) finish_num++; - } - - if (finish_num == obj_num_) { - marker_sub_.shutdown(); - } -} - -void ObjPredictor::predictConstVel() { - for (int i = 0; i < obj_num_; i++) { - /* ---------- get the last two point ---------- */ - list his; - obj_histories_[i]->getHistory(his); - // if ( i==0 ) - // { - // cout << "his.size()=" << his.size() << endl; - // for ( auto hi:his ) - // { - // cout << hi.transpose() << endl; - // } - // } - list::iterator list_it = his.end(); - - /* ---------- test iteration ---------- */ - // cout << "----------------------------" << endl; - // for (auto v4d : his) - // cout << "v4d: " << v4d.transpose() << endl; - - Eigen::Vector3d q1, q2; - double t1, t2; - - --list_it; - q2 = (*list_it).head(3); - t2 = (*list_it)(3); - - --list_it; - q1 = (*list_it).head(3); - t1 = (*list_it)(3); - - Eigen::Matrix p01, q12; - q12.row(0) = q1.transpose(); - q12.row(1) = q2.transpose(); - - Eigen::Matrix At12; - At12 << 1, t1, 1, t2; - - p01 = At12.inverse() * q12; - - vector> polys(3); - for (int j = 0; j < 3; ++j) { - polys[j].setZero(); - polys[j].head(2) = p01.col(j); - } - - // if ( i==0 ) - // { - // cout << "q1=" << q1.transpose() << " t1=" << t1 << " q2=" << q2.transpose() << " t2=" << t2 << endl; - // cout << "polys=" << polys[0].transpose() << endl; - // } - - predict_trajs_->at(i).setPolynomial(polys); - predict_trajs_->at(i).setTime(t1, t2); - } -} - -Eigen::Vector3d ObjPredictor::evaluatePoly(int obj_id, double time) -{ - if ( obj_id < obj_num_ ) - { - return predict_trajs_->at(obj_id).evaluate(time); - } - - double MAX = std::numeric_limits::max(); - return Eigen::Vector3d(MAX, MAX, MAX); -} - -Eigen::Vector3d ObjPredictor::evaluateConstVel(int obj_id, double time) -{ - if ( obj_id < obj_num_ ) - { - return predict_trajs_->at(obj_id).evaluateConstVel(time); - } - - double MAX = std::numeric_limits::max(); - return Eigen::Vector3d(MAX, MAX, MAX); -} - -// ObjPredictor:: -} // namespace fast_planner \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/src/raycast.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/src/raycast.cpp deleted file mode 100644 index 56ffdbf..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_env/src/raycast.cpp +++ /dev/null @@ -1,321 +0,0 @@ -#include -#include -#include -#include - -int signum(int x) { - return x == 0 ? 0 : x < 0 ? -1 : 1; -} - -double mod(double value, double modulus) { - return fmod(fmod(value, modulus) + modulus, modulus); -} - -double intbound(double s, double ds) { - // Find the smallest positive t such that s+t*ds is an integer. - if (ds < 0) { - return intbound(-s, -ds); - } else { - s = mod(s, 1); - // problem is now s+t*ds = 1 - return (1 - s) / ds; - } -} - -void Raycast(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const Eigen::Vector3d& min, - const Eigen::Vector3d& max, int& output_points_cnt, Eigen::Vector3d* output) { - // std::cout << start << ' ' << end << std::endl; - // From "A Fast Voxel Traversal Algorithm for Ray Tracing" - // by John Amanatides and Andrew Woo, 1987 - // - // - // Extensions to the described algorithm: - // • Imposed a distance limit. - // • The face passed through to reach the current cube is provided to - // the callback. - - // The foundation of this algorithm is a parameterized representation of - // the provided ray, - // origin + t * direction, - // except that t is not actually stored; rather, at any given point in the - // traversal, we keep track of the *greater* t values which we would have - // if we took a step sufficient to cross a cube boundary along that axis - // (i.e. change the integer part of the coordinate) in the variables - // tMaxX, tMaxY, and tMaxZ. - - // Cube containing origin point. - int x = (int)std::floor(start.x()); - int y = (int)std::floor(start.y()); - int z = (int)std::floor(start.z()); - int endX = (int)std::floor(end.x()); - int endY = (int)std::floor(end.y()); - int endZ = (int)std::floor(end.z()); - Eigen::Vector3d direction = (end - start); - double maxDist = direction.squaredNorm(); - - // Break out direction vector. - double dx = endX - x; - double dy = endY - y; - double dz = endZ - z; - - // Direction to increment x,y,z when stepping. - int stepX = (int)signum((int)dx); - int stepY = (int)signum((int)dy); - int stepZ = (int)signum((int)dz); - - // See description above. The initial values depend on the fractional - // part of the origin. - double tMaxX = intbound(start.x(), dx); - double tMaxY = intbound(start.y(), dy); - double tMaxZ = intbound(start.z(), dz); - - // The change in t when taking a step (always positive). - double tDeltaX = ((double)stepX) / dx; - double tDeltaY = ((double)stepY) / dy; - double tDeltaZ = ((double)stepZ) / dz; - - // Avoids an infinite loop. - if (stepX == 0 && stepY == 0 && stepZ == 0) return; - - double dist = 0; - while (true) { - if (x >= min.x() && x < max.x() && y >= min.y() && y < max.y() && z >= min.z() && z < max.z()) { - output[output_points_cnt](0) = x; - output[output_points_cnt](1) = y; - output[output_points_cnt](2) = z; - - output_points_cnt++; - dist = sqrt((x - start(0)) * (x - start(0)) + (y - start(1)) * (y - start(1)) + - (z - start(2)) * (z - start(2))); - - if (dist > maxDist) return; - - /* if (output_points_cnt > 1500) { - std::cerr << "Error, too many racyast voxels." << - std::endl; - throw std::out_of_range("Too many raycast voxels"); - }*/ - } - - if (x == endX && y == endY && z == endZ) break; - - // tMaxX stores the t-value at which we cross a cube boundary along the - // X axis, and similarly for Y and Z. Therefore, choosing the least tMax - // chooses the closest cube boundary. Only the first case of the four - // has been commented in detail. - if (tMaxX < tMaxY) { - if (tMaxX < tMaxZ) { - // Update which cube we are now in. - x += stepX; - // Adjust tMaxX to the next X-oriented boundary crossing. - tMaxX += tDeltaX; - } else { - z += stepZ; - tMaxZ += tDeltaZ; - } - } else { - if (tMaxY < tMaxZ) { - y += stepY; - tMaxY += tDeltaY; - } else { - z += stepZ; - tMaxZ += tDeltaZ; - } - } - } -} - -void Raycast(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const Eigen::Vector3d& min, - const Eigen::Vector3d& max, std::vector* output) { - // std::cout << start << ' ' << end << std::endl; - // From "A Fast Voxel Traversal Algorithm for Ray Tracing" - // by John Amanatides and Andrew Woo, 1987 - // - // - // Extensions to the described algorithm: - // • Imposed a distance limit. - // • The face passed through to reach the current cube is provided to - // the callback. - - // The foundation of this algorithm is a parameterized representation of - // the provided ray, - // origin + t * direction, - // except that t is not actually stored; rather, at any given point in the - // traversal, we keep track of the *greater* t values which we would have - // if we took a step sufficient to cross a cube boundary along that axis - // (i.e. change the integer part of the coordinate) in the variables - // tMaxX, tMaxY, and tMaxZ. - - // Cube containing origin point. - int x = (int)std::floor(start.x()); - int y = (int)std::floor(start.y()); - int z = (int)std::floor(start.z()); - int endX = (int)std::floor(end.x()); - int endY = (int)std::floor(end.y()); - int endZ = (int)std::floor(end.z()); - Eigen::Vector3d direction = (end - start); - double maxDist = direction.squaredNorm(); - - // Break out direction vector. - double dx = endX - x; - double dy = endY - y; - double dz = endZ - z; - - // Direction to increment x,y,z when stepping. - int stepX = (int)signum((int)dx); - int stepY = (int)signum((int)dy); - int stepZ = (int)signum((int)dz); - - // See description above. The initial values depend on the fractional - // part of the origin. - double tMaxX = intbound(start.x(), dx); - double tMaxY = intbound(start.y(), dy); - double tMaxZ = intbound(start.z(), dz); - - // The change in t when taking a step (always positive). - double tDeltaX = ((double)stepX) / dx; - double tDeltaY = ((double)stepY) / dy; - double tDeltaZ = ((double)stepZ) / dz; - - output->clear(); - - // Avoids an infinite loop. - if (stepX == 0 && stepY == 0 && stepZ == 0) return; - - double dist = 0; - while (true) { - if (x >= min.x() && x < max.x() && y >= min.y() && y < max.y() && z >= min.z() && z < max.z()) { - output->push_back(Eigen::Vector3d(x, y, z)); - - dist = (Eigen::Vector3d(x, y, z) - start).squaredNorm(); - - if (dist > maxDist) return; - - if (output->size() > 1500) { - std::cerr << "Error, too many racyast voxels." << std::endl; - throw std::out_of_range("Too many raycast voxels"); - } - } - - if (x == endX && y == endY && z == endZ) break; - - // tMaxX stores the t-value at which we cross a cube boundary along the - // X axis, and similarly for Y and Z. Therefore, choosing the least tMax - // chooses the closest cube boundary. Only the first case of the four - // has been commented in detail. - if (tMaxX < tMaxY) { - if (tMaxX < tMaxZ) { - // Update which cube we are now in. - x += stepX; - // Adjust tMaxX to the next X-oriented boundary crossing. - tMaxX += tDeltaX; - } else { - z += stepZ; - tMaxZ += tDeltaZ; - } - } else { - if (tMaxY < tMaxZ) { - y += stepY; - tMaxY += tDeltaY; - } else { - z += stepZ; - tMaxZ += tDeltaZ; - } - } - } -} - -bool RayCaster::setInput(const Eigen::Vector3d& start, - const Eigen::Vector3d& end /* , const Eigen::Vector3d& min, - const Eigen::Vector3d& max */) { - start_ = start; - end_ = end; - // max_ = max; - // min_ = min; - - x_ = (int)std::floor(start_.x()); - y_ = (int)std::floor(start_.y()); - z_ = (int)std::floor(start_.z()); - endX_ = (int)std::floor(end_.x()); - endY_ = (int)std::floor(end_.y()); - endZ_ = (int)std::floor(end_.z()); - direction_ = (end_ - start_); - maxDist_ = direction_.squaredNorm(); - - // Break out direction vector. - dx_ = endX_ - x_; - dy_ = endY_ - y_; - dz_ = endZ_ - z_; - - // Direction to increment x,y,z when stepping. - stepX_ = (int)signum((int)dx_); - stepY_ = (int)signum((int)dy_); - stepZ_ = (int)signum((int)dz_); - - // See description above. The initial values depend on the fractional - // part of the origin. - tMaxX_ = intbound(start_.x(), dx_); - tMaxY_ = intbound(start_.y(), dy_); - tMaxZ_ = intbound(start_.z(), dz_); - - // The change in t when taking a step (always positive). - tDeltaX_ = ((double)stepX_) / dx_; - tDeltaY_ = ((double)stepY_) / dy_; - tDeltaZ_ = ((double)stepZ_) / dz_; - - dist_ = 0; - - step_num_ = 0; - - // Avoids an infinite loop. - if (stepX_ == 0 && stepY_ == 0 && stepZ_ == 0) - return false; - else - return true; -} - -bool RayCaster::step(Eigen::Vector3d& ray_pt) { - // if (x_ >= min_.x() && x_ < max_.x() && y_ >= min_.y() && y_ < max_.y() && - // z_ >= min_.z() && z_ < - // max_.z()) - ray_pt = Eigen::Vector3d(x_, y_, z_); - - // step_num_++; - - // dist_ = (Eigen::Vector3d(x_, y_, z_) - start_).squaredNorm(); - - if (x_ == endX_ && y_ == endY_ && z_ == endZ_) { - return false; - } - - // if (dist_ > maxDist_) - // { - // return false; - // } - - // tMaxX stores the t-value at which we cross a cube boundary along the - // X axis, and similarly for Y and Z. Therefore, choosing the least tMax - // chooses the closest cube boundary. Only the first case of the four - // has been commented in detail. - if (tMaxX_ < tMaxY_) { - if (tMaxX_ < tMaxZ_) { - // Update which cube we are now in. - x_ += stepX_; - // Adjust tMaxX to the next X-oriented boundary crossing. - tMaxX_ += tDeltaX_; - } else { - z_ += stepZ_; - tMaxZ_ += tDeltaZ_; - } - } else { - if (tMaxY_ < tMaxZ_) { - y_ += stepY_; - tMaxY_ += tDeltaY_; - } else { - z_ += stepZ_; - tMaxZ_ += tDeltaZ_; - } - } - - return true; -} \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/CMakeLists.txt deleted file mode 100644 index bdc238c..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/CMakeLists.txt +++ /dev/null @@ -1,55 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ego_planner) - -set(CMAKE_BUILD_TYPE "Release") -ADD_COMPILE_OPTIONS(-std=c++11 ) -ADD_COMPILE_OPTIONS(-std=c++14 ) -set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") - -find_package(Eigen3 REQUIRED) -find_package(PCL 1.7 REQUIRED) - -find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - geometry_msgs - quadrotor_msgs - plan_env - path_searching - bspline_opt - traj_utils - message_generation - cv_bridge - prometheus_msgs -) - -# catkin_package(CATKIN_DEPENDS message_runtime) -catkin_package( - INCLUDE_DIRS include - LIBRARIES ego_planner - CATKIN_DEPENDS plan_env path_searching bspline_opt traj_utils -# DEPENDS system_lib -) - -include_directories( - include - SYSTEM - ${catkin_INCLUDE_DIRS} ${PROJECT_SOURCE_DIR}/include - ${EIGEN3_INCLUDE_DIR} - ${PCL_INCLUDE_DIRS} -) - - -add_executable(ego_planner_node - src/ego_planner_node.cpp - src/ego_replan_fsm.cpp - src/planner_manager.cpp - ) -target_link_libraries(ego_planner_node - ${catkin_LIBRARIES} - ) -#add_dependencies(ego_planner_node ${${PROJECT_NAME}_EXPORTED_TARGETS}) - -add_executable(traj_server src/traj_server.cpp) -target_link_libraries(traj_server ${catkin_LIBRARIES}) -#add_dependencies(traj_server ${${PROJECT_NAME}_EXPORTED_TARGETS}) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/include/plan_manage/ego_replan_fsm.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/include/plan_manage/ego_replan_fsm.h deleted file mode 100644 index 2342e6a..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/include/plan_manage/ego_replan_fsm.h +++ /dev/null @@ -1,132 +0,0 @@ -#ifndef _REBO_REPLAN_FSM_H_ -#define _REBO_REPLAN_FSM_H_ - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -using std::vector; - -namespace ego_planner -{ - - class EGOReplanFSM - { - - private: - /* ---------- flag ---------- */ - //规划器状态 - enum FSM_EXEC_STATE - { - INIT, - WAIT_TARGET, - GEN_NEW_TRAJ, - REPLAN_TRAJ, - EXEC_TRAJ, - EMERGENCY_STOP, - SEQUENTIAL_START - }; - // 目标点类型 - enum TARGET_TYPE - { - MANUAL_TARGET = 1, - PRESET_TARGET = 2, - REFENCE_PATH = 3 - }; - - /* planning utils */ - EGOPlannerManager::Ptr planner_manager_; - PlanningVisualization::Ptr visualization_; - traj_utils::DataDisp data_disp_; - traj_utils::MultiBsplines multi_bspline_msgs_buf_; - - /* parameters */ - int target_type_; // 1 mannual select, 2 hard code - double no_replan_thresh_, replan_thresh_; - double waypoints_[50][3]; - int waypoint_num_, wp_id_; - double planning_horizen_, planning_horizen_time_; - double emergency_time_; - bool flag_realworld_experiment_; - bool enable_fail_safe_; - - /* planning data */ - bool have_trigger_, have_target_, have_odom_, have_new_target_, have_recv_pre_agent_; - FSM_EXEC_STATE exec_state_; - int continously_called_times_{0}; - - Eigen::Vector3d odom_pos_, odom_vel_, odom_acc_; // odometry state - Eigen::Quaterniond odom_orient_; - - Eigen::Vector3d init_pt_, start_pt_, start_vel_, start_acc_, start_yaw_; // start state - Eigen::Vector3d end_pt_, end_vel_; // goal state - Eigen::Vector3d local_target_pt_, local_target_vel_; // local target state - std::vector wps_; - int current_wp_; - - bool flag_escape_emergency_; - - /* ROS utils */ - ros::NodeHandle node_; - ros::Timer exec_timer_, safety_timer_; - ros::Subscriber waypoint_sub_, odom_sub_, swarm_trajs_sub_, broadcast_bspline_sub_, trigger_sub_; - ros::Publisher replan_pub_, new_pub_, bspline_pub_, data_disp_pub_, swarm_trajs_pub_, broadcast_bspline_pub_; - - /* helper functions */ - bool callReboundReplan(bool flag_use_poly_init, bool flag_randomPolyTraj); // front-end and back-end method - bool callEmergencyStop(Eigen::Vector3d stop_pos); // front-end and back-end method - bool planFromGlobalTraj(const int trial_times = 1); - bool planFromCurrentTraj(const int trial_times = 1); - - /* return value: std::pair< Times of the same state be continuously called, current continuously called state > */ - void changeFSMExecState(FSM_EXEC_STATE new_state, string pos_call); - std::pair timesOfConsecutiveStateCalls(); - void printFSMExecState(); - - void readGivenWps(); - void planNextWaypoint(const Eigen::Vector3d next_wp); - void getLocalTarget(); - - /* ROS functions */ - void execFSMCallback(const ros::TimerEvent &e); - void checkCollisionCallback(const ros::TimerEvent &e); - void waypointCallback(const geometry_msgs::PoseStampedPtr &msg); - void triggerCallback(const geometry_msgs::PoseStampedPtr &msg); - void odometryCallback(const nav_msgs::OdometryConstPtr &msg); - void swarmTrajsCallback(const traj_utils::MultiBsplinesPtr &msg); - void BroadcastBsplineCallback(const traj_utils::BsplinePtr &msg); - - bool checkCollision(); - void publishSwarmTrajs(bool startup_pub); - - public: - EGOReplanFSM(/* args */) - { - } - ~EGOReplanFSM() - { - } - - void init(ros::NodeHandle &nh); - - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - }; - -} // namespace ego_planner - -#endif \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/include/plan_manage/planner_manager.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/include/plan_manage/planner_manager.h deleted file mode 100644 index ce54642..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/include/plan_manage/planner_manager.h +++ /dev/null @@ -1,85 +0,0 @@ -#ifndef _PLANNER_MANAGER_H_ -#define _PLANNER_MANAGER_H_ - -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -namespace ego_planner -{ - - // Fast Planner Manager - // Key algorithms of mapping and planning are called - - class EGOPlannerManager - { - // SECTION stable - public: - EGOPlannerManager(); - ~EGOPlannerManager(); - - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - - /* main planning interface */ - bool reboundReplan(Eigen::Vector3d start_pt, Eigen::Vector3d start_vel, Eigen::Vector3d start_acc, - Eigen::Vector3d end_pt, Eigen::Vector3d end_vel, bool flag_polyInit, bool flag_randomPolyTraj); - bool EmergencyStop(Eigen::Vector3d stop_pos); - bool planGlobalTraj(const Eigen::Vector3d &start_pos, const Eigen::Vector3d &start_vel, const Eigen::Vector3d &start_acc, - const Eigen::Vector3d &end_pos, const Eigen::Vector3d &end_vel, const Eigen::Vector3d &end_acc); - bool planGlobalTrajWaypoints(const Eigen::Vector3d &start_pos, const Eigen::Vector3d &start_vel, const Eigen::Vector3d &start_acc, - const std::vector &waypoints, const Eigen::Vector3d &end_vel, const Eigen::Vector3d &end_acc); - - void initPlanModules(ros::NodeHandle &nh, PlanningVisualization::Ptr vis = NULL); - - void deliverTrajToOptimizer(void) { bspline_optimizer_->setSwarmTrajs(&swarm_trajs_buf_); }; - - void setDroneIdtoOpt(void) { bspline_optimizer_->setDroneId(pp_.drone_id); } - - double getSwarmClearance(void) { return bspline_optimizer_->getSwarmClearance(); } - - bool checkCollision(int drone_id); - - - PlanParameters pp_; - LocalTrajData local_data_; - GlobalTrajData global_data_; - GridMap::Ptr grid_map_; - fast_planner::ObjPredictor::Ptr obj_predictor_; - SwarmTrajData swarm_trajs_buf_; - - private: - /* main planning algorithms & modules */ - PlanningVisualization::Ptr visualization_; - - // ros::Publisher obj_pub_; //zx-todo - - BsplineOptimizer::Ptr bspline_optimizer_; - - int continous_failures_count_{0}; - - void updateTrajInfo(const UniformBspline &position_traj, const ros::Time time_now); - - void reparamBspline(UniformBspline &bspline, vector &start_end_derivative, double ratio, Eigen::MatrixXd &ctrl_pts, double &dt, - double &time_inc); - - bool refineTrajAlgo(UniformBspline &traj, vector &start_end_derivative, double ratio, double &ts, Eigen::MatrixXd &optimal_control_points); - - // !SECTION stable - - // SECTION developing - - public: - typedef unique_ptr Ptr; - - // !SECTION - }; -} // namespace ego_planner - -#endif \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/advanced_param.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/advanced_param.xml deleted file mode 100644 index 7f7b438..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/advanced_param.xml +++ /dev/null @@ -1,160 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/default.rviz b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/default.rviz deleted file mode 100644 index 5a1a196..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/default.rviz +++ /dev/null @@ -1,3055 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 0 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /simulation_map1/Autocompute Value Bounds1 - - /drone01/Planning1 - - /drone01/Planning1/drone_path1 - - /drone01/Planning1/drone_path1/Offset1 - - /drone01/Mapping1 - - /drone01/Mapping1/map inflate1 - - /drone11/Planning1 - - /drone11/Planning1/drone_path1 - - /drone11/Mapping1 - - /drone11/Mapping1/map inflate1 - - /drone11/Simulation1 - - /drone21/Planning1 - - /drone21/Planning1/drone_path1 - - /drone21/Mapping1 - - /drone21/Mapping1/map inflate1 - - /drone31/Planning1 - - /drone31/Planning1/drone_path1 - - /drone31/Mapping1 - - /drone31/Mapping1/map inflate1 - - /drone41/Planning1 - - /drone41/Planning1/optimal_traj1 - - /drone41/Planning1/drone_path1 - - /drone41/Mapping1 - - /drone41/Mapping1/map inflate1 - - /drone51/Planning1 - - /drone51/Planning1/drone_path1 - - /drone51/Mapping1 - - /drone51/Mapping1/map inflate1 - - /drone61/Planning1 - - /drone61/Planning1/drone_path1 - - /drone61/Mapping1 - - /drone61/Mapping1/map inflate1 - - /drone71/Planning1 - - /drone71/Planning1/InitTraj1 - - /drone71/Planning1/drone_path1 - - /drone71/Mapping1 - - /drone71/Mapping1/map inflate1 - - /drone71/Simulation1 - - /drone71/Simulation1/robot1 - - /drone81/Planning1 - - /drone81/Planning1/drone_path1 - - /drone81/Mapping1 - - /drone81/Mapping1/map inflate1 - - /drone81/Simulation1/robot1 - - /drone91/Planning1 - - /drone91/Planning1/drone_path1 - - /drone91/Mapping1 - - /drone91/Mapping1/map inflate1 - - /drone91/Simulation1 - - /drone91/Simulation1/robot1 - - /drone101/Planning1 - - /drone101/Planning1/optimal_traj1 - - /drone101/Planning1/drone_path1 - - /drone101/Simulation1 - - /drone101/Simulation1/robot1 - - /drone111/Planning1 - - /drone111/Planning1/optimal_traj1 - - /drone111/Simulation1 - - /drone111/Simulation1/robot1 - - /drone121/Planning1 - - /drone121/Planning1/optimal_traj1 - - /drone121/Planning1/drone_path1 - - /drone121/Simulation1 - - /drone121/Simulation1/robot1 - - /drone131/Planning1 - - /drone131/Planning1/optimal_traj1 - - /drone131/Planning1/drone_path1 - - /drone131/Simulation1/robot1 - - /drone141/Planning1 - - /drone141/Planning1/drone_path1 - - /drone141/Simulation1/robot1 - - /drone151/Planning1 - - /drone151/Planning1/optimal_traj1 - - /drone151/Planning1/drone_path1 - - /drone151/Simulation1 - - /drone151/Simulation1/robot1 - - /drone161/Planning1 - - /drone161/Planning1/optimal_traj1 - - /drone161/Planning1/drone_path1 - - /drone161/Simulation1 - - /drone161/Simulation1/robot1 - - /drone171/Planning1 - - /drone171/Planning1/optimal_traj1 - - /drone171/Planning1/drone_path1 - - /drone171/Simulation1 - - /drone171/Simulation1/robot1 - - /drone181/Planning1 - - /drone181/Planning1/optimal_traj1 - - /drone181/Planning1/drone_path1 - - /drone181/Simulation1 - - /drone181/Simulation1/robot1 - - /drone191/Planning1 - - /drone191/Planning1/goal_point1 - - /drone191/Planning1/optimal_traj1 - - /drone191/Planning1/drone_path1 - - /drone191/Simulation1 - - /drone191/Simulation1/robot1 - - /drone201/Planning1 - - /drone201/Planning1/drone_path1 - - /drone201/Simulation1 - - /drone201/Simulation1/robot1 - Splitter Ratio: 0.43611112236976624 - Tree Height: 441 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: simulation_map -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 1 - Class: rviz/Axes - Enabled: false - Length: 1 - Name: Axes - Radius: 0.10000000149011612 - Reference Frame: - Value: false - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 1000 - Reference Frame: - Value: true - - Alpha: 0.15000000596046448 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.9000000953674316 - Min Value: 0 - Value: false - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 85; 170; 255 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: simulation_map - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Boxes - Topic: /map_generator/global_cloud - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_0_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_0_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - "": true - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_0_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 29; 108; 212 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_0_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.8399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 29; 108; 212 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_0_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_0_odom_visualization/robot - Name: robot - Namespaces: - mesh: true - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_0_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone0 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_1_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_1_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - "": true - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_1_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 170; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_1_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 170; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_1_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_1_odom_visualization/robot - Name: robot - Namespaces: - mesh: true - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_1_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone1 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_2_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_2_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - "": true - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_2_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 170; 170; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_2_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 170; 170; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_2_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_2_odom_visualization/robot - Name: robot - Namespaces: - mesh: true - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_2_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone2 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_3_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_3_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - "": true - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_3_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 170; 0; 255 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_3_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 170; 0; 255 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_3_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_3_odom_visualization/robot - Name: robot - Namespaces: - mesh: true - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_3_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone3 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_4_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_4_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - "": true - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_4_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 170; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_4_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 0; 170; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_4_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_4_odom_visualization/robot - Name: robot - Namespaces: - mesh: true - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_4_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone4 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_5_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_5_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - "": true - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_5_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 0; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_5_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 0; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_5_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_5_odom_visualization/robot - Name: robot - Namespaces: - mesh: true - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_5_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone5 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_6_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_6_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - "": true - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_6_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 190; 120; 121 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_6_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 190; 120; 121 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_6_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_6_odom_visualization/robot - Name: robot - Namespaces: - mesh: true - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_6_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone6 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_7_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_7_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - "": true - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_7_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 170; 255 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_7_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 0; 170; 255 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_5_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_7_odom_visualization/robot - Name: robot - Namespaces: - mesh: true - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_5_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone7 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_8_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_8_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - "": true - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_8_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 226; 0; 158 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_8_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 226; 0; 158 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_8_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_8_odom_visualization/robot - Name: robot - Namespaces: - mesh: true - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_5_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone8 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_9_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - "": true - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 170; 85; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_9_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 170; 85; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_9_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_9_odom_visualization/robot - Name: robot - Namespaces: - mesh: true - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_5_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone9 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_10_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 29; 108; 212 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_10_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 170; 85; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_9_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_10_odom_visualization/robot - Name: robot - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_5_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone10 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_11_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 170; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_11_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 170; 85; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_9_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_11_odom_visualization/robot - Name: robot - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_5_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone11 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_12_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 170; 170; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_12_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 170; 85; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_9_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_12_odom_visualization/robot - Name: robot - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_5_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone12 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_13_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 170; 0; 255 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_13_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 170; 85; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_9_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_13_odom_visualization/robot - Name: robot - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_5_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone13 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_14_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 170; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_14_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 170; 85; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_9_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_14_odom_visualization/robot - Name: robot - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_5_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone14 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_15_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 0; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_15_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 170; 85; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_9_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_15_odom_visualization/robot - Name: robot - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_5_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone15 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_16_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 190; 120; 121 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_16_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 170; 85; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_9_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_16_odom_visualization/robot - Name: robot - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_5_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone16 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_17_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 170; 255 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_17_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 170; 85; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_9_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_17_odom_visualization/robot - Name: robot - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_5_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone17 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_18_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 226; 0; 158 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_18_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 170; 85; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_9_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_18_odom_visualization/robot - Name: robot - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_5_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone18 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_19_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_19_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 170; 85; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_19_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 170; 85; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_9_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_19_odom_visualization/robot - Name: robot - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_5_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone19 - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/goal_point - Name: goal_point - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/global_list - Name: global_path - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_20_ego_planner_node/optimal_list - Name: optimal_traj - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /ego_planner_node/a_star_list - Name: AStar - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /drone_9_ego_planner_node/init_list - Name: InitTraj - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 20; 106; 172 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.10000000149011612 - Name: drone_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /drone_20_odom_visualization/path - Unreliable: false - Value: true - Enabled: true - Name: Planning - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.3399999141693115 - Min Value: 0.03999999910593033 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 170; 85; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: map inflate - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: /drone_9_ego_planner_node/grid_map/occupancy_inflate - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Mapping - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /drone_20_odom_visualization/robot - Name: robot - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /drone_5_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: depth - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Name: Simulation - Enabled: true - Name: drone20 - - Class: rviz/Image - Enabled: false - Image Topic: /drone_0_pcl_render_node/depth - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Enabled: true - Global Options: - Background Color: 255; 255; 255 - Default Light: true - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/ThirdPersonFollower - Distance: 52.77322769165039 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: -10.308119773864746 - Y: -0.9097803831100464 - Z: -9.5367431640625e-07 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 1.5697963237762451 - Target Frame: - Yaw: 3.1415886878967285 - Saved: - - Class: rviz/FPS - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Invert Z Axis: false - Name: FPS - Near Clip Distance: 0.009999999776482582 - Pitch: 0.4000000059604645 - Position: - X: -11 - Y: 0 - Z: 8 - Roll: 0 - Target Frame: my_view - Yaw: 0 - - Class: rviz/FPS - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Invert Z Axis: false - Name: FPS - Near Clip Distance: 0.009999999776482582 - Pitch: 0.5 - Position: - X: -10 - Y: 0 - Z: 10 - Roll: 0 - Target Frame: my_view - Yaw: 0 - - Class: rviz/FPS - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Invert Z Axis: false - Name: FPS - Near Clip Distance: 0.009999999776482582 - Pitch: 0.6000000238418579 - Position: - X: -10 - Y: 0 - Z: 10 - Roll: 0 - Target Frame: my_view - Yaw: 0 -Window Geometry: - Displays: - collapsed: true - Height: 1241 - Hide Left Dock: true - Hide Right Dock: false - Image: - collapsed: true - QMainWindow State: 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 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1102 - X: 3339 - Y: 75 - depth: - collapsed: false diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/run_in_sim.launch b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/run_in_sim.launch deleted file mode 100644 index 0eb4ad7..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/run_in_sim.launch +++ /dev/null @@ -1,135 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - > - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/rviz.launch b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/rviz.launch deleted file mode 100644 index 667873d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/rviz.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/simple_run.launch b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/simple_run.launch deleted file mode 100644 index 44ab710..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/simple_run.launch +++ /dev/null @@ -1,4 +0,0 @@ - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/simulator.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/simulator.xml deleted file mode 100644 index 9950ea0..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/simulator.xml +++ /dev/null @@ -1,141 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/single_run_in_sim.launch b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/single_run_in_sim.launch deleted file mode 100644 index 14639cc..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/single_run_in_sim.launch +++ /dev/null @@ -1,117 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/swarm.launch b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/swarm.launch deleted file mode 100644 index 1cc2db5..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/swarm.launch +++ /dev/null @@ -1,205 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/swarm_large.launch b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/swarm_large.launch deleted file mode 100644 index d3794d1..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/launch/swarm_large.launch +++ /dev/null @@ -1,412 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/package.xml deleted file mode 100644 index c3776ea..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/package.xml +++ /dev/null @@ -1,82 +0,0 @@ - - - ego_planner - 0.0.0 - The ego_planner package - - - - - iszhouxin - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - std_msgs - - plan_env - path_searching - bspline_opt - traj_utils - - roscpp - std_msgs - - roscpp - std_msgs - message_runtime - - plan_env - path_searching - bspline_opt - traj_utils - - - - - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/src/ego_planner_node.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/src/ego_planner_node.cpp deleted file mode 100644 index 21ef6c3..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/src/ego_planner_node.cpp +++ /dev/null @@ -1,56 +0,0 @@ -#include -#include - -#include - -using namespace ego_planner; - -int main(int argc, char **argv) -{ - - ros::init(argc, argv, "ego_planner_node"); - ros::NodeHandle nh("~"); - - EGOReplanFSM rebo_replan; - - rebo_replan.init(nh); - - // ros::Duration(1.0).sleep(); - ros::spin(); - - return 0; -} - -// #include -// #include -// #include - -// #include - -// using namespace ego_planner; - -// void SignalHandler(int signal) { -// if(ros::isInitialized() && ros::isStarted() && ros::ok() && !ros::isShuttingDown()){ -// ros::shutdown(); -// } -// } - -// int main(int argc, char **argv) { - -// signal(SIGINT, SignalHandler); -// signal(SIGTERM,SignalHandler); - -// ros::init(argc, argv, "ego_planner_node", ros::init_options::NoSigintHandler); -// ros::NodeHandle nh("~"); - -// EGOReplanFSM rebo_replan; - -// rebo_replan.init(nh); - -// // ros::Duration(1.0).sleep(); -// ros::AsyncSpinner async_spinner(4); -// async_spinner.start(); -// ros::waitForShutdown(); - -// return 0; -// } \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/src/ego_replan_fsm.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/src/ego_replan_fsm.cpp deleted file mode 100644 index 6e5cdd5..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/src/ego_replan_fsm.cpp +++ /dev/null @@ -1,954 +0,0 @@ - -#include - -namespace ego_planner -{ - - void EGOReplanFSM::init(ros::NodeHandle &nh) - { - current_wp_ = 0; - exec_state_ = FSM_EXEC_STATE::INIT; - have_target_ = false; - have_odom_ = false; - have_recv_pre_agent_ = false; - - /* fsm param */ - // 目标点类型：1，手动设定目标点；2，预设目标点 - nh.param("fsm/flight_type", target_type_, -1); - // 重规划时间间隔 - nh.param("fsm/thresh_replan_time", replan_thresh_, -1.0); - // 与目标距离小于该参数时，停止规划 - nh.param("fsm/thresh_no_replan_meter", no_replan_thresh_, -1.0); - // 规划范围 - nh.param("fsm/planning_horizon", planning_horizen_, -1.0); - // 紧急停止时间 - nh.param("fsm/emergency_time", emergency_time_, 1.0); - // 仿真与实际标志位，实际中需要等待一个起始话题 - nh.param("fsm/realworld_experiment", flag_realworld_experiment_, false); - // 未知 - nh.param("fsm/fail_safe", enable_fail_safe_, true); - // 真实实验中需要等待"/traj_start_trigger"话题 - have_trigger_ = !flag_realworld_experiment_; - // 读取waypoint - nh.param("fsm/waypoint_num", waypoint_num_, -1); - for (int i = 0; i < waypoint_num_; i++) - { - nh.param("fsm/waypoint" + to_string(i) + "_x", waypoints_[i][0], -1.0); - nh.param("fsm/waypoint" + to_string(i) + "_y", waypoints_[i][1], -1.0); - nh.param("fsm/waypoint" + to_string(i) + "_z", waypoints_[i][2], -1.0); - } - - /* initialize main modules */ - // 显示类 - visualization_.reset(new PlanningVisualization(nh)); - // 规划器类 - planner_manager_.reset(new EGOPlannerManager); - planner_manager_->initPlanModules(nh, visualization_); - planner_manager_->deliverTrajToOptimizer(); // store trajectories - planner_manager_->setDroneIdtoOpt(); - - /* callback */ - // 规划状态机定时器 - exec_timer_ = nh.createTimer(ros::Duration(0.01), &EGOReplanFSM::execFSMCallback, this); - // 安全检查定时器 - safety_timer_ = nh.createTimer(ros::Duration(0.05), &EGOReplanFSM::checkCollisionCallback, this); - // 订阅里程计 - odom_sub_ = nh.subscribe("odom_world", 1, &EGOReplanFSM::odometryCallback, this); - // 订阅其他无人机位置 - // ego默认从0开始，我们默认从1开始，因此这里>2 - if (planner_manager_->pp_.drone_id >= 2) - { - string sub_topic_name = string("/uav") + std::to_string(planner_manager_->pp_.drone_id - 1) + string("_planning/swarm_trajs"); - swarm_trajs_sub_ = nh.subscribe(sub_topic_name.c_str(), 10, &EGOReplanFSM::swarmTrajsCallback, this, ros::TransportHints().tcpNoDelay()); - } - string pub_topic_name = string("/uav") + std::to_string(planner_manager_->pp_.drone_id) + string("_planning/swarm_trajs"); - swarm_trajs_pub_ = nh.advertise(pub_topic_name.c_str(), 10); - - broadcast_bspline_pub_ = nh.advertise("planning/broadcast_bspline_from_planner", 10); - broadcast_bspline_sub_ = nh.subscribe("planning/broadcast_bspline_to_planner", 100, &EGOReplanFSM::BroadcastBsplineCallback, this, ros::TransportHints().tcpNoDelay()); - - bspline_pub_ = nh.advertise("planning/bspline", 10); - data_disp_pub_ = nh.advertise("planning/data_display", 100); - - if (target_type_ == TARGET_TYPE::MANUAL_TARGET) - { - string waypoint_topic_name = string("/uav") + std::to_string(planner_manager_->pp_.drone_id) + string("/prometheus/ego/goal"); - waypoint_sub_ = nh.subscribe(waypoint_topic_name.c_str(), 1, &EGOReplanFSM::waypointCallback, this); - } - else if (target_type_ == TARGET_TYPE::PRESET_TARGET) - { - trigger_sub_ = nh.subscribe("/traj_start_trigger", 1, &EGOReplanFSM::triggerCallback, this); - - ROS_INFO("Wait for 1 second."); - int count = 0; - while (ros::ok() && count++ < 1000) - { - ros::spinOnce(); - ros::Duration(0.001).sleep(); - } - - ROS_WARN("Waiting for trigger from [n3ctrl] from RC"); - - while (ros::ok() && (!have_odom_ || !have_trigger_)) - { - ros::spinOnce(); - ros::Duration(0.001).sleep(); - } - - readGivenWps(); - } - else - cout << "Wrong target_type_ value! target_type_=" << target_type_ << endl; - } - - void EGOReplanFSM::readGivenWps() - { - if (waypoint_num_ <= 0) - { - ROS_ERROR("Wrong waypoint_num_ = %d", waypoint_num_); - return; - } - - wps_.resize(waypoint_num_); - for (int i = 0; i < waypoint_num_; i++) - { - wps_[i](0) = waypoints_[i][0]; - wps_[i](1) = waypoints_[i][1]; - wps_[i](2) = waypoints_[i][2]; - } - - for (size_t i = 0; i < (size_t)waypoint_num_; i++) - { - // 发布目标点用于显示 "/drone_x_ego_planner_node/goal_point" - [目标点,颜色,大小,id] - visualization_->displayGoalPoint(wps_[i], Eigen::Vector4d(0, 0.5, 0.5, 1), 0.3, i); - ros::Duration(0.001).sleep(); - } - - // 执行第一个路径点 - wp_id_ = 0; - planNextWaypoint(wps_[wp_id_]); - } - - void EGOReplanFSM::planNextWaypoint(const Eigen::Vector3d next_wp) - { - bool success = false; - // planGlobalTraj(起始位置\速度\加速度,终点位置\速度\加速度) - success = planner_manager_->planGlobalTraj(odom_pos_, odom_vel_, Eigen::Vector3d::Zero(), next_wp, Eigen::Vector3d::Zero(), Eigen::Vector3d::Zero()); - - if (success) - { - end_pt_ = next_wp; - - constexpr double step_size_t = 0.1; - // planner_manager_->global_data_.global_duration_是整段轨迹的预估时间 - int i_end = floor(planner_manager_->global_data_.global_duration_ / step_size_t); - vector gloabl_traj(i_end); - for (int i = 0; i < i_end; i++) - { - // 按照step_size_t提取路径点,按照时间分布 - gloabl_traj[i] = planner_manager_->global_data_.global_traj_.evaluate(i * step_size_t); - } - - end_vel_.setZero(); - have_target_ = true; - have_new_target_ = true; - - /*** FSM ***/ - if (exec_state_ == WAIT_TARGET) - changeFSMExecState(GEN_NEW_TRAJ, "TRIG"); - else - { - while (exec_state_ != EXEC_TRAJ) - { - ros::spinOnce(); - ros::Duration(0.001).sleep(); - } - changeFSMExecState(REPLAN_TRAJ, "TRIG"); - } - - // 发布GlobalPath用于显示 "/drone_x_ego_planner_node/global_list" - [GlobalPath,大小,id] - visualization_->displayGlobalPathList(gloabl_traj, 0.1, 0); - } - else - { - ROS_ERROR("Unable to generate global trajectory!"); - } - } - - void EGOReplanFSM::triggerCallback(const geometry_msgs::PoseStampedPtr &msg) - { - have_trigger_ = true; - cout << "Triggered!" << endl; - init_pt_ = odom_pos_; - } - - void EGOReplanFSM::waypointCallback(const geometry_msgs::PoseStampedPtr &msg) - { - if (msg->pose.position.z < -0.1) - return; - - if(msg->pose.position.x == 99.99 && msg->pose.position.y == 99.99) - { - callEmergencyStop(odom_pos_); - have_target_ = false; - exec_state_ = WAIT_TARGET; - return; - } - - callEmergencyStop(odom_pos_); - sleep(2.0); - - cout << "Get goal!" << endl; - init_pt_ = odom_pos_; - - // 此处定高1米 - Eigen::Vector3d end_wp(msg->pose.position.x, msg->pose.position.y, 1.0); - - // 发布目标点用于显示 - [目标点,颜色,大小,id] - visualization_->displayGoalPoint(end_wp, Eigen::Vector4d(0, 0.5, 0.5, 1), 0.3, 1); - - planNextWaypoint(end_wp); - } - - void EGOReplanFSM::odometryCallback(const nav_msgs::OdometryConstPtr &msg) - { - odom_pos_(0) = msg->pose.pose.position.x; - odom_pos_(1) = msg->pose.pose.position.y; - odom_pos_(2) = msg->pose.pose.position.z; - - odom_vel_(0) = msg->twist.twist.linear.x; - odom_vel_(1) = msg->twist.twist.linear.y; - odom_vel_(2) = msg->twist.twist.linear.z; - - //odom_acc_ = estimateAcc( msg ); - - odom_orient_.w() = msg->pose.pose.orientation.w; - odom_orient_.x() = msg->pose.pose.orientation.x; - odom_orient_.y() = msg->pose.pose.orientation.y; - odom_orient_.z() = msg->pose.pose.orientation.z; - - have_odom_ = true; - } - - void EGOReplanFSM::BroadcastBsplineCallback(const traj_utils::BsplinePtr &msg) - { - printf("BroadcastBsplineCallback!\n"); - size_t id = msg->drone_id; - if ((int)id == planner_manager_->pp_.drone_id) - return; - - if (abs((ros::Time::now() - msg->start_time).toSec()) > 0.25) - { - ROS_ERROR("Time difference is too large! Local - Remote Agent %d = %fs", - msg->drone_id, (ros::Time::now() - msg->start_time).toSec()); - return; - } - - /* Fill up the buffer */ - if (planner_manager_->swarm_trajs_buf_.size() <= id) - { - for (size_t i = planner_manager_->swarm_trajs_buf_.size(); i <= id; i++) - { - OneTrajDataOfSwarm blank; - blank.drone_id = -1; - planner_manager_->swarm_trajs_buf_.push_back(blank); - } - } - - /* Test distance to the agent */ - Eigen::Vector3d cp0(msg->pos_pts[0].x, msg->pos_pts[0].y, msg->pos_pts[0].z); - Eigen::Vector3d cp1(msg->pos_pts[1].x, msg->pos_pts[1].y, msg->pos_pts[1].z); - Eigen::Vector3d cp2(msg->pos_pts[2].x, msg->pos_pts[2].y, msg->pos_pts[2].z); - Eigen::Vector3d swarm_start_pt = (cp0 + 4 * cp1 + cp2) / 6; - if ((swarm_start_pt - odom_pos_).norm() > planning_horizen_ * 4.0f / 3.0f) - { - planner_manager_->swarm_trajs_buf_[id].drone_id = -1; - return; // if the current drone is too far to the received agent. - } - - /* Store data */ - Eigen::MatrixXd pos_pts(3, msg->pos_pts.size()); - Eigen::VectorXd knots(msg->knots.size()); - for (size_t j = 0; j < msg->knots.size(); ++j) - { - knots(j) = msg->knots[j]; - } - for (size_t j = 0; j < msg->pos_pts.size(); ++j) - { - pos_pts(0, j) = msg->pos_pts[j].x; - pos_pts(1, j) = msg->pos_pts[j].y; - pos_pts(2, j) = msg->pos_pts[j].z; - } - - planner_manager_->swarm_trajs_buf_[id].drone_id = id; - - if (msg->order % 2) - { - double cutback = (double)msg->order / 2 + 1.5; - planner_manager_->swarm_trajs_buf_[id].duration_ = msg->knots[msg->knots.size() - ceil(cutback)]; - } - else - { - double cutback = (double)msg->order / 2 + 1.5; - planner_manager_->swarm_trajs_buf_[id].duration_ = (msg->knots[msg->knots.size() - floor(cutback)] + msg->knots[msg->knots.size() - ceil(cutback)]) / 2; - } - - UniformBspline pos_traj(pos_pts, msg->order, msg->knots[1] - msg->knots[0]); - pos_traj.setKnot(knots); - planner_manager_->swarm_trajs_buf_[id].position_traj_ = pos_traj; - - planner_manager_->swarm_trajs_buf_[id].start_pos_ = planner_manager_->swarm_trajs_buf_[id].position_traj_.evaluateDeBoorT(0); - - planner_manager_->swarm_trajs_buf_[id].start_time_ = msg->start_time; - // planner_manager_->swarm_trajs_buf_[id].start_time_ = ros::Time::now(); // Un-reliable time sync - - /* Check Collision */ - printf("Check Collision\n"); - if (planner_manager_->checkCollision(id)) - { - changeFSMExecState(REPLAN_TRAJ, "TRAJ_CHECK"); - } - } - - void EGOReplanFSM::swarmTrajsCallback(const traj_utils::MultiBsplinesPtr &msg) - { - - multi_bspline_msgs_buf_.traj.clear(); - multi_bspline_msgs_buf_ = *msg; - - // cout << "\033[45;33mmulti_bspline_msgs_buf.drone_id_from=" << multi_bspline_msgs_buf_.drone_id_from << " multi_bspline_msgs_buf_.traj.size()=" << multi_bspline_msgs_buf_.traj.size() << "\033[0m" << endl; - - if (!have_odom_) - { - ROS_ERROR("swarmTrajsCallback(): no odom!, return."); - return; - } - - if ((int)msg->traj.size() != msg->drone_id_from + 1) // drone_id must start from 0 - { - ROS_ERROR("Wrong trajectory size! msg->traj.size()=%d, msg->drone_id_from+1=%d", (int)msg->traj.size(), msg->drone_id_from + 1); - return; - } - - if (msg->traj[0].order != 3) // only support B-spline order equals 3. - { - ROS_ERROR("Only support B-spline order equals 3."); - return; - } - - // Step 1. receive the trajectories - planner_manager_->swarm_trajs_buf_.clear(); - planner_manager_->swarm_trajs_buf_.resize(msg->traj.size()); - - for (size_t i = 0; i < msg->traj.size(); i++) - { - - Eigen::Vector3d cp0(msg->traj[i].pos_pts[0].x, msg->traj[i].pos_pts[0].y, msg->traj[i].pos_pts[0].z); - Eigen::Vector3d cp1(msg->traj[i].pos_pts[1].x, msg->traj[i].pos_pts[1].y, msg->traj[i].pos_pts[1].z); - Eigen::Vector3d cp2(msg->traj[i].pos_pts[2].x, msg->traj[i].pos_pts[2].y, msg->traj[i].pos_pts[2].z); - Eigen::Vector3d swarm_start_pt = (cp0 + 4 * cp1 + cp2) / 6; - if ((swarm_start_pt - odom_pos_).norm() > planning_horizen_ * 4.0f / 3.0f) - { - planner_manager_->swarm_trajs_buf_[i].drone_id = -1; - continue; - } - - Eigen::MatrixXd pos_pts(3, msg->traj[i].pos_pts.size()); - Eigen::VectorXd knots(msg->traj[i].knots.size()); - for (size_t j = 0; j < msg->traj[i].knots.size(); ++j) - { - knots(j) = msg->traj[i].knots[j]; - } - for (size_t j = 0; j < msg->traj[i].pos_pts.size(); ++j) - { - pos_pts(0, j) = msg->traj[i].pos_pts[j].x; - pos_pts(1, j) = msg->traj[i].pos_pts[j].y; - pos_pts(2, j) = msg->traj[i].pos_pts[j].z; - } - - planner_manager_->swarm_trajs_buf_[i].drone_id = i; - - if (msg->traj[i].order % 2) - { - double cutback = (double)msg->traj[i].order / 2 + 1.5; - planner_manager_->swarm_trajs_buf_[i].duration_ = msg->traj[i].knots[msg->traj[i].knots.size() - ceil(cutback)]; - } - else - { - double cutback = (double)msg->traj[i].order / 2 + 1.5; - planner_manager_->swarm_trajs_buf_[i].duration_ = (msg->traj[i].knots[msg->traj[i].knots.size() - floor(cutback)] + msg->traj[i].knots[msg->traj[i].knots.size() - ceil(cutback)]) / 2; - } - - // planner_manager_->swarm_trajs_buf_[i].position_traj_ = - UniformBspline pos_traj(pos_pts, msg->traj[i].order, msg->traj[i].knots[1] - msg->traj[i].knots[0]); - pos_traj.setKnot(knots); - planner_manager_->swarm_trajs_buf_[i].position_traj_ = pos_traj; - - planner_manager_->swarm_trajs_buf_[i].start_pos_ = planner_manager_->swarm_trajs_buf_[i].position_traj_.evaluateDeBoorT(0); - - planner_manager_->swarm_trajs_buf_[i].start_time_ = msg->traj[i].start_time; - } - - have_recv_pre_agent_ = true; - - printf("have_recv_pre_agent_==true\n"); - } - - void EGOReplanFSM::changeFSMExecState(FSM_EXEC_STATE new_state, string pos_call) - { - - if (new_state == exec_state_) - continously_called_times_++; - else - continously_called_times_ = 1; - - static string state_str[8] = {"INIT", "WAIT_TARGET", "GEN_NEW_TRAJ", "REPLAN_TRAJ", "EXEC_TRAJ", "EMERGENCY_STOP", "SEQUENTIAL_START"}; - int pre_s = int(exec_state_); - exec_state_ = new_state; - // COMMENT - cout << "[" + pos_call + "]: from " + state_str[pre_s] + " to " + state_str[int(new_state)] << endl; - } - - std::pair EGOReplanFSM::timesOfConsecutiveStateCalls() - { - return std::pair(continously_called_times_, exec_state_); - } - - void EGOReplanFSM::printFSMExecState() - { - static string state_str[8] = {"INIT", "WAIT_TARGET", "GEN_NEW_TRAJ", "REPLAN_TRAJ", "EXEC_TRAJ", "EMERGENCY_STOP", "SEQUENTIAL_START"}; - - cout << "/uav"<< planner_manager_->pp_.drone_id <<" planner state: " + state_str[int(exec_state_)] << endl; - } - - void EGOReplanFSM::execFSMCallback(const ros::TimerEvent &e) - { - // 暂停计时 - exec_timer_.stop(); // To avoid blockage (阻塞) - - static int fsm_num = 0; - fsm_num++; - if (fsm_num == 1000) - { - printFSMExecState(); - if (!have_odom_) - cout << "no odom." << endl; - if (!have_target_) - // cout << "wait for goal or trigger." << endl; - fsm_num = 0; - } - - switch (exec_state_) - { - case INIT: - { - if (!have_odom_) - { - goto force_return; - // return; - } - changeFSMExecState(WAIT_TARGET, "FSM"); - break; - } - - case WAIT_TARGET: - { - if (!have_target_ || !have_trigger_) - goto force_return; - // return; - else - { - changeFSMExecState(SEQUENTIAL_START, "FSM"); - } - break; - } - - // 按顺序启动 - case SEQUENTIAL_START: // for swarm - { - // swarmTrajsCallback回调后,have_recv_pre_agent_会被设置为true - // ego默认从0开始，我们默认从1开始，因此这里>2 - if (planner_manager_->pp_.drone_id <= 1 || (planner_manager_->pp_.drone_id >= 2&& have_recv_pre_agent_)) - { - if (have_odom_ && have_target_ && have_trigger_) - { - bool success = planFromGlobalTraj(10); // zx-todo - if (success) - { - changeFSMExecState(EXEC_TRAJ, "FSM"); - - publishSwarmTrajs(true); - } - else - { - ROS_ERROR("Failed to generate the first trajectory!!!"); - changeFSMExecState(SEQUENTIAL_START, "FSM"); - } - } - else - { - ROS_ERROR("No odom or no target! have_odom_=%d, have_target_=%d", have_odom_, have_target_); - } - } - - break; - } - - case GEN_NEW_TRAJ: - { - - // Eigen::Vector3d rot_x = odom_orient_.toRotationMatrix().block(0, 0, 3, 1); - // start_yaw_(0) = atan2(rot_x(1), rot_x(0)); - // start_yaw_(1) = start_yaw_(2) = 0.0; - - bool success = planFromGlobalTraj(10); // zx-todo - if (success) - { - changeFSMExecState(EXEC_TRAJ, "FSM"); - flag_escape_emergency_ = true; - publishSwarmTrajs(false); - } - else - { - changeFSMExecState(GEN_NEW_TRAJ, "FSM"); - } - break; - } - - case REPLAN_TRAJ: - { - - if (planFromCurrentTraj(1)) - { - changeFSMExecState(EXEC_TRAJ, "FSM"); - publishSwarmTrajs(false); - } - else - { - changeFSMExecState(REPLAN_TRAJ, "FSM"); - } - - break; - } - - case EXEC_TRAJ: - { - /* determine if need to replan */ - LocalTrajData *info = &planner_manager_->local_data_; - ros::Time time_now = ros::Time::now(); - double t_cur = (time_now - info->start_time_).toSec(); - t_cur = min(info->duration_, t_cur); - - // 当前位置从轨迹中读取,可改为从odom中读取 - Eigen::Vector3d pos = info->position_traj_.evaluateDeBoorT(t_cur); - - /* && (end_pt_ - pos).norm() < 0.5 */ - if ((target_type_ == TARGET_TYPE::PRESET_TARGET) && - (wp_id_ < waypoint_num_ - 1) && - (end_pt_ - pos).norm() < no_replan_thresh_) - { - wp_id_++; - planNextWaypoint(wps_[wp_id_]); - } - else if ((local_target_pt_ - end_pt_).norm() < 1e-3) // end_pt_是目标点， - { - if (t_cur > info->duration_ - 1e-2) - { - have_target_ = false; - have_trigger_ = false; - - if (target_type_ == TARGET_TYPE::PRESET_TARGET) - { - wp_id_ = 0; - planNextWaypoint(wps_[wp_id_]); - } - - changeFSMExecState(WAIT_TARGET, "FSM"); - goto force_return; - // return; - } - else if ((end_pt_ - pos).norm() > no_replan_thresh_ && t_cur > replan_thresh_) - { - changeFSMExecState(REPLAN_TRAJ, "FSM"); - } - } - else if (t_cur > replan_thresh_) - { - changeFSMExecState(REPLAN_TRAJ, "FSM"); - } - - break; - } - - case EMERGENCY_STOP: - { - - if (flag_escape_emergency_) // Avoiding repeated calls - { - callEmergencyStop(odom_pos_); - } - else - { - if (enable_fail_safe_ && odom_vel_.norm() < 0.1) - changeFSMExecState(GEN_NEW_TRAJ, "FSM"); - } - - flag_escape_emergency_ = false; - break; - } - } - - data_disp_.header.stamp = ros::Time::now(); - data_disp_pub_.publish(data_disp_); - - force_return:; - exec_timer_.start(); - } - - bool EGOReplanFSM::planFromGlobalTraj(const int trial_times /*=1*/) //zx-todo - { - start_pt_ = odom_pos_; - start_vel_ = odom_vel_; - start_acc_.setZero(); - - bool flag_random_poly_init; - // 如果切换了exec状态,timesOfConsecutiveStateCalls().first=1 - if (timesOfConsecutiveStateCalls().first == 1) - flag_random_poly_init = false; - else - flag_random_poly_init = true; - - for (int i = 0; i < trial_times; i++) - { - if (callReboundReplan(true, flag_random_poly_init)) - { - return true; - } - } - return false; - } - - bool EGOReplanFSM::planFromCurrentTraj(const int trial_times /*=1*/) - { - - LocalTrajData *info = &planner_manager_->local_data_; - ros::Time time_now = ros::Time::now(); - double t_cur = (time_now - info->start_time_).toSec(); - - //cout << "info->velocity_traj_=" << info->velocity_traj_.get_control_points() << endl; - - // 将start_pt改为当前位置? - start_pt_ = info->position_traj_.evaluateDeBoorT(t_cur); - start_vel_ = info->velocity_traj_.evaluateDeBoorT(t_cur); - start_acc_ = info->acceleration_traj_.evaluateDeBoorT(t_cur); - - bool success = callReboundReplan(false, false); - - if (!success) - { - success = callReboundReplan(true, false); - //changeFSMExecState(EXEC_TRAJ, "FSM"); - if (!success) - { - for (int i = 0; i < trial_times; i++) - { - success = callReboundReplan(true, true); - if (success) - break; - } - if (!success) - { - return false; - } - } - } - - return true; - } - - void EGOReplanFSM::checkCollisionCallback(const ros::TimerEvent &e) - { - - LocalTrajData *info = &planner_manager_->local_data_; - auto map = planner_manager_->grid_map_; - - if (exec_state_ == WAIT_TARGET || info->start_time_.toSec() < 1e-5) - return; - - /* ---------- check lost of depth ---------- */ - if(map->getOdomDepthTimeout()) - { - ROS_ERROR("Depth Lost! EMERGENCY_STOP"); - enable_fail_safe_ = false; - changeFSMExecState(EMERGENCY_STOP, "SAFETY"); - } - else - { - if(enable_fail_safe_ == false) - { - ROS_INFO("Depth Get! GEN_NEW_TRAJ"); - enable_fail_safe_ = true; - } - } - - /* ---------- check trajectory ---------- */ - constexpr double time_step = 0.01; - double t_cur = (ros::Time::now() - info->start_time_).toSec(); - Eigen::Vector3d p_cur = info->position_traj_.evaluateDeBoorT(t_cur); - const double CLEARANCE = 1.0 * planner_manager_->getSwarmClearance(); - double t_cur_global = ros::Time::now().toSec(); - double t_2_3 = info->duration_ * 2 / 3; - for (double t = t_cur; t < info->duration_; t += time_step) - { - if (t_cur < t_2_3 && t >= t_2_3) // If t_cur < t_2_3, only the first 2/3 partition of the trajectory is considered valid and will get checked. - break; - - bool occ = false; - occ |= map->getInflateOccupancy(info->position_traj_.evaluateDeBoorT(t)); - - for (size_t id = 0; id < planner_manager_->swarm_trajs_buf_.size(); id++) - { - if ((planner_manager_->swarm_trajs_buf_.at(id).drone_id != (int)id) || (planner_manager_->swarm_trajs_buf_.at(id).drone_id == planner_manager_->pp_.drone_id)) - { - continue; - } - - double t_X = t_cur_global - planner_manager_->swarm_trajs_buf_.at(id).start_time_.toSec(); - Eigen::Vector3d swarm_pridicted = planner_manager_->swarm_trajs_buf_.at(id).position_traj_.evaluateDeBoorT(t_X); - double dist = (p_cur - swarm_pridicted).norm(); - - if (dist < CLEARANCE) - { - occ = true; - break; - } - } - - if (occ) - { - - if (planFromCurrentTraj()) // Make a chance - { - changeFSMExecState(EXEC_TRAJ, "SAFETY"); - publishSwarmTrajs(false); - return; - } - else - { - if (t - t_cur < emergency_time_) // 0.8s of emergency time - { - ROS_WARN("Suddenly discovered obstacles. emergency stop! time=%f", t - t_cur); - changeFSMExecState(EMERGENCY_STOP, "SAFETY"); - } - else - { - //ROS_WARN("current traj in collision, replan."); - changeFSMExecState(REPLAN_TRAJ, "SAFETY"); - } - return; - } - break; - } - } - } - - bool EGOReplanFSM::callReboundReplan(bool flag_use_poly_init, bool flag_randomPolyTraj) - { - // 根据planning_horizen_来确定局部目标点 local_target_pt_,local_target_vel_ - getLocalTarget(); - - // - bool plan_and_refine_success = - planner_manager_->reboundReplan(start_pt_, start_vel_, start_acc_, local_target_pt_, local_target_vel_, (have_new_target_ || flag_use_poly_init), flag_randomPolyTraj); - have_new_target_ = false; - - // comment - // cout << "refine_success=" << plan_and_refine_success << endl; - - if (plan_and_refine_success) - { - - auto info = &planner_manager_->local_data_; - - traj_utils::Bspline bspline; - bspline.order = 3; - bspline.start_time = info->start_time_; - bspline.traj_id = info->traj_id_; - - Eigen::MatrixXd pos_pts = info->position_traj_.getControlPoint(); - bspline.pos_pts.reserve(pos_pts.cols()); - for (int i = 0; i < pos_pts.cols(); ++i) - { - geometry_msgs::Point pt; - pt.x = pos_pts(0, i); - pt.y = pos_pts(1, i); - pt.z = pos_pts(2, i); - bspline.pos_pts.push_back(pt); - } - - Eigen::VectorXd knots = info->position_traj_.getKnot(); - // cout << knots.transpose() << endl; - bspline.knots.reserve(knots.rows()); - for (int i = 0; i < knots.rows(); ++i) - { - bspline.knots.push_back(knots(i)); - } - - /* 1. publish traj to traj_server */ - bspline_pub_.publish(bspline); - - /* 2. publish traj to the next drone of swarm */ - - /* 3. publish traj for visualization */ - // 发布优化后的轨迹 "/optimal_list" , 颜色和scale已经内置 - visualization_->displayOptimalList(info->position_traj_.get_control_points(), 0); - } - - return plan_and_refine_success; - } - - void EGOReplanFSM::publishSwarmTrajs(bool startup_pub) - { - auto info = &planner_manager_->local_data_; - - traj_utils::Bspline bspline; - bspline.order = 3; - bspline.start_time = info->start_time_; - bspline.drone_id = planner_manager_->pp_.drone_id; - bspline.traj_id = info->traj_id_; - - Eigen::MatrixXd pos_pts = info->position_traj_.getControlPoint(); - bspline.pos_pts.reserve(pos_pts.cols()); - for (int i = 0; i < pos_pts.cols(); ++i) - { - geometry_msgs::Point pt; - pt.x = pos_pts(0, i); - pt.y = pos_pts(1, i); - pt.z = pos_pts(2, i); - bspline.pos_pts.push_back(pt); - } - - Eigen::VectorXd knots = info->position_traj_.getKnot(); - // cout << knots.transpose() << endl; - bspline.knots.reserve(knots.rows()); - for (int i = 0; i < knots.rows(); ++i) - { - bspline.knots.push_back(knots(i)); - } - - if (startup_pub) - { - multi_bspline_msgs_buf_.drone_id_from = planner_manager_->pp_.drone_id; // zx-todo - if ((int)multi_bspline_msgs_buf_.traj.size() == planner_manager_->pp_.drone_id + 1) - { - multi_bspline_msgs_buf_.traj.back() = bspline; - } - else if ((int)multi_bspline_msgs_buf_.traj.size() == planner_manager_->pp_.drone_id) - { - multi_bspline_msgs_buf_.traj.push_back(bspline); - } - else - { - ROS_ERROR("Wrong traj nums and drone_id pair!!! traj.size()=%d, drone_id=%d", (int)multi_bspline_msgs_buf_.traj.size(), planner_manager_->pp_.drone_id); - // return plan_and_refine_success; - } - swarm_trajs_pub_.publish(multi_bspline_msgs_buf_); - } - - broadcast_bspline_pub_.publish(bspline); - } - - bool EGOReplanFSM::callEmergencyStop(Eigen::Vector3d stop_pos) - { - - planner_manager_->EmergencyStop(stop_pos); - - auto info = &planner_manager_->local_data_; - - /* publish traj */ - traj_utils::Bspline bspline; - bspline.order = 3; - bspline.start_time = info->start_time_; - bspline.traj_id = info->traj_id_; - - Eigen::MatrixXd pos_pts = info->position_traj_.getControlPoint(); - bspline.pos_pts.reserve(pos_pts.cols()); - for (int i = 0; i < pos_pts.cols(); ++i) - { - geometry_msgs::Point pt; - pt.x = pos_pts(0, i); - pt.y = pos_pts(1, i); - pt.z = pos_pts(2, i); - bspline.pos_pts.push_back(pt); - } - - Eigen::VectorXd knots = info->position_traj_.getKnot(); - bspline.knots.reserve(knots.rows()); - for (int i = 0; i < knots.rows(); ++i) - { - bspline.knots.push_back(knots(i)); - } - - bspline_pub_.publish(bspline); - - return true; - } - - void EGOReplanFSM::getLocalTarget() - { - double t; - - double t_step = planning_horizen_ / 20 / planner_manager_->pp_.max_vel_; - double dist_min = 9999, dist_min_t = 0.0; - for (t = planner_manager_->global_data_.last_progress_time_; t < planner_manager_->global_data_.global_duration_; t += t_step) - { - Eigen::Vector3d pos_t = planner_manager_->global_data_.getPosition(t); - double dist = (pos_t - start_pt_).norm(); - - if (t < planner_manager_->global_data_.last_progress_time_ + 1e-5 && dist > planning_horizen_) - { - // Important conor case! - for (; t < planner_manager_->global_data_.global_duration_; t += t_step) - { - Eigen::Vector3d pos_t_temp = planner_manager_->global_data_.getPosition(t); - double dist_temp = (pos_t_temp - start_pt_).norm(); - if (dist_temp < planning_horizen_) - { - pos_t = pos_t_temp; - dist = (pos_t - start_pt_).norm(); - cout << "Escape conor case \"getLocalTarget\"" << endl; - break; - } - } - } - - if (dist < dist_min) - { - dist_min = dist; - dist_min_t = t; - } - - if (dist >= planning_horizen_) - { - local_target_pt_ = pos_t; - planner_manager_->global_data_.last_progress_time_ = dist_min_t; - break; - } - } - if (t > planner_manager_->global_data_.global_duration_) // Last global point - { - local_target_pt_ = end_pt_; - planner_manager_->global_data_.last_progress_time_ = planner_manager_->global_data_.global_duration_; - } - - if ((end_pt_ - local_target_pt_).norm() < (planner_manager_->pp_.max_vel_ * planner_manager_->pp_.max_vel_) / (2 * planner_manager_->pp_.max_acc_)) - { - local_target_vel_ = Eigen::Vector3d::Zero(); - } - else - { - local_target_vel_ = planner_manager_->global_data_.getVelocity(t); - } - } - -} // namespace ego_planner diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/src/planner_manager.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/src/planner_manager.cpp deleted file mode 100644 index bd09892..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/src/planner_manager.cpp +++ /dev/null @@ -1,600 +0,0 @@ -// #include -#include -#include -#include "visualization_msgs/Marker.h" // zx-todo - -namespace ego_planner -{ - - // SECTION interfaces for setup and query - - EGOPlannerManager::EGOPlannerManager() {} - - EGOPlannerManager::~EGOPlannerManager() {} - - void EGOPlannerManager::initPlanModules(ros::NodeHandle &nh, PlanningVisualization::Ptr vis) - { - /* read algorithm parameters */ - // 最大速度 - nh.param("manager/max_vel", pp_.max_vel_, -1.0); - // 最大加速度 - nh.param("manager/max_acc", pp_.max_acc_, -1.0); - // 最大加加速度 - nh.param("manager/max_jerk", pp_.max_jerk_, -1.0); - // 未知，限制参数 - nh.param("manager/feasibility_tolerance", pp_.feasibility_tolerance_, 0.0); - // 控制点距离 - nh.param("manager/control_points_distance", pp_.ctrl_pt_dist, -1.0); - // 规划范围 - nh.param("manager/planning_horizon", pp_.planning_horizen_, 5.0); - // ？ - nh.param("manager/use_distinctive_trajs", pp_.use_distinctive_trajs, false); - // 无人机ID - nh.param("manager/drone_id", pp_.drone_id, 0); - - local_data_.traj_id_ = 0; - // 地图类 - grid_map_.reset(new GridMap); - grid_map_->initMap(nh); - - // 默认没有使用 - // obj_predictor_.reset(new fast_planner::ObjPredictor(nh)); - // obj_predictor_->init(); - // obj_pub_ = nh.advertise("/dynamic/obj_prdi", 10); // zx-todo - - // bspline优化器 - bspline_optimizer_.reset(new BsplineOptimizer); - bspline_optimizer_->setParam(nh); - bspline_optimizer_->setEnvironment(grid_map_, obj_predictor_); - bspline_optimizer_->a_star_.reset(new AStar); - bspline_optimizer_->a_star_->initGridMap(grid_map_, Eigen::Vector3i(100, 100, 100)); - - visualization_ = vis; - } - - // !SECTION - - // SECTION rebond replanning - - bool EGOPlannerManager::reboundReplan(Eigen::Vector3d start_pt, Eigen::Vector3d start_vel, - Eigen::Vector3d start_acc, Eigen::Vector3d local_target_pt, - Eigen::Vector3d local_target_vel, bool flag_polyInit, bool flag_randomPolyTraj) - { - static int count = 0; - // comment - // printf("\033[47;30m\n[drone no.%d , replan %d times]====================================\033[0m\n", pp_.drone_id, count++); - // cout.precision(3); - // cout << "start: " << start_pt.transpose() << ", " << start_vel.transpose() << "\ngoal:" << local_target_pt.transpose() << ", " << local_target_vel.transpose() - // << endl; - - if ((start_pt - local_target_pt).norm() < 0.2) - { - cout << "The start point is too Close to goal" << endl; - continous_failures_count_++; - return false; - } - - bspline_optimizer_->setLocalTargetPt(local_target_pt); - - ros::Time t_start = ros::Time::now(); - ros::Duration t_init, t_opt, t_refine; - - /*** STEP 1: INIT ***/ - double ts = (start_pt - local_target_pt).norm() > 0.1 ? pp_.ctrl_pt_dist / pp_.max_vel_ * 1.5 : pp_.ctrl_pt_dist / pp_.max_vel_ * 5; // pp_.ctrl_pt_dist / pp_.max_vel_ is too tense, and will surely exceed the acc/vel limits - vector point_set, start_end_derivatives; - static bool flag_first_call = true, flag_force_polynomial = false; - bool flag_regenerate = false; - do - { - point_set.clear(); - start_end_derivatives.clear(); - flag_regenerate = false; - - if (flag_first_call || flag_polyInit || flag_force_polynomial /*|| ( start_pt - local_target_pt ).norm() < 1.0*/) // Initial path generated from a min-snap traj by order. - { - flag_first_call = false; - flag_force_polynomial = false; - - PolynomialTraj gl_traj; - - double dist = (start_pt - local_target_pt).norm(); - double time = pow(pp_.max_vel_, 2) / pp_.max_acc_ > dist ? sqrt(dist / pp_.max_acc_) : (dist - pow(pp_.max_vel_, 2) / pp_.max_acc_) / pp_.max_vel_ + 2 * pp_.max_vel_ / pp_.max_acc_; - - if (!flag_randomPolyTraj) - { - gl_traj = PolynomialTraj::one_segment_traj_gen(start_pt, start_vel, start_acc, local_target_pt, local_target_vel, Eigen::Vector3d::Zero(), time); - } - else - { - Eigen::Vector3d horizen_dir = ((start_pt - local_target_pt).cross(Eigen::Vector3d(0, 0, 1))).normalized(); - Eigen::Vector3d vertical_dir = ((start_pt - local_target_pt).cross(horizen_dir)).normalized(); - Eigen::Vector3d random_inserted_pt = (start_pt + local_target_pt) / 2 + - (((double)rand()) / RAND_MAX - 0.5) * (start_pt - local_target_pt).norm() * horizen_dir * 0.8 * (-0.978 / (continous_failures_count_ + 0.989) + 0.989) + - (((double)rand()) / RAND_MAX - 0.5) * (start_pt - local_target_pt).norm() * vertical_dir * 0.4 * (-0.978 / (continous_failures_count_ + 0.989) + 0.989); - Eigen::MatrixXd pos(3, 3); - pos.col(0) = start_pt; - pos.col(1) = random_inserted_pt; - pos.col(2) = local_target_pt; - Eigen::VectorXd t(2); - t(0) = t(1) = time / 2; - gl_traj = PolynomialTraj::minSnapTraj(pos, start_vel, local_target_vel, start_acc, Eigen::Vector3d::Zero(), t); - } - - double t; - bool flag_too_far; - ts *= 1.5; // ts will be divided by 1.5 in the next - do - { - ts /= 1.5; - point_set.clear(); - flag_too_far = false; - Eigen::Vector3d last_pt = gl_traj.evaluate(0); - for (t = 0; t < time; t += ts) - { - Eigen::Vector3d pt = gl_traj.evaluate(t); - if ((last_pt - pt).norm() > pp_.ctrl_pt_dist * 1.5) - { - flag_too_far = true; - break; - } - last_pt = pt; - point_set.push_back(pt); - } - } while (flag_too_far || point_set.size() < 7); // To make sure the initial path has enough points. - t -= ts; - start_end_derivatives.push_back(gl_traj.evaluateVel(0)); - start_end_derivatives.push_back(local_target_vel); - start_end_derivatives.push_back(gl_traj.evaluateAcc(0)); - start_end_derivatives.push_back(gl_traj.evaluateAcc(t)); - } - else // Initial path generated from previous trajectory. - { - - double t; - double t_cur = (ros::Time::now() - local_data_.start_time_).toSec(); - - vector pseudo_arc_length; - vector segment_point; - pseudo_arc_length.push_back(0.0); - for (t = t_cur; t < local_data_.duration_ + 1e-3; t += ts) - { - segment_point.push_back(local_data_.position_traj_.evaluateDeBoorT(t)); - if (t > t_cur) - { - pseudo_arc_length.push_back((segment_point.back() - segment_point[segment_point.size() - 2]).norm() + pseudo_arc_length.back()); - } - } - t -= ts; - - double poly_time = (local_data_.position_traj_.evaluateDeBoorT(t) - local_target_pt).norm() / pp_.max_vel_ * 2; - if (poly_time > ts) - { - PolynomialTraj gl_traj = PolynomialTraj::one_segment_traj_gen(local_data_.position_traj_.evaluateDeBoorT(t), - local_data_.velocity_traj_.evaluateDeBoorT(t), - local_data_.acceleration_traj_.evaluateDeBoorT(t), - local_target_pt, local_target_vel, Eigen::Vector3d::Zero(), poly_time); - - for (t = ts; t < poly_time; t += ts) - { - if (!pseudo_arc_length.empty()) - { - segment_point.push_back(gl_traj.evaluate(t)); - pseudo_arc_length.push_back((segment_point.back() - segment_point[segment_point.size() - 2]).norm() + pseudo_arc_length.back()); - } - else - { - ROS_ERROR("pseudo_arc_length is empty, return!"); - continous_failures_count_++; - return false; - } - } - } - - double sample_length = 0; - double cps_dist = pp_.ctrl_pt_dist * 1.5; // cps_dist will be divided by 1.5 in the next - size_t id = 0; - do - { - cps_dist /= 1.5; - point_set.clear(); - sample_length = 0; - id = 0; - while ((id <= pseudo_arc_length.size() - 2) && sample_length <= pseudo_arc_length.back()) - { - if (sample_length >= pseudo_arc_length[id] && sample_length < pseudo_arc_length[id + 1]) - { - point_set.push_back((sample_length - pseudo_arc_length[id]) / (pseudo_arc_length[id + 1] - pseudo_arc_length[id]) * segment_point[id + 1] + - (pseudo_arc_length[id + 1] - sample_length) / (pseudo_arc_length[id + 1] - pseudo_arc_length[id]) * segment_point[id]); - sample_length += cps_dist; - } - else - id++; - } - point_set.push_back(local_target_pt); - } while (point_set.size() < 7); // If the start point is very close to end point, this will help - - start_end_derivatives.push_back(local_data_.velocity_traj_.evaluateDeBoorT(t_cur)); - start_end_derivatives.push_back(local_target_vel); - start_end_derivatives.push_back(local_data_.acceleration_traj_.evaluateDeBoorT(t_cur)); - start_end_derivatives.push_back(Eigen::Vector3d::Zero()); - - if (point_set.size() > pp_.planning_horizen_ / pp_.ctrl_pt_dist * 3) // The initial path is unnormally too long! - { - flag_force_polynomial = true; - flag_regenerate = true; - } - } - } while (flag_regenerate); - - Eigen::MatrixXd ctrl_pts, ctrl_pts_temp; - UniformBspline::parameterizeToBspline(ts, point_set, start_end_derivatives, ctrl_pts); - - vector> segments; - segments = bspline_optimizer_->initControlPoints(ctrl_pts, true); - - t_init = ros::Time::now() - t_start; - t_start = ros::Time::now(); - - /*** STEP 2: OPTIMIZE ***/ - bool flag_step_1_success = false; - vector> vis_trajs; - - if (pp_.use_distinctive_trajs) - { - // cout << "enter" << endl; - std::vector trajs = bspline_optimizer_->distinctiveTrajs(segments); - // comment - // cout << "\033[1;33m"<< "multi-trajs=" << trajs.size() << "\033[1;0m" << endl; - - double final_cost, min_cost = 999999.0; - for (int i = trajs.size() - 1; i >= 0; i--) - { - if (bspline_optimizer_->BsplineOptimizeTrajRebound(ctrl_pts_temp, final_cost, trajs[i], ts)) - { - //comment - // cout << "traj " << trajs.size() - i << " success." << endl; - - flag_step_1_success = true; - if (final_cost < min_cost) - { - min_cost = final_cost; - ctrl_pts = ctrl_pts_temp; - } - - // visualization - point_set.clear(); - for (int j = 0; j < ctrl_pts_temp.cols(); j++) - { - point_set.push_back(ctrl_pts_temp.col(j)); - } - vis_trajs.push_back(point_set); - } - else - { - cout << "traj " << trajs.size() - i << " failed." << endl; - } - } - - t_opt = ros::Time::now() - t_start; - - // 显示 "/init_list" - visualization_->displayMultiInitPathList(vis_trajs, 0.2); // This visuallization will take up several milliseconds. - } - else - { - flag_step_1_success = bspline_optimizer_->BsplineOptimizeTrajRebound(ctrl_pts, ts); - t_opt = ros::Time::now() - t_start; - //static int vis_id = 0; - visualization_->displayInitPathList(point_set, 0.2, 0); - } - // comment - // cout << "/uav"<< pp_.drone_id<< " plan_success=" << flag_step_1_success << endl; - if (!flag_step_1_success) - { - visualization_->displayOptimalList(ctrl_pts, 0); - continous_failures_count_++; - return false; - } - - t_start = ros::Time::now(); - - UniformBspline pos = UniformBspline(ctrl_pts, 3, ts); - pos.setPhysicalLimits(pp_.max_vel_, pp_.max_acc_, pp_.feasibility_tolerance_); - - /*** STEP 3: REFINE(RE-ALLOCATE TIME) IF NECESSARY ***/ - // Note: Only adjust time in single drone mode. But we still allow drone_0 to adjust its time profile. - // ego默认从0开始，我们默认从1开始，因此这里<=1 - if (pp_.drone_id <= 1) - { - - double ratio; - bool flag_step_2_success = true; - if (!pos.checkFeasibility(ratio, false)) - { - cout << "Need to reallocate time." << endl; - - Eigen::MatrixXd optimal_control_points; - flag_step_2_success = refineTrajAlgo(pos, start_end_derivatives, ratio, ts, optimal_control_points); - if (flag_step_2_success) - pos = UniformBspline(optimal_control_points, 3, ts); - } - - if (!flag_step_2_success) - { - printf("\033[34mThis refined trajectory hits obstacles. It doesn't matter if appeares occasionally. But if continously appearing, Increase parameter \"lambda_fitness\".\n\033[0m"); - continous_failures_count_++; - return false; - } - } - else - { - static bool print_once = true; - if (print_once) - { - print_once = false; - ROS_ERROR("IN SWARM MODE, REFINE DISABLED!"); - } - } - - t_refine = ros::Time::now() - t_start; - - // save planned results - updateTrajInfo(pos, ros::Time::now()); - - static double sum_time = 0; - static int count_success = 0; - sum_time += (t_init + t_opt + t_refine).toSec(); - count_success++; - // comment - // cout << "total time:\033[42m" << (t_init + t_opt + t_refine).toSec() << "\033[0m,optimize:" << (t_init + t_opt).toSec() << ",refine:" << t_refine.toSec() << ",avg_time=" << sum_time / count_success << endl; - - // success. YoY - continous_failures_count_ = 0; - return true; - } - - bool EGOPlannerManager::EmergencyStop(Eigen::Vector3d stop_pos) - { - Eigen::MatrixXd control_points(3, 6); - for (int i = 0; i < 6; i++) - { - control_points.col(i) = stop_pos; - } - - updateTrajInfo(UniformBspline(control_points, 3, 1.0), ros::Time::now()); - - return true; - } - - bool EGOPlannerManager::checkCollision(int drone_id) - { - if (local_data_.start_time_.toSec() < 1e9) // It means my first planning has not started - return false; - - double my_traj_start_time = local_data_.start_time_.toSec(); - double other_traj_start_time = swarm_trajs_buf_[drone_id].start_time_.toSec(); - - double t_start = max(my_traj_start_time, other_traj_start_time); - double t_end = min(my_traj_start_time + local_data_.duration_ * 2 / 3, other_traj_start_time + swarm_trajs_buf_[drone_id].duration_); - - for (double t = t_start; t < t_end; t += 0.03) - { - if ((local_data_.position_traj_.evaluateDeBoorT(t - my_traj_start_time) - swarm_trajs_buf_[drone_id].position_traj_.evaluateDeBoorT(t - other_traj_start_time)).norm() < bspline_optimizer_->getSwarmClearance()) - { - return true; - } - } - - return false; - } - - bool EGOPlannerManager::planGlobalTrajWaypoints(const Eigen::Vector3d &start_pos, const Eigen::Vector3d &start_vel, const Eigen::Vector3d &start_acc, - const std::vector &waypoints, const Eigen::Vector3d &end_vel, const Eigen::Vector3d &end_acc) - { - - // generate global reference trajectory - - vector points; - points.push_back(start_pos); - - for (size_t wp_i = 0; wp_i < waypoints.size(); wp_i++) - { - points.push_back(waypoints[wp_i]); - } - - double total_len = 0; - total_len += (start_pos - waypoints[0]).norm(); - for (size_t i = 0; i < waypoints.size() - 1; i++) - { - total_len += (waypoints[i + 1] - waypoints[i]).norm(); - } - - // insert intermediate points if too far - vector inter_points; - double dist_thresh = max(total_len / 8, 4.0); - - for (size_t i = 0; i < points.size() - 1; ++i) - { - inter_points.push_back(points.at(i)); - double dist = (points.at(i + 1) - points.at(i)).norm(); - - if (dist > dist_thresh) - { - int id_num = floor(dist / dist_thresh) + 1; - - for (int j = 1; j < id_num; ++j) - { - Eigen::Vector3d inter_pt = - points.at(i) * (1.0 - double(j) / id_num) + points.at(i + 1) * double(j) / id_num; - inter_points.push_back(inter_pt); - } - } - } - - inter_points.push_back(points.back()); - - // for ( int i=0; i= 3) - gl_traj = PolynomialTraj::minSnapTraj(pos, start_vel, end_vel, start_acc, end_acc, time); - else if (pos.cols() == 2) - gl_traj = PolynomialTraj::one_segment_traj_gen(start_pos, start_vel, start_acc, pos.col(1), end_vel, end_acc, time(0)); - else - return false; - - auto time_now = ros::Time::now(); - global_data_.setGlobalTraj(gl_traj, time_now); - - return true; - } - - bool EGOPlannerManager::planGlobalTraj(const Eigen::Vector3d &start_pos, const Eigen::Vector3d &start_vel, const Eigen::Vector3d &start_acc, - const Eigen::Vector3d &end_pos, const Eigen::Vector3d &end_vel, const Eigen::Vector3d &end_acc) - { - - // generate global reference trajectory,生成全局参考轨迹 - vector points; - points.push_back(start_pos); - points.push_back(end_pos); - - // insert intermediate points if too far - vector inter_points; - const double dist_thresh = 4.0; - - // points.size() = 2, 这个for循环只执行一次? - for (size_t i = 0; i < points.size() - 1; ++i) - { - // push_back初始点 - inter_points.push_back(points.at(i)); - // 目标点与起始点的距离 - double dist = (points.at(i + 1) - points.at(i)).norm(); - - // 距离大于4米 - if (dist > dist_thresh) - { - // 以4米为一个单位计算增加的点数 - int id_num = floor(dist / dist_thresh) + 1; - - for (int j = 1; j < id_num; ++j) - { - Eigen::Vector3d inter_pt = - points.at(i) * (1.0 - double(j) / id_num) + points.at(i + 1) * double(j) / id_num; - inter_points.push_back(inter_pt); - } - } - } - - // push_back目标点 - inter_points.push_back(points.back()); - - // write position matrix - int pt_num = inter_points.size(); - // 航点矩阵 - Eigen::MatrixXd pos(3, pt_num); - // 赋值 - for (int i = 0; i < pt_num; ++i) - pos.col(i) = inter_points[i]; - - Eigen::Vector3d zero(0, 0, 0); - Eigen::VectorXd time(pt_num - 1); - for (int i = 0; i < pt_num - 1; ++i) - { - // 预估时间 - time(i) = (pos.col(i + 1) - pos.col(i)).norm() / (pp_.max_vel_); - } - - // 第一段时间扩大2倍 - time(0) *= 2.0; - // 最后一段时间扩大2倍 - time(time.rows() - 1) *= 2.0; - - PolynomialTraj gl_traj; - // 如果仅有一段,或有多段 - if (pos.cols() >= 3) - gl_traj = PolynomialTraj::minSnapTraj(pos, start_vel, end_vel, start_acc, end_acc, time); - else if (pos.cols() == 2) - gl_traj = PolynomialTraj::one_segment_traj_gen(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, time(0)); - else - return false; - - auto time_now = ros::Time::now(); - // 存入global_data_,等待下一步处理 - global_data_.setGlobalTraj(gl_traj, time_now); - - return true; - } - - bool EGOPlannerManager::refineTrajAlgo(UniformBspline &traj, vector &start_end_derivative, double ratio, double &ts, Eigen::MatrixXd &optimal_control_points) - { - double t_inc; - - Eigen::MatrixXd ctrl_pts; // = traj.getControlPoint() - - // std::cout << "ratio: " << ratio << std::endl; - reparamBspline(traj, start_end_derivative, ratio, ctrl_pts, ts, t_inc); - - traj = UniformBspline(ctrl_pts, 3, ts); - - double t_step = traj.getTimeSum() / (ctrl_pts.cols() - 3); - bspline_optimizer_->ref_pts_.clear(); - for (double t = 0; t < traj.getTimeSum() + 1e-4; t += t_step) - bspline_optimizer_->ref_pts_.push_back(traj.evaluateDeBoorT(t)); - - bool success = bspline_optimizer_->BsplineOptimizeTrajRefine(ctrl_pts, ts, optimal_control_points); - - return success; - } - - void EGOPlannerManager::updateTrajInfo(const UniformBspline &position_traj, const ros::Time time_now) - { - local_data_.start_time_ = time_now; - local_data_.position_traj_ = position_traj; - local_data_.velocity_traj_ = local_data_.position_traj_.getDerivative(); - local_data_.acceleration_traj_ = local_data_.velocity_traj_.getDerivative(); - local_data_.start_pos_ = local_data_.position_traj_.evaluateDeBoorT(0.0); - local_data_.duration_ = local_data_.position_traj_.getTimeSum(); - local_data_.traj_id_ += 1; - } - - void EGOPlannerManager::reparamBspline(UniformBspline &bspline, vector &start_end_derivative, double ratio, - Eigen::MatrixXd &ctrl_pts, double &dt, double &time_inc) - { - double time_origin = bspline.getTimeSum(); - int seg_num = bspline.getControlPoint().cols() - 3; - // double length = bspline.getLength(0.1); - // int seg_num = ceil(length / pp_.ctrl_pt_dist); - - bspline.lengthenTime(ratio); - double duration = bspline.getTimeSum(); - dt = duration / double(seg_num); - time_inc = duration - time_origin; - - vector point_set; - for (double time = 0.0; time <= duration + 1e-4; time += dt) - { - point_set.push_back(bspline.evaluateDeBoorT(time)); - } - UniformBspline::parameterizeToBspline(dt, point_set, start_end_derivative, ctrl_pts); - } - -} // namespace ego_planner diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/src/traj_server.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/src/traj_server.cpp deleted file mode 100644 index 92d68fd..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/plan_manage/src/traj_server.cpp +++ /dev/null @@ -1,264 +0,0 @@ -#include "bspline_opt/uniform_bspline.h" -#include "nav_msgs/Odometry.h" -#include "traj_utils/Bspline.h" -#include "quadrotor_msgs/PositionCommand.h" -#include "std_msgs/Empty.h" -#include "visualization_msgs/Marker.h" -#include - -ros::Publisher pos_cmd_pub; - -quadrotor_msgs::PositionCommand cmd; -double pos_gain[3] = {0, 0, 0}; -double vel_gain[3] = {0, 0, 0}; - -using ego_planner::UniformBspline; - -bool receive_traj_ = false; -vector traj_; -double traj_duration_; -ros::Time start_time_; -int traj_id_; - -// yaw control -double last_yaw_, last_yaw_dot_; -double time_forward_; - -void bsplineCallback(traj_utils::BsplineConstPtr msg) -{ - // parse pos traj - - Eigen::MatrixXd pos_pts(3, msg->pos_pts.size()); - - Eigen::VectorXd knots(msg->knots.size()); - for (size_t i = 0; i < msg->knots.size(); ++i) - { - knots(i) = msg->knots[i]; - } - - for (size_t i = 0; i < msg->pos_pts.size(); ++i) - { - pos_pts(0, i) = msg->pos_pts[i].x; - pos_pts(1, i) = msg->pos_pts[i].y; - pos_pts(2, i) = msg->pos_pts[i].z; - } - - UniformBspline pos_traj(pos_pts, msg->order, 0.1); - pos_traj.setKnot(knots); - - // parse yaw traj - - // Eigen::MatrixXd yaw_pts(msg->yaw_pts.size(), 1); - // for (int i = 0; i < msg->yaw_pts.size(); ++i) { - // yaw_pts(i, 0) = msg->yaw_pts[i]; - // } - - //UniformBspline yaw_traj(yaw_pts, msg->order, msg->yaw_dt); - - start_time_ = msg->start_time; - traj_id_ = msg->traj_id; - - traj_.clear(); - traj_.push_back(pos_traj); - traj_.push_back(traj_[0].getDerivative()); - traj_.push_back(traj_[1].getDerivative()); - - traj_duration_ = traj_[0].getTimeSum(); - - receive_traj_ = true; -} - -std::pair calculate_yaw(double t_cur, Eigen::Vector3d &pos, ros::Time &time_now, ros::Time &time_last) -{ - constexpr double PI = 3.1415926; - constexpr double YAW_DOT_MAX_PER_SEC = PI; - // constexpr double YAW_DOT_DOT_MAX_PER_SEC = PI; - std::pair yaw_yawdot(0, 0); - double yaw = 0; - double yawdot = 0; - - Eigen::Vector3d dir = t_cur + time_forward_ <= traj_duration_ ? traj_[0].evaluateDeBoorT(t_cur + time_forward_) - pos : traj_[0].evaluateDeBoorT(traj_duration_) - pos; - double yaw_temp = dir.norm() > 0.1 ? atan2(dir(1), dir(0)) : last_yaw_; - double max_yaw_change = YAW_DOT_MAX_PER_SEC * (time_now - time_last).toSec(); - if (yaw_temp - last_yaw_ > PI) - { - if (yaw_temp - last_yaw_ - 2 * PI < -max_yaw_change) - { - yaw = last_yaw_ - max_yaw_change; - if (yaw < -PI) - yaw += 2 * PI; - - yawdot = -YAW_DOT_MAX_PER_SEC; - } - else - { - yaw = yaw_temp; - if (yaw - last_yaw_ > PI) - yawdot = -YAW_DOT_MAX_PER_SEC; - else - yawdot = (yaw_temp - last_yaw_) / (time_now - time_last).toSec(); - } - } - else if (yaw_temp - last_yaw_ < -PI) - { - if (yaw_temp - last_yaw_ + 2 * PI > max_yaw_change) - { - yaw = last_yaw_ + max_yaw_change; - if (yaw > PI) - yaw -= 2 * PI; - - yawdot = YAW_DOT_MAX_PER_SEC; - } - else - { - yaw = yaw_temp; - if (yaw - last_yaw_ < -PI) - yawdot = YAW_DOT_MAX_PER_SEC; - else - yawdot = (yaw_temp - last_yaw_) / (time_now - time_last).toSec(); - } - } - else - { - if (yaw_temp - last_yaw_ < -max_yaw_change) - { - yaw = last_yaw_ - max_yaw_change; - if (yaw < -PI) - yaw += 2 * PI; - - yawdot = -YAW_DOT_MAX_PER_SEC; - } - else if (yaw_temp - last_yaw_ > max_yaw_change) - { - yaw = last_yaw_ + max_yaw_change; - if (yaw > PI) - yaw -= 2 * PI; - - yawdot = YAW_DOT_MAX_PER_SEC; - } - else - { - yaw = yaw_temp; - if (yaw - last_yaw_ > PI) - yawdot = -YAW_DOT_MAX_PER_SEC; - else if (yaw - last_yaw_ < -PI) - yawdot = YAW_DOT_MAX_PER_SEC; - else - yawdot = (yaw_temp - last_yaw_) / (time_now - time_last).toSec(); - } - } - - if (fabs(yaw - last_yaw_) <= max_yaw_change) - yaw = 0.5 * last_yaw_ + 0.5 * yaw; // nieve LPF - yawdot = 0.5 * last_yaw_dot_ + 0.5 * yawdot; - last_yaw_ = yaw; - last_yaw_dot_ = yawdot; - - yaw_yawdot.first = yaw; - yaw_yawdot.second = yawdot; - - return yaw_yawdot; -} - -void cmdCallback(const ros::TimerEvent &e) -{ - /* no publishing before receive traj_ */ - if (!receive_traj_) - return; - - ros::Time time_now = ros::Time::now(); - double t_cur = (time_now - start_time_).toSec(); - - Eigen::Vector3d pos(Eigen::Vector3d::Zero()), vel(Eigen::Vector3d::Zero()), acc(Eigen::Vector3d::Zero()), pos_f; - std::pair yaw_yawdot(0, 0); - - static ros::Time time_last = ros::Time::now(); - if (t_cur < traj_duration_ && t_cur >= 0.0) - { - pos = traj_[0].evaluateDeBoorT(t_cur); - vel = traj_[1].evaluateDeBoorT(t_cur); - acc = traj_[2].evaluateDeBoorT(t_cur); - - /*** calculate yaw ***/ - yaw_yawdot = calculate_yaw(t_cur, pos, time_now, time_last); - /*** calculate yaw ***/ - - double tf = min(traj_duration_, t_cur + 2.0); - pos_f = traj_[0].evaluateDeBoorT(tf); - } - else if (t_cur >= traj_duration_) - { - /* hover when finish traj_ */ - pos = traj_[0].evaluateDeBoorT(traj_duration_); - vel.setZero(); - acc.setZero(); - - yaw_yawdot.first = last_yaw_; - yaw_yawdot.second = 0; - - pos_f = pos; - } - else - { - cout << "[Traj server]: invalid time." << endl; - } - time_last = time_now; - - cmd.header.stamp = time_now; - cmd.header.frame_id = "world"; - cmd.trajectory_flag = quadrotor_msgs::PositionCommand::TRAJECTORY_STATUS_READY; - cmd.trajectory_id = traj_id_; - - cmd.position.x = pos(0); - cmd.position.y = pos(1); - cmd.position.z = pos(2); - - cmd.velocity.x = vel(0); - cmd.velocity.y = vel(1); - cmd.velocity.z = vel(2); - - cmd.acceleration.x = acc(0); - cmd.acceleration.y = acc(1); - cmd.acceleration.z = acc(2); - - cmd.yaw = yaw_yawdot.first; - cmd.yaw_dot = yaw_yawdot.second; - - last_yaw_ = cmd.yaw; - - pos_cmd_pub.publish(cmd); -} - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "traj_server"); - // ros::NodeHandle node; - ros::NodeHandle nh("~"); - - ros::Subscriber bspline_sub = nh.subscribe("planning/bspline", 10, bsplineCallback); - - pos_cmd_pub = nh.advertise("/position_cmd", 50); - - ros::Timer cmd_timer = nh.createTimer(ros::Duration(0.01), cmdCallback); - - /* control parameter */ - cmd.kx[0] = pos_gain[0]; - cmd.kx[1] = pos_gain[1]; - cmd.kx[2] = pos_gain[2]; - - cmd.kv[0] = vel_gain[0]; - cmd.kv[1] = vel_gain[1]; - cmd.kv[2] = vel_gain[2]; - - nh.param("traj_server/time_forward", time_forward_, -1.0); - nh.param("traj_server/last_yaw", last_yaw_, 0.0); - last_yaw_dot_ = 0.0; - - ros::Duration(1.0).sleep(); - - ROS_WARN("[Traj server]: ready."); - - ros::spin(); - - return 0; -} \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/rosmsg_tcp_bridge/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/rosmsg_tcp_bridge/CMakeLists.txt deleted file mode 100644 index 30ec419..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/rosmsg_tcp_bridge/CMakeLists.txt +++ /dev/null @@ -1,35 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(rosmsg_tcp_bridge) - -set(CMAKE_BUILD_TYPE "Release") -ADD_COMPILE_OPTIONS(-std=c++11 ) -ADD_COMPILE_OPTIONS(-std=c++14 ) -set(CMAKE_CXX_FLAGS_RELEASE "-O2 -Wall -g") - -find_package(Eigen3 REQUIRED) - -find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - geometry_msgs - traj_utils -) - -catkin_package( - CATKIN_DEPENDS traj_utils -) - -include_directories( - SYSTEM - ${catkin_INCLUDE_DIRS} ${PROJECT_SOURCE_DIR}/include - ${EIGEN3_INCLUDE_DIR} -) - -add_executable(bridge_node - src/bridge_node.cpp - ) -target_link_libraries(bridge_node - ${catkin_LIBRARIES} - ) - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/rosmsg_tcp_bridge/launch/bridge.launch b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/rosmsg_tcp_bridge/launch/bridge.launch deleted file mode 100644 index babaa01..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/rosmsg_tcp_bridge/launch/bridge.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/rosmsg_tcp_bridge/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/rosmsg_tcp_bridge/package.xml deleted file mode 100644 index 677652f..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/rosmsg_tcp_bridge/package.xml +++ /dev/null @@ -1,67 +0,0 @@ - - - rosmsg_tcp_bridge - 0.0.0 - The rosmsg_tcp_bridge package - - - - - iszhouxin - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - std_msgs - traj_utils - - roscpp - std_msgs - traj_utils - - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/rosmsg_tcp_bridge/src/bridge_node.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/rosmsg_tcp_bridge/src/bridge_node.cpp deleted file mode 100644 index 04d7e30..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/rosmsg_tcp_bridge/src/bridge_node.cpp +++ /dev/null @@ -1,828 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#define PORT 8080 -#define UDP_PORT 8081 -#define BUF_LEN 1048576 // 1MB -#define BUF_LEN_SHORT 1024 // 1KB - -using namespace std; - -int send_sock_, server_fd_, recv_sock_, udp_server_fd_, udp_send_fd_; -ros::Subscriber swarm_trajs_sub_, other_odoms_sub_, emergency_stop_sub_, one_traj_sub_; -ros::Publisher swarm_trajs_pub_, other_odoms_pub_, emergency_stop_pub_, one_traj_pub_; -string tcp_ip_, udp_ip_; -int drone_id_; -double odom_broadcast_freq_; -char send_buf_[BUF_LEN], recv_buf_[BUF_LEN], udp_recv_buf_[BUF_LEN], udp_send_buf_[BUF_LEN]; -struct sockaddr_in addr_udp_send_; -traj_utils::MultiBsplinesPtr bsplines_msg_; -nav_msgs::OdometryPtr odom_msg_; -std_msgs::EmptyPtr stop_msg_; -traj_utils::BsplinePtr bspline_msg_; - -enum MESSAGE_TYPE -{ - ODOM = 888, - MULTI_TRAJ, - ONE_TRAJ, - STOP -} massage_type_; - -int connect_to_next_drone(const char *ip, const int port) -{ - /* Connect */ - int sock = 0; - struct sockaddr_in serv_addr; - if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0) - { - printf("\n Socket creation error \n"); - return -1; - } - - serv_addr.sin_family = AF_INET; - serv_addr.sin_port = htons(port); - - // Convert IPv4 and IPv6 addresses from text to binary form - if (inet_pton(AF_INET, ip, &serv_addr.sin_addr) <= 0) - { - printf("\nInvalid address/ Address not supported \n"); - return -1; - } - - if (connect(sock, (struct sockaddr *)&serv_addr, sizeof(serv_addr)) < 0) - { - ROS_WARN("Tcp connection to drone_%d Failed", drone_id_+1); - return -1; - } - - char str[INET_ADDRSTRLEN]; - ROS_INFO("Connect to %s success!", inet_ntop(AF_INET, &serv_addr.sin_addr, str, sizeof(str))); - - return sock; -} - -int init_broadcast(const char *ip, const int port) -{ - int fd; - - if ((fd = socket(AF_INET, SOCK_DGRAM, 0)) <= 0) - { - ROS_ERROR("[bridge_node]Socket sender creation error!"); - exit(EXIT_FAILURE); - } - - int so_broadcast = 1; - if (setsockopt(fd, SOL_SOCKET, SO_BROADCAST, &so_broadcast, sizeof(so_broadcast)) < 0) - { - cout << "Error in setting Broadcast option"; - exit(EXIT_FAILURE); - } - - addr_udp_send_.sin_family = AF_INET; - addr_udp_send_.sin_port = htons(port); - - if (inet_pton(AF_INET, ip, &addr_udp_send_.sin_addr) <= 0) - { - printf("\nInvalid address/ Address not supported \n"); - return -1; - } - - return fd; -} - -int wait_connection_from_previous_drone(const int port, int &server_fd, int &new_socket) -{ - struct sockaddr_in address; - int opt = 1; - int addrlen = sizeof(address); - - // Creating socket file descriptor - if ((server_fd = socket(AF_INET, SOCK_STREAM, 0)) == 0) - { - perror("socket failed"); - exit(EXIT_FAILURE); - } - - // Forcefully attaching socket to the port - if (setsockopt(server_fd, SOL_SOCKET, SO_REUSEADDR | SO_REUSEPORT, - &opt, sizeof(opt))) - { - perror("setsockopt"); - exit(EXIT_FAILURE); - } - address.sin_family = AF_INET; - address.sin_addr.s_addr = INADDR_ANY; - address.sin_port = htons(PORT); - - // Forcefully attaching socket to the port - if (bind(server_fd, (struct sockaddr *)&address, - sizeof(address)) < 0) - { - perror("bind failed"); - exit(EXIT_FAILURE); - } - if (listen(server_fd, 3) < 0) - { - perror("listen"); - exit(EXIT_FAILURE); - } - if ((new_socket = accept(server_fd, (struct sockaddr *)&address, - (socklen_t *)&addrlen)) < 0) - { - perror("accept"); - exit(EXIT_FAILURE); - } - - char str[INET_ADDRSTRLEN]; - ROS_INFO( "Receive tcp connection from %s", inet_ntop(AF_INET, &address.sin_addr, str, sizeof(str)) ); - - return new_socket; -} - -int udp_bind_to_port(const int port, int &server_fd) -{ - struct sockaddr_in address; - int opt = 1; - - // Creating socket file descriptor - if ((server_fd = socket(AF_INET, SOCK_DGRAM, 0)) == 0) - { - perror("socket failed"); - exit(EXIT_FAILURE); - } - - // Forcefully attaching socket to the port - if (setsockopt(server_fd, SOL_SOCKET, SO_REUSEADDR | SO_REUSEPORT, - &opt, sizeof(opt))) - { - perror("setsockopt"); - exit(EXIT_FAILURE); - } - address.sin_family = AF_INET; - address.sin_addr.s_addr = INADDR_ANY; - address.sin_port = htons(port); - - // Forcefully attaching socket to the port - if (bind(server_fd, (struct sockaddr *)&address, - sizeof(address)) < 0) - { - perror("bind failed"); - exit(EXIT_FAILURE); - } - - return server_fd; -} - -int serializeMultiBsplines(const traj_utils::MultiBsplinesPtr &msg) -{ - char *ptr = send_buf_; - - unsigned long total_len = 0; - total_len += sizeof(MESSAGE_TYPE) + sizeof(int32_t) + sizeof(size_t); - for (size_t i = 0; i < msg->traj.size(); i++) - { - total_len += sizeof(int32_t) + sizeof(int32_t) + sizeof(double) + sizeof(int64_t) + sizeof(double); - total_len += sizeof(size_t) + msg->traj[i].knots.size() * sizeof(double); - total_len += sizeof(size_t) + (3 * msg->traj[i].pos_pts.size()) * sizeof(double); - total_len += sizeof(size_t) + msg->traj[i].yaw_pts.size() * sizeof(double); - } - if (total_len + 1 > BUF_LEN) - { - ROS_ERROR("[bridge_node] Topic is too large, please enlarge BUF_LEN"); - return -1; - } - - *((MESSAGE_TYPE *)ptr) = MESSAGE_TYPE::MULTI_TRAJ; - ptr += sizeof(MESSAGE_TYPE); - - *((int32_t *)ptr) = msg->drone_id_from; - ptr += sizeof(int32_t); - if (ptr - send_buf_ > BUF_LEN) - { - } - *((size_t *)ptr) = msg->traj.size(); - ptr += sizeof(size_t); - for (size_t i = 0; i < msg->traj.size(); i++) - { - *((int32_t *)ptr) = msg->traj[i].drone_id; - ptr += sizeof(int32_t); - *((int32_t *)ptr) = msg->traj[i].order; - ptr += sizeof(int32_t); - *((double *)ptr) = msg->traj[i].start_time.toSec(); - ptr += sizeof(double); - *((int64_t *)ptr) = msg->traj[i].traj_id; - ptr += sizeof(int64_t); - *((double *)ptr) = msg->traj[i].yaw_dt; - ptr += sizeof(double); - - *((size_t *)ptr) = msg->traj[i].knots.size(); - ptr += sizeof(size_t); - for (size_t j = 0; j < msg->traj[i].knots.size(); j++) - { - *((double *)ptr) = msg->traj[i].knots[j]; - ptr += sizeof(double); - } - - *((size_t *)ptr) = msg->traj[i].pos_pts.size(); - ptr += sizeof(size_t); - for (size_t j = 0; j < msg->traj[i].pos_pts.size(); j++) - { - *((double *)ptr) = msg->traj[i].pos_pts[j].x; - ptr += sizeof(double); - *((double *)ptr) = msg->traj[i].pos_pts[j].y; - ptr += sizeof(double); - *((double *)ptr) = msg->traj[i].pos_pts[j].z; - ptr += sizeof(double); - } - - *((size_t *)ptr) = msg->traj[i].yaw_pts.size(); - ptr += sizeof(size_t); - for (size_t j = 0; j < msg->traj[i].yaw_pts.size(); j++) - { - *((double *)ptr) = msg->traj[i].yaw_pts[j]; - ptr += sizeof(double); - } - } - - return ptr - send_buf_; -} - -int serializeOdom(const nav_msgs::OdometryPtr &msg) -{ - char *ptr = udp_send_buf_; - - unsigned long total_len = 0; - total_len = sizeof(size_t) + - msg->child_frame_id.length() * sizeof(char) + - sizeof(size_t) + - msg->header.frame_id.length() * sizeof(char) + - sizeof(uint32_t) + - sizeof(double) + - 7 * sizeof(double) + - 36 * sizeof(double) + - 6 * sizeof(double) + - 36 * sizeof(double); - - if (total_len + 1 > BUF_LEN) - { - ROS_ERROR("[bridge_node] Topic is too large, please enlarge BUF_LEN"); - return -1; - } - - *((MESSAGE_TYPE *)ptr) = MESSAGE_TYPE::ODOM; - ptr += sizeof(MESSAGE_TYPE); - - // child_frame_id - size_t len = msg->child_frame_id.length(); - *((size_t *)ptr) = len; - ptr += sizeof(size_t); - memcpy((void *)ptr, (void *)msg->child_frame_id.c_str(), len * sizeof(char)); - ptr += len * sizeof(char); - - // header - len = msg->header.frame_id.length(); - *((size_t *)ptr) = len; - ptr += sizeof(size_t); - memcpy((void *)ptr, (void *)msg->header.frame_id.c_str(), len * sizeof(char)); - ptr += len * sizeof(char); - *((uint32_t *)ptr) = msg->header.seq; - ptr += sizeof(uint32_t); - *((double *)ptr) = msg->header.stamp.toSec(); - ptr += sizeof(double); - - *((double *)ptr) = msg->pose.pose.position.x; - ptr += sizeof(double); - *((double *)ptr) = msg->pose.pose.position.y; - ptr += sizeof(double); - *((double *)ptr) = msg->pose.pose.position.z; - ptr += sizeof(double); - - *((double *)ptr) = msg->pose.pose.orientation.w; - ptr += sizeof(double); - *((double *)ptr) = msg->pose.pose.orientation.x; - ptr += sizeof(double); - *((double *)ptr) = msg->pose.pose.orientation.y; - ptr += sizeof(double); - *((double *)ptr) = msg->pose.pose.orientation.z; - ptr += sizeof(double); - - for (size_t j = 0; j < 36; j++) - { - *((double *)ptr) = msg->pose.covariance[j]; - ptr += sizeof(double); - } - - *((double *)ptr) = msg->twist.twist.linear.x; - ptr += sizeof(double); - *((double *)ptr) = msg->twist.twist.linear.y; - ptr += sizeof(double); - *((double *)ptr) = msg->twist.twist.linear.z; - ptr += sizeof(double); - *((double *)ptr) = msg->twist.twist.angular.x; - ptr += sizeof(double); - *((double *)ptr) = msg->twist.twist.angular.y; - ptr += sizeof(double); - *((double *)ptr) = msg->twist.twist.angular.z; - ptr += sizeof(double); - - for (size_t j = 0; j < 36; j++) - { - *((double *)ptr) = msg->twist.covariance[j]; - ptr += sizeof(double); - } - - return ptr - udp_send_buf_; -} - -int serializeStop(const std_msgs::EmptyPtr &msg) -{ - char *ptr = udp_send_buf_; - - *((MESSAGE_TYPE *)ptr) = MESSAGE_TYPE::STOP; - ptr += sizeof(MESSAGE_TYPE); - - return ptr - udp_send_buf_; -} - -int serializeOneTraj(const traj_utils::BsplinePtr &msg) -{ - char *ptr = udp_send_buf_; - - unsigned long total_len = 0; - total_len += sizeof(int32_t) + sizeof(int32_t) + sizeof(double) + sizeof(int64_t) + sizeof(double); - total_len += sizeof(size_t) + msg->knots.size() * sizeof(double); - total_len += sizeof(size_t) + (3 * msg->pos_pts.size()) * sizeof(double); - total_len += sizeof(size_t) + msg->yaw_pts.size() * sizeof(double); - if (total_len + 1 > BUF_LEN) - { - ROS_ERROR("[bridge_node] Topic is too large, please enlarge BUF_LEN (2)"); - return -1; - } - - *((MESSAGE_TYPE *)ptr) = MESSAGE_TYPE::ONE_TRAJ; - ptr += sizeof(MESSAGE_TYPE); - - *((int32_t *)ptr) = msg->drone_id; - ptr += sizeof(int32_t); - *((int32_t *)ptr) = msg->order; - ptr += sizeof(int32_t); - *((double *)ptr) = msg->start_time.toSec(); - ptr += sizeof(double); - *((int64_t *)ptr) = msg->traj_id; - ptr += sizeof(int64_t); - *((double *)ptr) = msg->yaw_dt; - ptr += sizeof(double); - - *((size_t *)ptr) = msg->knots.size(); - ptr += sizeof(size_t); - for (size_t j = 0; j < msg->knots.size(); j++) - { - *((double *)ptr) = msg->knots[j]; - ptr += sizeof(double); - } - - *((size_t *)ptr) = msg->pos_pts.size(); - ptr += sizeof(size_t); - for (size_t j = 0; j < msg->pos_pts.size(); j++) - { - *((double *)ptr) = msg->pos_pts[j].x; - ptr += sizeof(double); - *((double *)ptr) = msg->pos_pts[j].y; - ptr += sizeof(double); - *((double *)ptr) = msg->pos_pts[j].z; - ptr += sizeof(double); - } - - *((size_t *)ptr) = msg->yaw_pts.size(); - ptr += sizeof(size_t); - for (size_t j = 0; j < msg->yaw_pts.size(); j++) - { - *((double *)ptr) = msg->yaw_pts[j]; - ptr += sizeof(double); - } - - return ptr - udp_send_buf_; -} - -int deserializeOneTraj(traj_utils::BsplinePtr &msg) -{ - char *ptr = udp_recv_buf_; - - ptr += sizeof(MESSAGE_TYPE); - - msg->drone_id = *((int32_t *)ptr); - ptr += sizeof(int32_t); - msg->order = *((int32_t *)ptr); - ptr += sizeof(int32_t); - msg->start_time.fromSec(*((double *)ptr)); - ptr += sizeof(double); - msg->traj_id = *((int64_t *)ptr); - ptr += sizeof(int64_t); - msg->yaw_dt = *((double *)ptr); - ptr += sizeof(double); - msg->knots.resize(*((size_t *)ptr)); - ptr += sizeof(size_t); - for (size_t j = 0; j < msg->knots.size(); j++) - { - msg->knots[j] = *((double *)ptr); - ptr += sizeof(double); - } - - msg->pos_pts.resize(*((size_t *)ptr)); - ptr += sizeof(size_t); - for (size_t j = 0; j < msg->pos_pts.size(); j++) - { - msg->pos_pts[j].x = *((double *)ptr); - ptr += sizeof(double); - msg->pos_pts[j].y = *((double *)ptr); - ptr += sizeof(double); - msg->pos_pts[j].z = *((double *)ptr); - ptr += sizeof(double); - } - - msg->yaw_pts.resize(*((size_t *)ptr)); - ptr += sizeof(size_t); - for (size_t j = 0; j < msg->yaw_pts.size(); j++) - { - msg->yaw_pts[j] = *((double *)ptr); - ptr += sizeof(double); - } - - return ptr - udp_recv_buf_; -} - -int deserializeStop(std_msgs::EmptyPtr &msg) -{ - char *ptr = udp_recv_buf_; - - return ptr - udp_recv_buf_; -} - -int deserializeOdom(nav_msgs::OdometryPtr &msg) -{ - char *ptr = udp_recv_buf_; - - ptr += sizeof(MESSAGE_TYPE); - - // child_frame_id - size_t len = *((size_t *)ptr); - ptr += sizeof(size_t); - msg->child_frame_id.assign((const char *)ptr, len); - ptr += len * sizeof(char); - - // header - len = *((size_t *)ptr); - ptr += sizeof(size_t); - msg->header.frame_id.assign((const char *)ptr, len); - ptr += len * sizeof(char); - msg->header.seq = *((uint32_t *)ptr); - ptr += sizeof(uint32_t); - msg->header.stamp.fromSec(*((double *)ptr)); - ptr += sizeof(double); - - msg->pose.pose.position.x = *((double *)ptr); - ptr += sizeof(double); - msg->pose.pose.position.y = *((double *)ptr); - ptr += sizeof(double); - msg->pose.pose.position.z = *((double *)ptr); - ptr += sizeof(double); - - msg->pose.pose.orientation.w = *((double *)ptr); - ptr += sizeof(double); - msg->pose.pose.orientation.x = *((double *)ptr); - ptr += sizeof(double); - msg->pose.pose.orientation.y = *((double *)ptr); - ptr += sizeof(double); - msg->pose.pose.orientation.z = *((double *)ptr); - ptr += sizeof(double); - - for (size_t j = 0; j < 36; j++) - { - msg->pose.covariance[j] = *((double *)ptr); - ptr += sizeof(double); - } - - msg->twist.twist.linear.x = *((double *)ptr); - ptr += sizeof(double); - msg->twist.twist.linear.y = *((double *)ptr); - ptr += sizeof(double); - msg->twist.twist.linear.z = *((double *)ptr); - ptr += sizeof(double); - msg->twist.twist.angular.x = *((double *)ptr); - ptr += sizeof(double); - msg->twist.twist.angular.y = *((double *)ptr); - ptr += sizeof(double); - msg->twist.twist.angular.z = *((double *)ptr); - ptr += sizeof(double); - - for (size_t j = 0; j < 36; j++) - { - msg->twist.covariance[j] = *((double *)ptr); - ptr += sizeof(double); - } - - return ptr - udp_recv_buf_; -} - -int deserializeMultiBsplines(traj_utils::MultiBsplinesPtr &msg) -{ - char *ptr = recv_buf_; - - ptr += sizeof(MESSAGE_TYPE); - - msg->drone_id_from = *((int32_t *)ptr); - ptr += sizeof(int32_t); - msg->traj.resize(*((size_t *)ptr)); - ptr += sizeof(size_t); - for (size_t i = 0; i < msg->traj.size(); i++) - { - msg->traj[i].drone_id = *((int32_t *)ptr); - ptr += sizeof(int32_t); - msg->traj[i].order = *((int32_t *)ptr); - ptr += sizeof(int32_t); - msg->traj[i].start_time.fromSec(*((double *)ptr)); - ptr += sizeof(double); - msg->traj[i].traj_id = *((int64_t *)ptr); - ptr += sizeof(int64_t); - msg->traj[i].yaw_dt = *((double *)ptr); - ptr += sizeof(double); - - msg->traj[i].knots.resize(*((size_t *)ptr)); - ptr += sizeof(size_t); - for (size_t j = 0; j < msg->traj[i].knots.size(); j++) - { - msg->traj[i].knots[j] = *((double *)ptr); - ptr += sizeof(double); - } - - msg->traj[i].pos_pts.resize(*((size_t *)ptr)); - ptr += sizeof(size_t); - for (size_t j = 0; j < msg->traj[i].pos_pts.size(); j++) - { - msg->traj[i].pos_pts[j].x = *((double *)ptr); - ptr += sizeof(double); - msg->traj[i].pos_pts[j].y = *((double *)ptr); - ptr += sizeof(double); - msg->traj[i].pos_pts[j].z = *((double *)ptr); - ptr += sizeof(double); - } - - msg->traj[i].yaw_pts.resize(*((size_t *)ptr)); - ptr += sizeof(size_t); - for (size_t j = 0; j < msg->traj[i].yaw_pts.size(); j++) - { - msg->traj[i].yaw_pts[j] = *((double *)ptr); - ptr += sizeof(double); - } - } - - return ptr - recv_buf_; -} - -void multitraj_sub_tcp_cb(const traj_utils::MultiBsplinesPtr &msg) -{ - int len = serializeMultiBsplines(msg); - if (send(send_sock_, send_buf_, len, 0) <= 0) - { - ROS_ERROR("TCP SEND ERROR!!!"); - } -} - -void odom_sub_udp_cb(const nav_msgs::OdometryPtr &msg) -{ - - static ros::Time t_last; - ros::Time t_now = ros::Time::now(); - if ((t_now - t_last).toSec() * odom_broadcast_freq_ < 1.0) - { - return; - } - t_last = t_now; - - msg->child_frame_id = string("drone_") + std::to_string(drone_id_); - - int len = serializeOdom(msg); - - if (sendto(udp_send_fd_, udp_send_buf_, len, 0, (struct sockaddr *)&addr_udp_send_, sizeof(addr_udp_send_)) <= 0) - { - ROS_ERROR("UDP SEND ERROR (1)!!!"); - } -} - -void emergency_stop_sub_udp_cb(const std_msgs::EmptyPtr &msg) -{ - - int len = serializeStop(msg); - - if (sendto(udp_send_fd_, udp_send_buf_, len, 0, (struct sockaddr *)&addr_udp_send_, sizeof(addr_udp_send_)) <= 0) - { - ROS_ERROR("UDP SEND ERROR (2)!!!"); - } -} - -void one_traj_sub_udp_cb(const traj_utils::BsplinePtr &msg) -{ - - int len = serializeOneTraj(msg); - - if (sendto(udp_send_fd_, udp_send_buf_, len, 0, (struct sockaddr *)&addr_udp_send_, sizeof(addr_udp_send_)) <= 0) - { - ROS_ERROR("UDP SEND ERROR (3)!!!"); - } -} - -void server_fun() -{ - int valread; - - // Connect - if (wait_connection_from_previous_drone(PORT, server_fd_, recv_sock_) < 0) - { - ROS_ERROR("[bridge_node]Socket recever creation error!"); - exit(EXIT_FAILURE); - } - - while (true) - { - valread = read(recv_sock_, recv_buf_, BUF_LEN); - - if ( valread <= 0 ) - { - ROS_ERROR("Received message length <= 0, maybe connection has lost"); - close(recv_sock_); - close(server_fd_); - return; - } - - if (valread == deserializeMultiBsplines(bsplines_msg_)) - { - swarm_trajs_pub_.publish(*bsplines_msg_); - } - else - { - ROS_ERROR("Received message length not matches the sent one!!!"); - continue; - } - } -} - -void udp_recv_fun() -{ - int valread; - struct sockaddr_in addr_client; - socklen_t addr_len; - - // Connect - if (udp_bind_to_port(UDP_PORT, udp_server_fd_) < 0) - { - ROS_ERROR("[bridge_node]Socket recever creation error!"); - exit(EXIT_FAILURE); - } - - while (true) - { - if ((valread = recvfrom(udp_server_fd_, udp_recv_buf_, BUF_LEN, 0, (struct sockaddr *)&addr_client, (socklen_t *)&addr_len)) < 0) - { - perror("recvfrom error:"); - exit(EXIT_FAILURE); - } - - char *ptr = udp_recv_buf_; - switch (*((MESSAGE_TYPE *)ptr)) - { - case MESSAGE_TYPE::STOP: - { - - if (valread == sizeof(std_msgs::Empty)) - { - if (valread == deserializeStop(stop_msg_)) - { - emergency_stop_pub_.publish(*stop_msg_); - } - else - { - ROS_ERROR("Received message length not matches the sent one (1)!!!"); - continue; - } - } - - break; - } - - case MESSAGE_TYPE::ODOM: - { - if (valread == deserializeOdom(odom_msg_)) - { - other_odoms_pub_.publish(*odom_msg_); - } - else - { - ROS_ERROR("Received message length not matches the sent one (2)!!!"); - continue; - } - - break; - } - - case MESSAGE_TYPE::ONE_TRAJ: - { - - if ( valread == deserializeOneTraj(bspline_msg_) ) - { - one_traj_pub_.publish(*bspline_msg_); - } - else - { - ROS_ERROR("Received message length not matches the sent one (3)!!!"); - continue; - } - - break; - } - - default: - - //ROS_ERROR("Unknown received message???"); - - break; - } - } -} - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "rosmsg_tcp_bridge"); - ros::NodeHandle nh("~"); - - nh.param("next_drone_ip", tcp_ip_, string("127.0.0.1")); - nh.param("broadcast_ip", udp_ip_, string("127.0.0.255")); - nh.param("drone_id", drone_id_, -1); - nh.param("odom_max_freq", odom_broadcast_freq_, 1000.0); - - bsplines_msg_.reset(new traj_utils::MultiBsplines); - odom_msg_.reset(new nav_msgs::Odometry); - stop_msg_.reset(new std_msgs::Empty); - bspline_msg_.reset(new traj_utils::Bspline); - - if (drone_id_ == -1) - { - ROS_ERROR("Wrong drone_id!"); - exit(EXIT_FAILURE); - } - - string sub_traj_topic_name = string("/uav") + std::to_string(drone_id_) + string("_planning/swarm_trajs"); - swarm_trajs_sub_ = nh.subscribe(sub_traj_topic_name.c_str(), 10, multitraj_sub_tcp_cb, ros::TransportHints().tcpNoDelay()); - - if ( drone_id_ >= 2 ) - { - string pub_traj_topic_name = string("/uav") + std::to_string(drone_id_ - 1) + string("_planning/swarm_trajs"); - swarm_trajs_pub_ = nh.advertise(pub_traj_topic_name.c_str(), 10); - } - - // other_odoms_sub_ = nh.subscribe("my_odom", 10, odom_sub_udp_cb, ros::TransportHints().tcpNoDelay()); - // other_odoms_pub_ = nh.advertise("/others_odom", 10); - - //emergency_stop_sub_ = nh.subscribe("emergency_stop_broadcast", 10, emergency_stop_sub_udp_cb, ros::TransportHints().tcpNoDelay()); - //emergency_stop_pub_ = nh.advertise("emergency_stop_recv", 10); - - one_traj_sub_ = nh.subscribe("/broadcast_bspline", 100, one_traj_sub_udp_cb, ros::TransportHints().tcpNoDelay()); - one_traj_pub_ = nh.advertise("/broadcast_bspline2", 100); - - boost::thread recv_thd(server_fun); - recv_thd.detach(); - ros::Duration(0.1).sleep(); - boost::thread udp_recv_thd(udp_recv_fun); - udp_recv_thd.detach(); - ros::Duration(0.1).sleep(); - - // TCP connect - send_sock_ = connect_to_next_drone(tcp_ip_.c_str(), PORT); - - // UDP connect - udp_send_fd_ = init_broadcast(udp_ip_.c_str(), UDP_PORT); - - cout << "[rosmsg_tcp_bridge] start running" << endl; - - ros::spin(); - - close(send_sock_); - close(recv_sock_); - close(server_fd_); - close(udp_server_fd_); - close(udp_send_fd_); - - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/CMakeLists.txt deleted file mode 100644 index 5f1f457..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/CMakeLists.txt +++ /dev/null @@ -1,59 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(traj_utils) - -set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") -set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") - -find_package(catkin REQUIRED COMPONENTS - #bspline_opt - #path_searching - roscpp - std_msgs - geometry_msgs - message_generation - #cv_bridge -) - -find_package(Eigen3 REQUIRED) -find_package(PCL 1.7 REQUIRED) - -# Generate messages in the 'msg' folder -add_message_files( - FILES - Bspline.msg - DataDisp.msg - MultiBsplines.msg - ) - -# Generate added messages and services with any dependencies listed here -generate_messages( - DEPENDENCIES - std_msgs - geometry_msgs -) - -catkin_package( - INCLUDE_DIRS include - LIBRARIES traj_utils - CATKIN_DEPENDS message_runtime -# DEPENDS system_lib -) - -include_directories( - SYSTEM - include - ${catkin_INCLUDE_DIRS} - ${Eigen3_INCLUDE_DIRS} - ${PCL_INCLUDE_DIRS} -) - -link_directories(${PCL_LIBRARY_DIRS}) - -add_library( traj_utils - src/planning_visualization.cpp - src/polynomial_traj.cpp - ) -target_link_libraries( traj_utils - ${catkin_LIBRARIES} - ) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/include/traj_utils/plan_container.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/include/traj_utils/plan_container.hpp deleted file mode 100644 index 4c249df..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/include/traj_utils/plan_container.hpp +++ /dev/null @@ -1,233 +0,0 @@ -#ifndef _PLAN_CONTAINER_H_ -#define _PLAN_CONTAINER_H_ - -#include -#include -#include - -#include -#include - -using std::vector; - -namespace ego_planner -{ - - class GlobalTrajData - { - private: - public: - PolynomialTraj global_traj_; - vector local_traj_; - - double global_duration_; - ros::Time global_start_time_; - double local_start_time_, local_end_time_; - double time_increase_; - double last_time_inc_; - double last_progress_time_; - - GlobalTrajData(/* args */) {} - - ~GlobalTrajData() {} - - bool localTrajReachTarget() { return fabs(local_end_time_ - global_duration_) < 0.1; } - - void setGlobalTraj(const PolynomialTraj &traj, const ros::Time &time) - { - global_traj_ = traj; - global_traj_.init(); - global_duration_ = global_traj_.getTimeSum(); - global_start_time_ = time; - - local_traj_.clear(); - local_start_time_ = -1; - local_end_time_ = -1; - time_increase_ = 0.0; - last_time_inc_ = 0.0; - last_progress_time_ = 0.0; - } - - void setLocalTraj(UniformBspline traj, double local_ts, double local_te, double time_inc) - { - local_traj_.resize(3); - local_traj_[0] = traj; - local_traj_[1] = local_traj_[0].getDerivative(); - local_traj_[2] = local_traj_[1].getDerivative(); - - local_start_time_ = local_ts; - local_end_time_ = local_te; - global_duration_ += time_inc; - time_increase_ += time_inc; - last_time_inc_ = time_inc; - } - - Eigen::Vector3d getPosition(double t) - { - if (t >= -1e-3 && t <= local_start_time_) - { - return global_traj_.evaluate(t - time_increase_ + last_time_inc_); - } - else if (t >= local_end_time_ && t <= global_duration_ + 1e-3) - { - return global_traj_.evaluate(t - time_increase_); - } - else - { - double tm, tmp; - local_traj_[0].getTimeSpan(tm, tmp); - return local_traj_[0].evaluateDeBoor(tm + t - local_start_time_); - } - } - - Eigen::Vector3d getVelocity(double t) - { - if (t >= -1e-3 && t <= local_start_time_) - { - return global_traj_.evaluateVel(t); - } - else if (t >= local_end_time_ && t <= global_duration_ + 1e-3) - { - return global_traj_.evaluateVel(t - time_increase_); - } - else - { - double tm, tmp; - local_traj_[0].getTimeSpan(tm, tmp); - return local_traj_[1].evaluateDeBoor(tm + t - local_start_time_); - } - } - - Eigen::Vector3d getAcceleration(double t) - { - if (t >= -1e-3 && t <= local_start_time_) - { - return global_traj_.evaluateAcc(t); - } - else if (t >= local_end_time_ && t <= global_duration_ + 1e-3) - { - return global_traj_.evaluateAcc(t - time_increase_); - } - else - { - double tm, tmp; - local_traj_[0].getTimeSpan(tm, tmp); - return local_traj_[2].evaluateDeBoor(tm + t - local_start_time_); - } - } - - // get Bspline paramterization data of a local trajectory within a sphere - // start_t: start time of the trajectory - // dist_pt: distance between the discretized points - void getTrajByRadius(const double &start_t, const double &des_radius, const double &dist_pt, - vector &point_set, vector &start_end_derivative, - double &dt, double &seg_duration) - { - double seg_length = 0.0; // length of the truncated segment - double seg_time = 0.0; // duration of the truncated segment - double radius = 0.0; // distance to the first point of the segment - - double delt = 0.2; - Eigen::Vector3d first_pt = getPosition(start_t); // first point of the segment - Eigen::Vector3d prev_pt = first_pt; // previous point - Eigen::Vector3d cur_pt; // current point - - // go forward until the traj exceed radius or global time - - while (radius < des_radius && seg_time < global_duration_ - start_t - 1e-3) - { - seg_time += delt; - seg_time = min(seg_time, global_duration_ - start_t); - - cur_pt = getPosition(start_t + seg_time); - seg_length += (cur_pt - prev_pt).norm(); - prev_pt = cur_pt; - radius = (cur_pt - first_pt).norm(); - } - - // get parameterization dt by desired density of points - int seg_num = floor(seg_length / dist_pt); - - // get outputs - - seg_duration = seg_time; // duration of the truncated segment - dt = seg_time / seg_num; // time difference between two points - - for (double tp = 0.0; tp <= seg_time + 1e-4; tp += dt) - { - cur_pt = getPosition(start_t + tp); - point_set.push_back(cur_pt); - } - - start_end_derivative.push_back(getVelocity(start_t)); - start_end_derivative.push_back(getVelocity(start_t + seg_time)); - start_end_derivative.push_back(getAcceleration(start_t)); - start_end_derivative.push_back(getAcceleration(start_t + seg_time)); - } - - // get Bspline paramterization data of a fixed duration local trajectory - // start_t: start time of the trajectory - // duration: time length of the segment - // seg_num: discretized the segment into *seg_num* parts - void getTrajByDuration(double start_t, double duration, int seg_num, - vector &point_set, - vector &start_end_derivative, double &dt) - { - dt = duration / seg_num; - Eigen::Vector3d cur_pt; - for (double tp = 0.0; tp <= duration + 1e-4; tp += dt) - { - cur_pt = getPosition(start_t + tp); - point_set.push_back(cur_pt); - } - - start_end_derivative.push_back(getVelocity(start_t)); - start_end_derivative.push_back(getVelocity(start_t + duration)); - start_end_derivative.push_back(getAcceleration(start_t)); - start_end_derivative.push_back(getAcceleration(start_t + duration)); - } - }; - - struct PlanParameters - { - /* planning algorithm parameters */ - double max_vel_, max_acc_, max_jerk_; // physical limits - double ctrl_pt_dist; // distance between adjacient B-spline control points - double feasibility_tolerance_; // permitted ratio of vel/acc exceeding limits - double planning_horizen_; - bool use_distinctive_trajs; - int drone_id; // single drone: drone_id <= -1, swarm: drone_id >= 0 - - /* processing time */ - double time_search_ = 0.0; - double time_optimize_ = 0.0; - double time_adjust_ = 0.0; - }; - - struct LocalTrajData - { - /* info of generated traj */ - - int traj_id_; - double duration_; - ros::Time start_time_; - Eigen::Vector3d start_pos_; - UniformBspline position_traj_, velocity_traj_, acceleration_traj_; - }; - - struct OneTrajDataOfSwarm - { - /* info of generated traj */ - - int drone_id; - double duration_; - ros::Time start_time_; - Eigen::Vector3d start_pos_; - UniformBspline position_traj_; - }; - - typedef std::vector SwarmTrajData; - -} // namespace ego_planner - -#endif \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/include/traj_utils/planning_visualization.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/include/traj_utils/planning_visualization.h deleted file mode 100644 index 06d755b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/include/traj_utils/planning_visualization.h +++ /dev/null @@ -1,55 +0,0 @@ -#ifndef _PLANNING_VISUALIZATION_H_ -#define _PLANNING_VISUALIZATION_H_ - -#include -#include -//#include -#include -//#include -#include -#include -#include -#include -#include - -using std::vector; -namespace ego_planner -{ - class PlanningVisualization - { - private: - ros::NodeHandle node; - - ros::Publisher goal_point_pub; - ros::Publisher global_list_pub; - ros::Publisher init_list_pub; - ros::Publisher optimal_list_pub; - ros::Publisher a_star_list_pub; - ros::Publisher guide_vector_pub; - ros::Publisher intermediate_state_pub; - - public: - PlanningVisualization(/* args */) {} - ~PlanningVisualization() {} - PlanningVisualization(ros::NodeHandle &nh); - - typedef std::shared_ptr Ptr; - - void displayMarkerList(ros::Publisher &pub, const vector &list, double scale, - Eigen::Vector4d color, int id, bool show_sphere = true); - void generatePathDisplayArray(visualization_msgs::MarkerArray &array, - const vector &list, double scale, Eigen::Vector4d color, int id); - void generateArrowDisplayArray(visualization_msgs::MarkerArray &array, - const vector &list, double scale, Eigen::Vector4d color, int id); - void displayGoalPoint(Eigen::Vector3d goal_point, Eigen::Vector4d color, const double scale, int id); - void displayGlobalPathList(vector global_pts, const double scale, int id); - void displayInitPathList(vector init_pts, const double scale, int id); - void displayMultiInitPathList(vector> init_trajs, const double scale); - void displayOptimalList(Eigen::MatrixXd optimal_pts, int id); - void displayAStarList(std::vector> a_star_paths, int id); - void displayArrowList(ros::Publisher &pub, const vector &list, double scale, Eigen::Vector4d color, int id); - // void displayIntermediateState(ros::Publisher& intermediate_pub, ego_planner::BsplineOptimizer::Ptr optimizer, double sleep_time, const int start_iteration); - // void displayNewArrow(ros::Publisher& guide_vector_pub, ego_planner::BsplineOptimizer::Ptr optimizer); - }; -} // namespace ego_planner -#endif \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/include/traj_utils/polynomial_traj.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/include/traj_utils/polynomial_traj.h deleted file mode 100644 index 72bac9b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/include/traj_utils/polynomial_traj.h +++ /dev/null @@ -1,336 +0,0 @@ -#ifndef _POLYNOMIAL_TRAJ_H -#define _POLYNOMIAL_TRAJ_H - -#include -#include - -using std::vector; - -class PolynomialTraj -{ -private: - vector times; // time of each segment - vector> cxs; // coefficient of x of each segment, from n-1 -> 0 - vector> cys; // coefficient of y of each segment - vector> czs; // coefficient of z of each segment - - double time_sum; - int num_seg; - - /* evaluation */ - vector traj_vec3d; - double length; - -public: - PolynomialTraj(/* args */) - { - } - ~PolynomialTraj() - { - } - - void reset() - { - times.clear(), cxs.clear(), cys.clear(), czs.clear(); - time_sum = 0.0, num_seg = 0; - } - - void addSegment(vector cx, vector cy, vector cz, double t) - { - cxs.push_back(cx), cys.push_back(cy), czs.push_back(cz), times.push_back(t); - } - - void init() - { - num_seg = times.size(); - time_sum = 0.0; - for (int i = 0; i < times.size(); ++i) - { - time_sum += times[i]; - } - } - - vector getTimes() - { - return times; - } - - vector> getCoef(int axis) - { - switch (axis) - { - case 0: - return cxs; - case 1: - return cys; - case 2: - return czs; - default: - std::cout << "\033[31mIllegal axis!\033[0m" << std::endl; - } - - vector> empty; - return empty; - } - - Eigen::Vector3d evaluate(double t) - { - /* detetrmine segment num */ - int idx = 0; - while (times[idx] + 1e-4 < t) - { - t -= times[idx]; - ++idx; - } - - /* evaluation */ - int order = cxs[idx].size(); - Eigen::VectorXd cx(order), cy(order), cz(order), tv(order); - for (int i = 0; i < order; ++i) - { - cx(i) = cxs[idx][i], cy(i) = cys[idx][i], cz(i) = czs[idx][i]; - tv(order - 1 - i) = std::pow(t, double(i)); - } - - Eigen::Vector3d pt; - pt(0) = tv.dot(cx), pt(1) = tv.dot(cy), pt(2) = tv.dot(cz); - return pt; - } - - Eigen::Vector3d evaluateVel(double t) - { - /* detetrmine segment num */ - int idx = 0; - while (times[idx] + 1e-4 < t) - { - t -= times[idx]; - ++idx; - } - - /* evaluation */ - int order = cxs[idx].size(); - Eigen::VectorXd vx(order - 1), vy(order - 1), vz(order - 1); - - /* coef of vel */ - for (int i = 0; i < order - 1; ++i) - { - vx(i) = double(i + 1) * cxs[idx][order - 2 - i]; - vy(i) = double(i + 1) * cys[idx][order - 2 - i]; - vz(i) = double(i + 1) * czs[idx][order - 2 - i]; - } - double ts = t; - Eigen::VectorXd tv(order - 1); - for (int i = 0; i < order - 1; ++i) - tv(i) = pow(ts, i); - - Eigen::Vector3d vel; - vel(0) = tv.dot(vx), vel(1) = tv.dot(vy), vel(2) = tv.dot(vz); - return vel; - } - - Eigen::Vector3d evaluateAcc(double t) - { - /* detetrmine segment num */ - int idx = 0; - while (times[idx] + 1e-4 < t) - { - t -= times[idx]; - ++idx; - } - - /* evaluation */ - int order = cxs[idx].size(); - Eigen::VectorXd ax(order - 2), ay(order - 2), az(order - 2); - - /* coef of vel */ - for (int i = 0; i < order - 2; ++i) - { - ax(i) = double((i + 2) * (i + 1)) * cxs[idx][order - 3 - i]; - ay(i) = double((i + 2) * (i + 1)) * cys[idx][order - 3 - i]; - az(i) = double((i + 2) * (i + 1)) * czs[idx][order - 3 - i]; - } - double ts = t; - Eigen::VectorXd tv(order - 2); - for (int i = 0; i < order - 2; ++i) - tv(i) = pow(ts, i); - - Eigen::Vector3d acc; - acc(0) = tv.dot(ax), acc(1) = tv.dot(ay), acc(2) = tv.dot(az); - return acc; - } - - /* for evaluating traj, should be called in sequence!!! */ - double getTimeSum() - { - return this->time_sum; - } - - vector getTraj() - { - double eval_t = 0.0; - traj_vec3d.clear(); - while (eval_t < time_sum) - { - Eigen::Vector3d pt = evaluate(eval_t); - traj_vec3d.push_back(pt); - eval_t += 0.01; - } - return traj_vec3d; - } - - double getLength() - { - length = 0.0; - - Eigen::Vector3d p_l = traj_vec3d[0], p_n; - for (int i = 1; i < traj_vec3d.size(); ++i) - { - p_n = traj_vec3d[i]; - length += (p_n - p_l).norm(); - p_l = p_n; - } - return length; - } - - double getMeanVel() - { - double mean_vel = length / time_sum; - } - - double getAccCost() - { - double cost = 0.0; - int order = cxs[0].size(); - - for (int s = 0; s < times.size(); ++s) - { - Eigen::Vector3d um; - um(0) = 2 * cxs[s][order - 3], um(1) = 2 * cys[s][order - 3], um(2) = 2 * czs[s][order - 3]; - cost += um.squaredNorm() * times[s]; - } - - return cost; - } - - double getJerk() - { - double jerk = 0.0; - - /* evaluate jerk */ - for (int s = 0; s < times.size(); ++s) - { - Eigen::VectorXd cxv(cxs[s].size()), cyv(cys[s].size()), czv(czs[s].size()); - /* convert coefficient */ - int order = cxs[s].size(); - for (int j = 0; j < order; ++j) - { - cxv(j) = cxs[s][order - 1 - j], cyv(j) = cys[s][order - 1 - j], czv(j) = czs[s][order - 1 - j]; - } - double ts = times[s]; - - /* jerk matrix */ - Eigen::MatrixXd mat_jerk(order, order); - mat_jerk.setZero(); - for (double i = 3; i < order; i += 1) - for (double j = 3; j < order; j += 1) - { - mat_jerk(i, j) = - i * (i - 1) * (i - 2) * j * (j - 1) * (j - 2) * pow(ts, i + j - 5) / (i + j - 5); - } - - jerk += (cxv.transpose() * mat_jerk * cxv)(0, 0); - jerk += (cyv.transpose() * mat_jerk * cyv)(0, 0); - jerk += (czv.transpose() * mat_jerk * czv)(0, 0); - } - - return jerk; - } - - void getMeanAndMaxVel(double &mean_v, double &max_v) - { - int num = 0; - mean_v = 0.0, max_v = -1.0; - for (int s = 0; s < times.size(); ++s) - { - int order = cxs[s].size(); - Eigen::VectorXd vx(order - 1), vy(order - 1), vz(order - 1); - - /* coef of vel */ - for (int i = 0; i < order - 1; ++i) - { - vx(i) = double(i + 1) * cxs[s][order - 2 - i]; - vy(i) = double(i + 1) * cys[s][order - 2 - i]; - vz(i) = double(i + 1) * czs[s][order - 2 - i]; - } - double ts = times[s]; - - double eval_t = 0.0; - while (eval_t < ts) - { - Eigen::VectorXd tv(order - 1); - for (int i = 0; i < order - 1; ++i) - tv(i) = pow(ts, i); - Eigen::Vector3d vel; - vel(0) = tv.dot(vx), vel(1) = tv.dot(vy), vel(2) = tv.dot(vz); - double vn = vel.norm(); - mean_v += vn; - if (vn > max_v) - max_v = vn; - ++num; - - eval_t += 0.01; - } - } - - mean_v = mean_v / double(num); - } - - void getMeanAndMaxAcc(double &mean_a, double &max_a) - { - int num = 0; - mean_a = 0.0, max_a = -1.0; - for (int s = 0; s < times.size(); ++s) - { - int order = cxs[s].size(); - Eigen::VectorXd ax(order - 2), ay(order - 2), az(order - 2); - - /* coef of acc */ - for (int i = 0; i < order - 2; ++i) - { - ax(i) = double((i + 2) * (i + 1)) * cxs[s][order - 3 - i]; - ay(i) = double((i + 2) * (i + 1)) * cys[s][order - 3 - i]; - az(i) = double((i + 2) * (i + 1)) * czs[s][order - 3 - i]; - } - double ts = times[s]; - - double eval_t = 0.0; - while (eval_t < ts) - { - Eigen::VectorXd tv(order - 2); - for (int i = 0; i < order - 2; ++i) - tv(i) = pow(ts, i); - Eigen::Vector3d acc; - acc(0) = tv.dot(ax), acc(1) = tv.dot(ay), acc(2) = tv.dot(az); - double an = acc.norm(); - mean_a += an; - if (an > max_a) - max_a = an; - ++num; - - eval_t += 0.01; - } - } - - mean_a = mean_a / double(num); - } - - static PolynomialTraj minSnapTraj(const Eigen::MatrixXd &Pos, const Eigen::Vector3d &start_vel, - const Eigen::Vector3d &end_vel, const Eigen::Vector3d &start_acc, - const Eigen::Vector3d &end_acc, const Eigen::VectorXd &Time); - - static PolynomialTraj one_segment_traj_gen(const Eigen::Vector3d &start_pt, const Eigen::Vector3d &start_vel, const Eigen::Vector3d &start_acc, - const Eigen::Vector3d &end_pt, const Eigen::Vector3d &end_vel, const Eigen::Vector3d &end_acc, - double t); -}; - -#endif \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/msg/Bspline.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/msg/Bspline.msg deleted file mode 100644 index df4cfd4..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/msg/Bspline.msg +++ /dev/null @@ -1,12 +0,0 @@ -int32 drone_id - -int32 order -int64 traj_id -time start_time - -float64[] knots -geometry_msgs/Point[] pos_pts - -float64[] yaw_pts -float64 yaw_dt - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/msg/DataDisp.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/msg/DataDisp.msg deleted file mode 100644 index 742f28a..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/msg/DataDisp.msg +++ /dev/null @@ -1,7 +0,0 @@ -Header header - -float64 a -float64 b -float64 c -float64 d -float64 e \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/msg/MultiBsplines.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/msg/MultiBsplines.msg deleted file mode 100644 index 2f116f2..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/msg/MultiBsplines.msg +++ /dev/null @@ -1,4 +0,0 @@ -int32 drone_id_from - -Bspline[] traj - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/package.xml deleted file mode 100644 index 481ac26..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/package.xml +++ /dev/null @@ -1,77 +0,0 @@ - - - traj_utils - 0.0.0 - The traj_utils package - - - - - bzhouai - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - - - roscpp - std_msgs - message_generation - - catkin - - - - std_msgs - - catkin - - - roscpp - std_msgs - message_runtime - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/src/planning_visualization.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/src/planning_visualization.cpp deleted file mode 100644 index 888320c..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/src/planning_visualization.cpp +++ /dev/null @@ -1,265 +0,0 @@ -#include - -using std::cout; -using std::endl; -namespace ego_planner -{ - PlanningVisualization::PlanningVisualization(ros::NodeHandle &nh) - { - node = nh; - - goal_point_pub = nh.advertise("goal_point", 2); - global_list_pub = nh.advertise("global_list", 2); - init_list_pub = nh.advertise("init_list", 2); - optimal_list_pub = nh.advertise("optimal_list", 2); - a_star_list_pub = nh.advertise("a_star_list", 20); - } - - // // real ids used: {id, id+1000} - void PlanningVisualization::displayMarkerList(ros::Publisher &pub, const vector &list, double scale, - Eigen::Vector4d color, int id, bool show_sphere /* = true */ ) - { - visualization_msgs::Marker sphere, line_strip; - sphere.header.frame_id = line_strip.header.frame_id = "world"; - sphere.header.stamp = line_strip.header.stamp = ros::Time::now(); - sphere.type = visualization_msgs::Marker::SPHERE_LIST; - line_strip.type = visualization_msgs::Marker::LINE_STRIP; - sphere.action = line_strip.action = visualization_msgs::Marker::ADD; - sphere.id = id; - line_strip.id = id + 1000; - - sphere.pose.orientation.w = line_strip.pose.orientation.w = 1.0; - sphere.color.r = line_strip.color.r = color(0); - sphere.color.g = line_strip.color.g = color(1); - sphere.color.b = line_strip.color.b = color(2); - sphere.color.a = line_strip.color.a = color(3) > 1e-5 ? color(3) : 1.0; - sphere.scale.x = scale; - sphere.scale.y = scale; - sphere.scale.z = scale; - line_strip.scale.x = scale / 2; - geometry_msgs::Point pt; - for (int i = 0; i < int(list.size()); i++) - { - pt.x = list[i](0); - pt.y = list[i](1); - pt.z = list[i](2); - //if (show_sphere) sphere.points.push_back(pt); - line_strip.points.push_back(pt); - } - //if (show_sphere) pub.publish(sphere); - pub.publish(line_strip); - } - - // real ids used: {id, id+1} - void PlanningVisualization::generatePathDisplayArray(visualization_msgs::MarkerArray &array, - const vector &list, double scale, Eigen::Vector4d color, int id) - { - visualization_msgs::Marker sphere, line_strip; - sphere.header.frame_id = line_strip.header.frame_id = "map"; - sphere.header.stamp = line_strip.header.stamp = ros::Time::now(); - sphere.type = visualization_msgs::Marker::SPHERE_LIST; - line_strip.type = visualization_msgs::Marker::LINE_STRIP; - sphere.action = line_strip.action = visualization_msgs::Marker::ADD; - sphere.id = id; - line_strip.id = id + 1; - - sphere.pose.orientation.w = line_strip.pose.orientation.w = 1.0; - sphere.color.r = line_strip.color.r = color(0); - sphere.color.g = line_strip.color.g = color(1); - sphere.color.b = line_strip.color.b = color(2); - sphere.color.a = line_strip.color.a = color(3) > 1e-5 ? color(3) : 1.0; - sphere.scale.x = scale; - sphere.scale.y = scale; - sphere.scale.z = scale; - line_strip.scale.x = scale / 3; - geometry_msgs::Point pt; - for (int i = 0; i < int(list.size()); i++) - { - pt.x = list[i](0); - pt.y = list[i](1); - pt.z = list[i](2); - sphere.points.push_back(pt); - line_strip.points.push_back(pt); - } - array.markers.push_back(sphere); - array.markers.push_back(line_strip); - } - - // real ids used: {1000*id ~ (arrow nums)+1000*id} - void PlanningVisualization::generateArrowDisplayArray(visualization_msgs::MarkerArray &array, - const vector &list, double scale, Eigen::Vector4d color, int id) - { - visualization_msgs::Marker arrow; - arrow.header.frame_id = "map"; - arrow.header.stamp = ros::Time::now(); - arrow.type = visualization_msgs::Marker::ARROW; - arrow.action = visualization_msgs::Marker::ADD; - - // geometry_msgs::Point start, end; - // arrow.points - - arrow.color.r = color(0); - arrow.color.g = color(1); - arrow.color.b = color(2); - arrow.color.a = color(3) > 1e-5 ? color(3) : 1.0; - arrow.scale.x = scale; - arrow.scale.y = 2 * scale; - arrow.scale.z = 2 * scale; - - geometry_msgs::Point start, end; - for (int i = 0; i < int(list.size() / 2); i++) - { - // arrow.color.r = color(0) / (1+i); - // arrow.color.g = color(1) / (1+i); - // arrow.color.b = color(2) / (1+i); - - start.x = list[2 * i](0); - start.y = list[2 * i](1); - start.z = list[2 * i](2); - end.x = list[2 * i + 1](0); - end.y = list[2 * i + 1](1); - end.z = list[2 * i + 1](2); - arrow.points.clear(); - arrow.points.push_back(start); - arrow.points.push_back(end); - arrow.id = i + id * 1000; - - array.markers.push_back(arrow); - } - } - - void PlanningVisualization::displayGoalPoint(Eigen::Vector3d goal_point, Eigen::Vector4d color, const double scale, int id) - { - visualization_msgs::Marker sphere; - sphere.header.frame_id = "world"; - sphere.header.stamp = ros::Time::now(); - sphere.type = visualization_msgs::Marker::SPHERE; - sphere.action = visualization_msgs::Marker::ADD; - sphere.id = id; - - sphere.pose.orientation.w = 1.0; - sphere.color.r = color(0); - sphere.color.g = color(1); - sphere.color.b = color(2); - sphere.color.a = color(3); - sphere.scale.x = scale; - sphere.scale.y = scale; - sphere.scale.z = scale; - sphere.pose.position.x = goal_point(0); - sphere.pose.position.y = goal_point(1); - sphere.pose.position.z = goal_point(2); - - goal_point_pub.publish(sphere); - } - - void PlanningVisualization::displayGlobalPathList(vector init_pts, const double scale, int id) - { - - if (global_list_pub.getNumSubscribers() == 0) - { - return; - } - - Eigen::Vector4d color(0, 0.5, 0.5, 1); - displayMarkerList(global_list_pub, init_pts, scale, color, id); - } - - void PlanningVisualization::displayMultiInitPathList(vector> init_trajs, const double scale) - { - - if (init_list_pub.getNumSubscribers() == 0) - { - return; - } - - static int last_nums = 0; - - for ( int id=0; id blank; - displayMarkerList(init_list_pub, blank, scale, color, id, false); - ros::Duration(0.001).sleep(); - } - last_nums = 0; - - for ( int id=0; id init_pts, const double scale, int id) - { - - if (init_list_pub.getNumSubscribers() == 0) - { - return; - } - - Eigen::Vector4d color(0, 0, 1, 1); - displayMarkerList(init_list_pub, init_pts, scale, color, id); - } - - void PlanningVisualization::displayOptimalList(Eigen::MatrixXd optimal_pts, int id) - { - - if (optimal_list_pub.getNumSubscribers() == 0) - { - return; - } - - vector list; - for (int i = 0; i < optimal_pts.cols(); i++) - { - Eigen::Vector3d pt = optimal_pts.col(i).transpose(); - list.push_back(pt); - } - Eigen::Vector4d color(1, 0, 0, 1); - displayMarkerList(optimal_list_pub, list, 0.15, color, id); - } - - void PlanningVisualization::displayAStarList(std::vector> a_star_paths, int id /* = Eigen::Vector4d(0.5,0.5,0,1)*/) - { - - if (a_star_list_pub.getNumSubscribers() == 0) - { - return; - } - - int i = 0; - vector list; - - Eigen::Vector4d color = Eigen::Vector4d(0.5 + ((double)rand() / RAND_MAX / 2), 0.5 + ((double)rand() / RAND_MAX / 2), 0, 1); // make the A star pathes different every time. - double scale = 0.05 + (double)rand() / RAND_MAX / 10; - - for (auto block : a_star_paths) - { - list.clear(); - for (auto pt : block) - { - list.push_back(pt); - } - //Eigen::Vector4d color(0.5,0.5,0,1); - displayMarkerList(a_star_list_pub, list, scale, color, id + i); // real ids used: [ id ~ id+a_star_paths.size() ] - i++; - } - } - - void PlanningVisualization::displayArrowList(ros::Publisher &pub, const vector &list, double scale, Eigen::Vector4d color, int id) - { - visualization_msgs::MarkerArray array; - // clear - pub.publish(array); - - generateArrowDisplayArray(array, list, scale, color, id); - - pub.publish(array); - } - - // PlanningVisualization:: -} // namespace ego_planner \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/src/polynomial_traj.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/src/polynomial_traj.cpp deleted file mode 100644 index a83b7ae..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/planner/traj_utils/src/polynomial_traj.cpp +++ /dev/null @@ -1,224 +0,0 @@ -#include -#include - -PolynomialTraj PolynomialTraj::minSnapTraj(const Eigen::MatrixXd &Pos, const Eigen::Vector3d &start_vel, - const Eigen::Vector3d &end_vel, const Eigen::Vector3d &start_acc, - const Eigen::Vector3d &end_acc, const Eigen::VectorXd &Time) -{ - int seg_num = Time.size(); - Eigen::MatrixXd poly_coeff(seg_num, 3 * 6); - Eigen::VectorXd Px(6 * seg_num), Py(6 * seg_num), Pz(6 * seg_num); - - int num_f, num_p; // number of fixed and free variables - int num_d; // number of all segments' derivatives - - const static auto Factorial = [](int x) { - int fac = 1; - for (int i = x; i > 0; i--) - fac = fac * i; - return fac; - }; - - /* ---------- end point derivative ---------- */ - Eigen::VectorXd Dx = Eigen::VectorXd::Zero(seg_num * 6); - Eigen::VectorXd Dy = Eigen::VectorXd::Zero(seg_num * 6); - Eigen::VectorXd Dz = Eigen::VectorXd::Zero(seg_num * 6); - - for (int k = 0; k < seg_num; k++) - { - /* position to derivative */ - Dx(k * 6) = Pos(0, k); - Dx(k * 6 + 1) = Pos(0, k + 1); - Dy(k * 6) = Pos(1, k); - Dy(k * 6 + 1) = Pos(1, k + 1); - Dz(k * 6) = Pos(2, k); - Dz(k * 6 + 1) = Pos(2, k + 1); - - if (k == 0) - { - Dx(k * 6 + 2) = start_vel(0); - Dy(k * 6 + 2) = start_vel(1); - Dz(k * 6 + 2) = start_vel(2); - - Dx(k * 6 + 4) = start_acc(0); - Dy(k * 6 + 4) = start_acc(1); - Dz(k * 6 + 4) = start_acc(2); - } - else if (k == seg_num - 1) - { - Dx(k * 6 + 3) = end_vel(0); - Dy(k * 6 + 3) = end_vel(1); - Dz(k * 6 + 3) = end_vel(2); - - Dx(k * 6 + 5) = end_acc(0); - Dy(k * 6 + 5) = end_acc(1); - Dz(k * 6 + 5) = end_acc(2); - } - } - - /* ---------- Mapping Matrix A ---------- */ - Eigen::MatrixXd Ab; - Eigen::MatrixXd A = Eigen::MatrixXd::Zero(seg_num * 6, seg_num * 6); - - for (int k = 0; k < seg_num; k++) - { - Ab = Eigen::MatrixXd::Zero(6, 6); - for (int i = 0; i < 3; i++) - { - Ab(2 * i, i) = Factorial(i); - for (int j = i; j < 6; j++) - Ab(2 * i + 1, j) = Factorial(j) / Factorial(j - i) * pow(Time(k), j - i); - } - A.block(k * 6, k * 6, 6, 6) = Ab; - } - - /* ---------- Produce Selection Matrix C' ---------- */ - Eigen::MatrixXd Ct, C; - - num_f = 2 * seg_num + 4; // 3 + 3 + (seg_num - 1) * 2 = 2m + 4 - num_p = 2 * seg_num - 2; //(seg_num - 1) * 2 = 2m - 2 - num_d = 6 * seg_num; - Ct = Eigen::MatrixXd::Zero(num_d, num_f + num_p); - Ct(0, 0) = 1; - Ct(2, 1) = 1; - Ct(4, 2) = 1; // stack the start point - Ct(1, 3) = 1; - Ct(3, 2 * seg_num + 4) = 1; - Ct(5, 2 * seg_num + 5) = 1; - - Ct(6 * (seg_num - 1) + 0, 2 * seg_num + 0) = 1; - Ct(6 * (seg_num - 1) + 1, 2 * seg_num + 1) = 1; // Stack the end point - Ct(6 * (seg_num - 1) + 2, 4 * seg_num + 0) = 1; - Ct(6 * (seg_num - 1) + 3, 2 * seg_num + 2) = 1; // Stack the end point - Ct(6 * (seg_num - 1) + 4, 4 * seg_num + 1) = 1; - Ct(6 * (seg_num - 1) + 5, 2 * seg_num + 3) = 1; // Stack the end point - - for (int j = 2; j < seg_num; j++) - { - Ct(6 * (j - 1) + 0, 2 + 2 * (j - 1) + 0) = 1; - Ct(6 * (j - 1) + 1, 2 + 2 * (j - 1) + 1) = 1; - Ct(6 * (j - 1) + 2, 2 * seg_num + 4 + 2 * (j - 2) + 0) = 1; - Ct(6 * (j - 1) + 3, 2 * seg_num + 4 + 2 * (j - 1) + 0) = 1; - Ct(6 * (j - 1) + 4, 2 * seg_num + 4 + 2 * (j - 2) + 1) = 1; - Ct(6 * (j - 1) + 5, 2 * seg_num + 4 + 2 * (j - 1) + 1) = 1; - } - - C = Ct.transpose(); - - Eigen::VectorXd Dx1 = C * Dx; - Eigen::VectorXd Dy1 = C * Dy; - Eigen::VectorXd Dz1 = C * Dz; - - /* ---------- minimum snap matrix ---------- */ - Eigen::MatrixXd Q = Eigen::MatrixXd::Zero(seg_num * 6, seg_num * 6); - - for (int k = 0; k < seg_num; k++) - { - for (int i = 3; i < 6; i++) - { - for (int j = 3; j < 6; j++) - { - Q(k * 6 + i, k * 6 + j) = - i * (i - 1) * (i - 2) * j * (j - 1) * (j - 2) / (i + j - 5) * pow(Time(k), (i + j - 5)); - } - } - } - - /* ---------- R matrix ---------- */ - Eigen::MatrixXd R = C * A.transpose().inverse() * Q * A.inverse() * Ct; - - Eigen::VectorXd Dxf(2 * seg_num + 4), Dyf(2 * seg_num + 4), Dzf(2 * seg_num + 4); - - Dxf = Dx1.segment(0, 2 * seg_num + 4); - Dyf = Dy1.segment(0, 2 * seg_num + 4); - Dzf = Dz1.segment(0, 2 * seg_num + 4); - - Eigen::MatrixXd Rff(2 * seg_num + 4, 2 * seg_num + 4); - Eigen::MatrixXd Rfp(2 * seg_num + 4, 2 * seg_num - 2); - Eigen::MatrixXd Rpf(2 * seg_num - 2, 2 * seg_num + 4); - Eigen::MatrixXd Rpp(2 * seg_num - 2, 2 * seg_num - 2); - - Rff = R.block(0, 0, 2 * seg_num + 4, 2 * seg_num + 4); - Rfp = R.block(0, 2 * seg_num + 4, 2 * seg_num + 4, 2 * seg_num - 2); - Rpf = R.block(2 * seg_num + 4, 0, 2 * seg_num - 2, 2 * seg_num + 4); - Rpp = R.block(2 * seg_num + 4, 2 * seg_num + 4, 2 * seg_num - 2, 2 * seg_num - 2); - - /* ---------- close form solution ---------- */ - - Eigen::VectorXd Dxp(2 * seg_num - 2), Dyp(2 * seg_num - 2), Dzp(2 * seg_num - 2); - Dxp = -(Rpp.inverse() * Rfp.transpose()) * Dxf; - Dyp = -(Rpp.inverse() * Rfp.transpose()) * Dyf; - Dzp = -(Rpp.inverse() * Rfp.transpose()) * Dzf; - - Dx1.segment(2 * seg_num + 4, 2 * seg_num - 2) = Dxp; - Dy1.segment(2 * seg_num + 4, 2 * seg_num - 2) = Dyp; - Dz1.segment(2 * seg_num + 4, 2 * seg_num - 2) = Dzp; - - Px = (A.inverse() * Ct) * Dx1; - Py = (A.inverse() * Ct) * Dy1; - Pz = (A.inverse() * Ct) * Dz1; - - for (int i = 0; i < seg_num; i++) - { - poly_coeff.block(i, 0, 1, 6) = Px.segment(i * 6, 6).transpose(); - poly_coeff.block(i, 6, 1, 6) = Py.segment(i * 6, 6).transpose(); - poly_coeff.block(i, 12, 1, 6) = Pz.segment(i * 6, 6).transpose(); - } - - /* ---------- use polynomials ---------- */ - PolynomialTraj poly_traj; - for (int i = 0; i < poly_coeff.rows(); ++i) - { - vector cx(6), cy(6), cz(6); - for (int j = 0; j < 6; ++j) - { - cx[j] = poly_coeff(i, j), cy[j] = poly_coeff(i, j + 6), cz[j] = poly_coeff(i, j + 12); - } - reverse(cx.begin(), cx.end()); - reverse(cy.begin(), cy.end()); - reverse(cz.begin(), cz.end()); - double ts = Time(i); - poly_traj.addSegment(cx, cy, cz, ts); - } - - return poly_traj; -} - -PolynomialTraj PolynomialTraj::one_segment_traj_gen(const Eigen::Vector3d &start_pt, const Eigen::Vector3d &start_vel, const Eigen::Vector3d &start_acc, - const Eigen::Vector3d &end_pt, const Eigen::Vector3d &end_vel, const Eigen::Vector3d &end_acc, - double t) -{ - Eigen::MatrixXd C = Eigen::MatrixXd::Zero(6, 6), Crow(1, 6); - Eigen::VectorXd Bx(6), By(6), Bz(6); - - C(0, 5) = 1; - C(1, 4) = 1; - C(2, 3) = 2; - Crow << pow(t, 5), pow(t, 4), pow(t, 3), pow(t, 2), t, 1; - C.row(3) = Crow; - Crow << 5 * pow(t, 4), 4 * pow(t, 3), 3 * pow(t, 2), 2 * t, 1, 0; - C.row(4) = Crow; - Crow << 20 * pow(t, 3), 12 * pow(t, 2), 6 * t, 2, 0, 0; - C.row(5) = Crow; - - Bx << start_pt(0), start_vel(0), start_acc(0), end_pt(0), end_vel(0), end_acc(0); - By << start_pt(1), start_vel(1), start_acc(1), end_pt(1), end_vel(1), end_acc(1); - Bz << start_pt(2), start_vel(2), start_acc(2), end_pt(2), end_vel(2), end_acc(2); - - Eigen::VectorXd Cofx = C.colPivHouseholderQr().solve(Bx); - Eigen::VectorXd Cofy = C.colPivHouseholderQr().solve(By); - Eigen::VectorXd Cofz = C.colPivHouseholderQr().solve(Bz); - - vector cx(6), cy(6), cz(6); - for (int i = 0; i < 6; i++) - { - cx[i] = Cofx(i); - cy[i] = Cofy(i); - cz[i] = Cofz(i); - } - - PolynomialTraj poly_traj; - poly_traj.addSegment(cx, cy, cz, t); - - return poly_traj; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/CMakeLists.txt deleted file mode 100644 index a510ed1..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/CMakeLists.txt +++ /dev/null @@ -1,13 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(cmake_utils) - -find_package(catkin REQUIRED COMPONENTS roscpp) - -set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake) - -file(GLOB CMAKE_UILTS_FILES cmake/*.cmake) - -catkin_package( - CFG_EXTRAS ${CMAKE_UILTS_FILES} -) - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/cmake/arch.cmake b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/cmake/arch.cmake deleted file mode 100644 index 9f1dcc8..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/cmake/arch.cmake +++ /dev/null @@ -1,126 +0,0 @@ -set(archdetect_c_code " -#if defined(__arm__) || defined(__TARGET_ARCH_ARM) - #if defined(__ARM_ARCH_7__) \\ - || defined(__ARM_ARCH_7A__) \\ - || defined(__ARM_ARCH_7R__) \\ - || defined(__ARM_ARCH_7M__) \\ - || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 7) - #error cmake_ARCH armv7 - #elif defined(__ARM_ARCH_6__) \\ - || defined(__ARM_ARCH_6J__) \\ - || defined(__ARM_ARCH_6T2__) \\ - || defined(__ARM_ARCH_6Z__) \\ - || defined(__ARM_ARCH_6K__) \\ - || defined(__ARM_ARCH_6ZK__) \\ - || defined(__ARM_ARCH_6M__) \\ - || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 6) - #error cmake_ARCH armv6 - #elif defined(__ARM_ARCH_5TEJ__) \\ - || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 5) - #error cmake_ARCH armv5 - #else - #error cmake_ARCH arm - #endif -#elif defined(__i386) || defined(__i386__) || defined(_M_IX86) - #error cmake_ARCH i386 -#elif defined(__x86_64) || defined(__x86_64__) || defined(__amd64) || defined(_M_X64) - #error cmake_ARCH x86_64 -#elif defined(__ia64) || defined(__ia64__) || defined(_M_IA64) - #error cmake_ARCH ia64 -#elif defined(__ppc__) || defined(__ppc) || defined(__powerpc__) \\ - || defined(_ARCH_COM) || defined(_ARCH_PWR) || defined(_ARCH_PPC) \\ - || defined(_M_MPPC) || defined(_M_PPC) - #if defined(__ppc64__) || defined(__powerpc64__) || defined(__64BIT__) - #error cmake_ARCH ppc64 - #else - #error cmake_ARCH ppc - #endif -#endif -#error cmake_ARCH unknown -") - -# Set ppc_support to TRUE before including this file or ppc and ppc64 -# will be treated as invalid architectures since they are no longer supported by Apple - -function(target_architecture output_var) - if(APPLE AND CMAKE_OSX_ARCHITECTURES) - # On OS X we use CMAKE_OSX_ARCHITECTURES *if* it was set - # First let's normalize the order of the values - - # Note that it's not possible to compile PowerPC applications if you are using - # the OS X SDK version 10.6 or later - you'll need 10.4/10.5 for that, so we - # disable it by default - # See this page for more information: - # http://stackoverflow.com/questions/5333490/how-can-we-restore-ppc-ppc64-as-well-as-full-10-4-10-5-sdk-support-to-xcode-4 - - # Architecture defaults to i386 or ppc on OS X 10.5 and earlier, depending on the CPU type detected at runtime. - # On OS X 10.6+ the default is x86_64 if the CPU supports it, i386 otherwise. - - foreach(osx_arch ${CMAKE_OSX_ARCHITECTURES}) - if("${osx_arch}" STREQUAL "ppc" AND ppc_support) - set(osx_arch_ppc TRUE) - elseif("${osx_arch}" STREQUAL "i386") - set(osx_arch_i386 TRUE) - elseif("${osx_arch}" STREQUAL "x86_64") - set(osx_arch_x86_64 TRUE) - elseif("${osx_arch}" STREQUAL "ppc64" AND ppc_support) - set(osx_arch_ppc64 TRUE) - else() - message(FATAL_ERROR "Invalid OS X arch name: ${osx_arch}") - endif() - endforeach() - - # Now add all the architectures in our normalized order - if(osx_arch_ppc) - list(APPEND ARCH ppc) - endif() - - if(osx_arch_i386) - list(APPEND ARCH i386) - endif() - - if(osx_arch_x86_64) - list(APPEND ARCH x86_64) - endif() - - if(osx_arch_ppc64) - list(APPEND ARCH ppc64) - endif() - else() - file(WRITE "${CMAKE_BINARY_DIR}/arch.c" "${archdetect_c_code}") - - enable_language(C) - - # Detect the architecture in a rather creative way... - # This compiles a small C program which is a series of ifdefs that selects a - # particular #error preprocessor directive whose message string contains the - # target architecture. The program will always fail to compile (both because - # file is not a valid C program, and obviously because of the presence of the - # #error preprocessor directives... but by exploiting the preprocessor in this - # way, we can detect the correct target architecture even when cross-compiling, - # since the program itself never needs to be run (only the compiler/preprocessor) - try_run( - run_result_unused - compile_result_unused - "${CMAKE_BINARY_DIR}" - "${CMAKE_BINARY_DIR}/arch.c" - COMPILE_OUTPUT_VARIABLE ARCH - CMAKE_FLAGS CMAKE_OSX_ARCHITECTURES=${CMAKE_OSX_ARCHITECTURES} - ) - - # Parse the architecture name from the compiler output - string(REGEX MATCH "cmake_ARCH ([a-zA-Z0-9_]+)" ARCH "${ARCH}") - - # Get rid of the value marker leaving just the architecture name - string(REPLACE "cmake_ARCH " "" ARCH "${ARCH}") - - # If we are compiling with an unknown architecture this variable should - # already be set to "unknown" but in the case that it's empty (i.e. due - # to a typo in the code), then set it to unknown - if (NOT ARCH) - set(ARCH unknown) - endif() - endif() - - set(${output_var} "${ARCH}" PARENT_SCOPE) -endfunction() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/cmake/cmake_modules.cmake b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/cmake/cmake_modules.cmake deleted file mode 100644 index 4370b38..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/cmake/cmake_modules.cmake +++ /dev/null @@ -1,2 +0,0 @@ -list(APPEND CMAKE_MODULE_PATH "${cmake_utils_SOURCE_PREFIX}/cmake_modules") -link_directories( ${cmake_utils_SOURCE_PREFIX}/lib/mosek8 ) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/cmake/color.cmake b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/cmake/color.cmake deleted file mode 100644 index bada383..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/cmake/color.cmake +++ /dev/null @@ -1,17 +0,0 @@ -string(ASCII 27 Esc) -set(ColourReset "${Esc}[m") -set(ColourBold "${Esc}[1m") -set(Red "${Esc}[31m") -set(Green "${Esc}[32m") -set(Yellow "${Esc}[33m") -set(Blue "${Esc}[34m") -set(Magenta "${Esc}[35m") -set(Cyan "${Esc}[36m") -set(White "${Esc}[37m") -set(BoldRed "${Esc}[1;31m") -set(BoldGreen "${Esc}[1;32m") -set(BoldYellow "${Esc}[1;33m") -set(BoldBlue "${Esc}[1;34m") -set(BoldMagenta "${Esc}[1;35m") -set(BoldCyan "${Esc}[1;36m") -set(BoldWhite "${Esc}[1;37m") diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/cmake_modules/FindEigen.cmake b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/cmake_modules/FindEigen.cmake deleted file mode 100644 index d45fad7..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/cmake_modules/FindEigen.cmake +++ /dev/null @@ -1,173 +0,0 @@ -# Ceres Solver - A fast non-linear least squares minimizer -# Copyright 2015 Google Inc. All rights reserved. -# http://ceres-solver.org/ -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# * Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# * Neither the name of Google Inc. nor the names of its contributors may be -# used to endorse or promote products derived from this software without -# specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -# Author: alexs.mac@gmail.com (Alex Stewart) -# - -# FindEigen.cmake - Find Eigen library, version >= 3. -# -# This module defines the following variables: -# -# EIGEN_FOUND: TRUE iff Eigen is found. -# EIGEN_INCLUDE_DIRS: Include directories for Eigen. -# -# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h -# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0 -# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0 -# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0 -# -# The following variables control the behaviour of this module: -# -# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to -# search for eigen includes, e.g: /timbuktu/eigen3. -# -# The following variables are also defined by this module, but in line with -# CMake recommended FindPackage() module style should NOT be referenced directly -# by callers (use the plural variables detailed above instead). These variables -# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which -# are NOT re-called (i.e. search for library is not repeated) if these variables -# are set with valid values _in the CMake cache_. This means that if these -# variables are set directly in the cache, either by the user in the CMake GUI, -# or by the user passing -DVAR=VALUE directives to CMake when called (which -# explicitly defines a cache variable), then they will be used verbatim, -# bypassing the HINTS variables and other hard-coded search locations. -# -# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the -# include directory of any dependencies. - -# Called if we failed to find Eigen or any of it's required dependencies, -# unsets all public (designed to be used externally) variables and reports -# error message at priority depending upon [REQUIRED/QUIET/] argument. -macro(EIGEN_REPORT_NOT_FOUND REASON_MSG) - unset(EIGEN_FOUND) - unset(EIGEN_INCLUDE_DIRS) - # Make results of search visible in the CMake GUI if Eigen has not - # been found so that user does not have to toggle to advanced view. - mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR) - # Note _FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() - # use the camelcase library name, not uppercase. - if (Eigen_FIND_QUIETLY) - message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - elseif (Eigen_FIND_REQUIRED) - message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - else() - # Neither QUIETLY nor REQUIRED, use no priority which emits a message - # but continues configuration and allows generation. - message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - endif () - return() -endmacro(EIGEN_REPORT_NOT_FOUND) - -# Protect against any alternative find_package scripts for this library having -# been called previously (in a client project) which set EIGEN_FOUND, but not -# the other variables we require / set here which could cause the search logic -# here to fail. -unset(EIGEN_FOUND) - -# Search user-installed locations first, so that we prefer user installs -# to system installs where both exist. -# -# TODO: Add standard Windows search locations for Eigen. -list(APPEND EIGEN_CHECK_INCLUDE_DIRS - /usr/local/include - /usr/local/homebrew/include # Mac OS X - /opt/local/var/macports/software # Mac OS X. - /opt/local/include - /usr/include) -# Additional suffixes to try appending to each search path. -list(APPEND EIGEN_CHECK_PATH_SUFFIXES - eigen3 # Default root directory for Eigen. - Eigen/include/eigen3 ) # Windows (for C:/Program Files prefix). - -# Search supplied hint directories first if supplied. -find_path(EIGEN_INCLUDE_DIR - NAMES Eigen/Core - PATHS ${EIGEN_INCLUDE_DIR_HINTS} - ${EIGEN_CHECK_INCLUDE_DIRS} - PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES}) - -if (NOT EIGEN_INCLUDE_DIR OR - NOT EXISTS ${EIGEN_INCLUDE_DIR}) - eigen_report_not_found( - "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to " - "path to eigen3 include directory, e.g. /usr/local/include/eigen3.") -endif (NOT EIGEN_INCLUDE_DIR OR - NOT EXISTS ${EIGEN_INCLUDE_DIR}) - -# Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets -# if called. -set(EIGEN_FOUND TRUE) - -# Extract Eigen version from Eigen/src/Core/util/Macros.h -if (EIGEN_INCLUDE_DIR) - set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h) - if (NOT EXISTS ${EIGEN_VERSION_FILE}) - eigen_report_not_found( - "Could not find file: ${EIGEN_VERSION_FILE} " - "containing version information in Eigen install located at: " - "${EIGEN_INCLUDE_DIR}.") - else (NOT EXISTS ${EIGEN_VERSION_FILE}) - file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS) - - string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+" - EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1" - EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}") - - string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+" - EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1" - EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}") - - string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+" - EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1" - EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}") - - # This is on a single line s/t CMake does not interpret it as a list of - # elements and insert ';' separators which would result in 3.;2.;0 nonsense. - set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}") - endif (NOT EXISTS ${EIGEN_VERSION_FILE}) -endif (EIGEN_INCLUDE_DIR) - -# Set standard CMake FindPackage variables if found. -if (EIGEN_FOUND) - set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR}) -endif (EIGEN_FOUND) - -# Handle REQUIRED / QUIET optional arguments and version. -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(Eigen - REQUIRED_VARS EIGEN_INCLUDE_DIRS - VERSION_VAR EIGEN_VERSION) - -# Only mark internal variables as advanced if we found Eigen, otherwise -# leave it visible in the standard GUI for the user to set manually. -if (EIGEN_FOUND) - mark_as_advanced(FORCE EIGEN_INCLUDE_DIR) -endif (EIGEN_FOUND) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/cmake_modules/FindGSL.cmake b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/cmake_modules/FindGSL.cmake deleted file mode 100644 index 797b245..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/cmake_modules/FindGSL.cmake +++ /dev/null @@ -1,135 +0,0 @@ -# Try to find gnu scientific library GSL -# See -# http://www.gnu.org/software/gsl/ and -# http://gnuwin32.sourceforge.net/packages/gsl.htm -# -# Based on a script of Felix Woelk and Jan Woetzel -# (www.mip.informatik.uni-kiel.de) -# -# It defines the following variables: -# GSL_FOUND - system has GSL lib -# GSL_INCLUDE_DIRS - where to find headers -# GSL_LIBRARIES - full path to the libraries -# GSL_LIBRARY_DIRS, the directory where the PLplot library is found. - -# CMAKE_GSL_CXX_FLAGS = Unix compiler flags for GSL, essentially "`gsl-config --cxxflags`" -# GSL_LINK_DIRECTORIES = link directories, useful for rpath on Unix -# GSL_EXE_LINKER_FLAGS = rpath on Unix - -set( GSL_FOUND OFF ) -set( GSL_CBLAS_FOUND OFF ) - -# Windows, but not for Cygwin and MSys where gsl-config is available -if( WIN32 AND NOT CYGWIN AND NOT MSYS ) - # look for headers - find_path( GSL_INCLUDE_DIR - NAMES gsl/gsl_cdf.h gsl/gsl_randist.h - ) - if( GSL_INCLUDE_DIR ) - # look for gsl library - find_library( GSL_LIBRARY - NAMES gsl - ) - if( GSL_LIBRARY ) - set( GSL_INCLUDE_DIRS ${GSL_INCLUDE_DIR} ) - get_filename_component( GSL_LIBRARY_DIRS ${GSL_LIBRARY} PATH ) - set( GSL_FOUND ON ) - endif( GSL_LIBRARY ) - - # look for gsl cblas library - find_library( GSL_CBLAS_LIBRARY - NAMES gslcblas - ) - if( GSL_CBLAS_LIBRARY ) - set( GSL_CBLAS_FOUND ON ) - endif( GSL_CBLAS_LIBRARY ) - - set( GSL_LIBRARIES ${GSL_LIBRARY} ${GSL_CBLAS_LIBRARY} ) - endif( GSL_INCLUDE_DIR ) - - mark_as_advanced( - GSL_INCLUDE_DIR - GSL_LIBRARY - GSL_CBLAS_LIBRARY - ) -else( WIN32 AND NOT CYGWIN AND NOT MSYS ) - if( UNIX OR MSYS ) - find_program( GSL_CONFIG_EXECUTABLE gsl-config - /usr/bin/ - /usr/local/bin - ) - - if( GSL_CONFIG_EXECUTABLE ) - set( GSL_FOUND ON ) - - # run the gsl-config program to get cxxflags - execute_process( - COMMAND sh "${GSL_CONFIG_EXECUTABLE}" --cflags - OUTPUT_VARIABLE GSL_CFLAGS - RESULT_VARIABLE RET - ERROR_QUIET - ) - if( RET EQUAL 0 ) - string( STRIP "${GSL_CFLAGS}" GSL_CFLAGS ) - separate_arguments( GSL_CFLAGS ) - - # parse definitions from cflags; drop -D* from CFLAGS - string( REGEX MATCHALL "-D[^;]+" - GSL_DEFINITIONS "${GSL_CFLAGS}" ) - string( REGEX REPLACE "-D[^;]+;" "" - GSL_CFLAGS "${GSL_CFLAGS}" ) - - # parse include dirs from cflags; drop -I prefix - string( REGEX MATCHALL "-I[^;]+" - GSL_INCLUDE_DIRS "${GSL_CFLAGS}" ) - string( REPLACE "-I" "" - GSL_INCLUDE_DIRS "${GSL_INCLUDE_DIRS}") - string( REGEX REPLACE "-I[^;]+;" "" - GSL_CFLAGS "${GSL_CFLAGS}") - - message("GSL_DEFINITIONS=${GSL_DEFINITIONS}") - message("GSL_INCLUDE_DIRS=${GSL_INCLUDE_DIRS}") - message("GSL_CFLAGS=${GSL_CFLAGS}") - else( RET EQUAL 0 ) - set( GSL_FOUND FALSE ) - endif( RET EQUAL 0 ) - - # run the gsl-config program to get the libs - execute_process( - COMMAND sh "${GSL_CONFIG_EXECUTABLE}" --libs - OUTPUT_VARIABLE GSL_LIBRARIES - RESULT_VARIABLE RET - ERROR_QUIET - ) - if( RET EQUAL 0 ) - string(STRIP "${GSL_LIBRARIES}" GSL_LIBRARIES ) - separate_arguments( GSL_LIBRARIES ) - - # extract linkdirs (-L) for rpath (i.e., LINK_DIRECTORIES) - string( REGEX MATCHALL "-L[^;]+" - GSL_LIBRARY_DIRS "${GSL_LIBRARIES}" ) - string( REPLACE "-L" "" - GSL_LIBRARY_DIRS "${GSL_LIBRARY_DIRS}" ) - else( RET EQUAL 0 ) - set( GSL_FOUND FALSE ) - endif( RET EQUAL 0 ) - - MARK_AS_ADVANCED( - GSL_CFLAGS - ) - message( STATUS "Using GSL from ${GSL_PREFIX}" ) - else( GSL_CONFIG_EXECUTABLE ) - message( STATUS "FindGSL: gsl-config not found.") - endif( GSL_CONFIG_EXECUTABLE ) - endif( UNIX OR MSYS ) -endif( WIN32 AND NOT CYGWIN AND NOT MSYS ) - -if( GSL_FOUND ) - if( NOT GSL_FIND_QUIETLY ) - message( STATUS "FindGSL: Found both GSL headers and library" ) - endif( NOT GSL_FIND_QUIETLY ) -else( GSL_FOUND ) - if( GSL_FIND_REQUIRED ) - message( FATAL_ERROR "FindGSL: Could not find GSL headers or library" ) - endif( GSL_FIND_REQUIRED ) -endif( GSL_FOUND ) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/cmake_modules/FindmvIMPACT.cmake b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/cmake_modules/FindmvIMPACT.cmake deleted file mode 100644 index d1a61b6..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/cmake_modules/FindmvIMPACT.cmake +++ /dev/null @@ -1,124 +0,0 @@ -macro(mvIMPACT_REPORT_NOT_FOUND REASON_MSG) - unset(mvIMPACT_FOUND) - unset(mvIMPACT_INCLUDE_DIRS) - unset(mvIMPACT_LIBRARIES) - unset(mvIMPACT_WORLD_VERSION) - unset(mvIMPACT_MAJOR_VERSION) - unset(mvIMPACT_MINOR_VERSION) - # Make results of search visible in the CMake GUI if mvimpact has not - # been found so that user does not have to toggle to advanced view. - mark_as_advanced(CLEAR mvIMPACT_INCLUDE_DIR) - # Note _FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() - # use the camelcase library name, not uppercase. - if(Mvimpact_FIND_QUIETLY) - message(STATUS "Failed to find mvimpact - " ${REASON_MSG} ${ARGN}) - elseif(Mvimpact_FIND_REQUIRED) - message(FATAL_ERROR "Failed to find mvimpact - " ${REASON_MSG} ${ARGN}) - else() - # Neither QUIETLY nor REQUIRED, use no priority which emits a message - # but continues configuration and allows generation. - message("-- Failed to find mvimpact - " ${REASON_MSG} ${ARGN}) - endif() -endmacro(mvIMPACT_REPORT_NOT_FOUND) - -# Search user-installed locations first, so that we prefer user installs -# to system installs where both exist. -get_filename_component(BLUEFOX2_DIR ${CMAKE_CURRENT_SOURCE_DIR} REALPATH) -list(APPEND mvIMPACT_CHECK_INCLUDE_DIRS - /opt/mvIMPACT_acquire - /opt/mvIMPACT_Acquire - ) -execute_process(COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCH) - -if(NOT ARCH) -set(ARCH "arm64") -elseif(${ARCH} STREQUAL "aarch64") -set(ARCH "arm64") -endif() - -list(APPEND mvIMPACT_CHECK_LIBRARY_DIRS - /opt/mvIMPACT_acquire/lib/${ARCH} - /opt/mvIMPACT_Acquire/lib/${ARCH} - ) - -# Check general hints -if(mvIMPACT_HINTS AND EXISTS ${mvIMPACT_HINTS}) - set(mvIMPACT_INCLUDE_DIR_HINTS ${mvIMPACT_HINTS}/include) - set(mvIMPACT_LIBRARY_DIR_HINTS ${mvIMPACT_HINTS}/lib) -endif() - -# Search supplied hint directories first if supplied. -# Find include directory for mvimpact -find_path(mvIMPACT_INCLUDE_DIR - NAMES mvIMPACT_CPP/mvIMPACT_acquire.h - PATHS ${mvIMPACT_INCLUDE_DIR_HINTS} - ${mvIMPACT_CHECK_INCLUDE_DIRS} - NO_DEFAULT_PATH) -if(NOT mvIMPACT_INCLUDE_DIR OR NOT EXISTS ${mvIMPACT_INCLUDE_DIR}) - mvIMPACT_REPORT_NOT_FOUND( - "Could not find mvimpact include directory, set mvIMPACT_INCLUDE_DIR to " - "path to mvimpact include directory," - "e.g. /opt/mvIMPACT_acquire.") -else() - message(STATUS "mvimpact include dir found: " ${mvIMPACT_INCLUDE_DIR}) -endif() - -# Find library directory for mvimpact -find_library(mvIMPACT_LIBRARY - NAMES libmvBlueFOX.so - PATHS ${mvIMPACT_LIBRARY_DIR_HINTS} - ${mvIMPACT_CHECK_LIBRARY_DIRS} - NO_DEFAULT_PATH) -if(NOT mvIMPACT_LIBRARY OR NOT EXISTS ${mvIMPACT_LIBRARY}) - mvIMPACT_REPORT_NOT_FOUND( - "Could not find mvimpact library, set mvIMPACT_LIBRARY " - "to full path to mvimpact library direcotory.${mvIMPACT_CHECK_LIBRARY_DIRS}~~") -else() - # TODO: need to fix this hacky solution for getting mvIMPACT_LIBRARY_DIR - string(REGEX MATCH ".*/" mvIMPACT_LIBRARY_DIR ${mvIMPACT_LIBRARY}) - message(STATUS "mvimpact library dir found: " ${mvIMPACT_LIBRARY_DIR}) - -endif() - -# Mark internally as found, then verify. mvIMPACT_REPORT_NOT_FOUND() unsets if -# called. -set(mvIMPACT_FOUND TRUE) - -# Extract mvimpact version -if(mvIMPACT_LIBRARY_DIR) - file(GLOB mvIMPACT_LIBS - RELATIVE ${mvIMPACT_LIBRARY_DIR} - ${mvIMPACT_LIBRARY_DIR}/libmvBlueFOX.so.[0-9].[0-9].[0-9]) - # TODO: add version support - # string(REGEX MATCH "" - # mvIMPACT_WORLD_VERSION ${mvIMPACT_PVBASE}) - # message(STATUS "mvimpact world version: " ${mvIMPACT_WORLD_VERSION}) -endif() - -# Catch case when caller has set mvIMPACT_INCLUDE_DIR in the cache / GUI and -# thus FIND_[PATH/LIBRARY] are not called, but specified locations are -# invalid, otherwise we would report the library as found. -if(NOT mvIMPACT_INCLUDE_DIR AND NOT EXISTS ${mvIMPACT_INCLUDE_DIR}/mvIMPACT_CPP/mvIMPACT_acquire.h) - mvIMPACT_REPORT_NOT_FOUND("Caller defined mvIMPACT_INCLUDE_DIR: " - ${mvIMPACT_INCLUDE_DIR} - " does not contain mvIMPACT_CPP/mvIMPACT_acquire.h header.") -endif() - -# Set standard CMake FindPackage variables if found. -if(mvIMPACT_FOUND) - set(mvIMPACT_INCLUDE_DIRS ${mvIMPACT_INCLUDE_DIR}) - file(GLOB mvIMPACT_LIBRARIES ${mvIMPACT_LIBRARY_DIR}lib*.so) -endif() - -# Handle REQUIRED / QUIET optional arguments. -include(FindPackageHandleStandardArgs) -if(mvIMPACT_FOUND) - FIND_PACKAGE_HANDLE_STANDARD_ARGS(Mvimpact DEFAULT_MSG - mvIMPACT_INCLUDE_DIRS mvIMPACT_LIBRARIES) -endif() - -# Only mark internal variables as advanced if we found mvimpact, otherwise -# leave it visible in the standard GUI for the user to set manually. -if(mvIMPACT_FOUND) - mark_as_advanced(FORCE mvIMPACT_INCLUDE_DIR mvIMPACT_LIBRARY) -endif() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/package.xml deleted file mode 100644 index d745d2d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/cmake_utils/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - cmake_utils - 0.0.0 - - Once 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z!|Vl{)FUE^A^*M%Gi(A4yYRfvVU>V>F_*r+{YnY~UzYjuCIkc;?{lADPR0LTr1=W= z`+|bkuvXZ~9{l&2^Uv~v*FOC`UAU|pcy(Pii59j*_zCl8IlzCyu>MK;qi3}L3G);G zntRn{@O1^R(3f47_Mf=_t1<|WhcD%HjSt8Fht~h(_LUa!DLfutqI!)dyz>kEUj?hz zsGrB_Qc-zzU5-;R?XOUO=#c(=dawEtUSWBKxa`aM-ysx#skglH?fOxKS597oP3V5( z+aKV+o+ZNsPuESp@)uqid5xX^9rj;{@CwIkqA5&z`O~Ogim-mai~0+X;gyWn{Fz_z z|DtQWZu`Ftw+~E9_miiWbNYWmT{^am~%65jg z1)s@rZA%%JTKykv{q@ax?gnoL{utug%rWd#;y;-A{p<9zQTR=?Yoo=A|H -#include -#include -#include - -using namespace std; - -class Map2D -{ - -private: - nav_msgs::OccupancyGrid map; - int expandStep; - int binning; - bool isBinningSet; - bool updated; - -public: - Map2D() - { - map.data.resize(0); - map.info.origin.orientation = tf::createQuaternionMsgFromYaw(0.0); - expandStep = 200; - binning = 1; - isBinningSet = false; - updated = false; - } - - Map2D(int _binning) - { - map.data.resize(0); - map.info.origin.orientation = tf::createQuaternionMsgFromYaw(0.0); - expandStep = 200; - binning = _binning; - isBinningSet = true; - updated = false; - } - - ~Map2D() {} - - double GetResolution() { return map.info.resolution; } - double GetMinX() { return map.info.origin.position.x; } - double GetMinY() { return map.info.origin.position.y; } - double GetMaxX() { return map.info.origin.position.x + map.info.width * map.info.resolution; } - double GetMaxY() { return map.info.origin.position.y + map.info.height * map.info.resolution; } - bool Updated() { return updated; } - void Reset() { map = nav_msgs::OccupancyGrid(); } - - void SetBinning(int _binning) - { - if (!isBinningSet) - binning = _binning; - } - - // Get occupancy value, 0: unknown; +ve: occupied; -ve: free - signed char GetOccupiedFromWorldFrame(double x, double y) - { - int xm = (x - map.info.origin.position.x) / map.info.resolution; - int ym = (y - map.info.origin.position.y) / map.info.resolution; - if (xm < 0 || xm > (int)(map.info.width-1) || ym < 0 || ym > (int)(map.info.height-1)) - return 0; - else - return map.data[ym*map.info.width+xm]; - } - - void Replace(nav_msgs::OccupancyGrid m) - { - // Check data - if (m.data.size() == 0) - return; - isBinningSet = true; - // Binning, conservative, take maximum - if (binning > 1) - { - int _width = m.info.width; - m.info.width /= binning; - m.info.height /= binning; - m.info.resolution *= binning; - vector data(m.info.width * m.info.height); - for (uint32_t i = 0; i < m.info.height; i++) - { - for (uint32_t j = 0; j < m.info.width; j++) - { - int val = -0xff; - for (int _i = 0; _i < binning; _i++) - { - for (int _j = 0; _j < binning; _j++) - { - int v = m.data[(i*binning + _i) * _width + (j*binning + _j)]; - val = (v > val)?v:val; - } - } - data[i * m.info.width + j] = val; - } - } - m.data = data; - } - // Replace map - map = m; - updated = true; - } - - // Merge submap - void Update(nav_msgs::OccupancyGrid m) - { - // Check data - if (m.data.size() == 0) - return; - isBinningSet = true; - // Binning, conservative, take maximum - if (binning > 1) - { - int _width = m.info.width; - m.info.width /= binning; - m.info.height /= binning; - m.info.resolution *= binning; - vector data(m.info.width * m.info.height); - for (uint32_t i = 0; i < m.info.height; i++) - { - for (uint32_t j = 0; j < m.info.width; j++) - { - int val = -0xff; - for (int _i = 0; _i < binning; _i++) - { - for (int _j = 0; _j < binning; _j++) - { - int v = m.data[(i*binning + _i) * _width + (j*binning + _j)]; - val = (v > val)?v:val; - } - } - data[i * m.info.width + j] = val; - } - } - m.data = data; - } - // Initialize and check resolution - if (map.info.resolution == 0) - map.info.resolution = m.info.resolution; - else if (m.info.resolution != map.info.resolution) - return; - // Get Info - double ox = m.info.origin.position.x; - double oy = m.info.origin.position.y; - double oyaw = tf::getYaw(m.info.origin.orientation); - double syaw = sin(oyaw); - double cyaw = cos(oyaw); - int mx = m.info.width; - int my = m.info.height; - double xs[4]; - double ys[4]; - xs[0] = cyaw * (0) - syaw * (0) + ox; - xs[1] = cyaw * (mx*map.info.resolution) - syaw * (0) + ox; - xs[2] = cyaw * (0) - syaw * (mx*map.info.resolution) + ox; - xs[3] = cyaw * (mx*map.info.resolution) - syaw * (my*map.info.resolution) + ox; - ys[0] = syaw * (0) + cyaw * (0) + oy; - ys[1] = syaw * (mx*map.info.resolution) + cyaw * (0) + oy; - ys[2] = syaw * (0) + cyaw * (my*map.info.resolution) + oy; - ys[3] = syaw * (mx*map.info.resolution) + cyaw * (my*map.info.resolution) + oy; - double minx = xs[0]; - double maxx = xs[0]; - double miny = ys[0]; - double maxy = ys[0]; - for (int k = 0; k < 4; k++) - { - minx = (xs[k] < minx)?xs[k]:minx; - miny = (ys[k] < miny)?ys[k]:miny; - maxx = (xs[k] > maxx)?xs[k]:maxx; - maxy = (ys[k] > maxy)?ys[k]:maxy; - } - // Check whether resize map is needed - bool mapResetFlag = false; - double prevOriginX = map.info.origin.position.x; - double prevOriginY = map.info.origin.position.y; - int prevMapX = map.info.width; - int prevMapY = map.info.height; - while (map.info.origin.position.x > minx) - { - map.info.width += expandStep; - map.info.origin.position.x -= expandStep*map.info.resolution; - mapResetFlag = true; - } - while (map.info.origin.position.y > miny) - { - map.info.height += expandStep; - map.info.origin.position.y -= expandStep*map.info.resolution; - mapResetFlag = true; - } - while (map.info.origin.position.x + map.info.width*map.info.resolution < maxx) - { - map.info.width += expandStep; - mapResetFlag = true; - } - while (map.info.origin.position.y + map.info.height*map.info.resolution < maxy) - { - map.info.height += expandStep; - mapResetFlag = true; - } - // Resize map - if (mapResetFlag) - { - mapResetFlag = false; - vector _data = map.data; - map.data.clear(); - map.data.resize(map.info.width*map.info.height,0); - for (int x = 0; x < prevMapX; x++) - { - for(int y = 0; y < prevMapY; y++) - { - int xn = x + round((prevOriginX - map.info.origin.position.x) / map.info.resolution); - int yn = y + round((prevOriginY - map.info.origin.position.y) / map.info.resolution); - map.data[yn*map.info.width+xn] = _data[y*prevMapX+x]; - } - } - } - // Merge map - for (int x = 0; x < mx; x++) - { - for(int y = 0; y < my; y++) - { - int xn = (cyaw*(x*map.info.resolution)-syaw*(y*map.info.resolution)+ox-map.info.origin.position.x) / map.info.resolution; - int yn = (syaw*(x*map.info.resolution)+cyaw*(y*map.info.resolution)+oy-map.info.origin.position.y) / map.info.resolution; - if (abs((int)(map.data[yn*map.info.width+xn]) + (int)(m.data[y*mx+x])) <= 127) - map.data[yn*map.info.width+xn] += m.data[y*mx+x]; - } - } - updated = true; - } - - const nav_msgs::OccupancyGrid& GetMap() - { - map.header.stamp = ros::Time::now(); - map.info.map_load_time = ros::Time::now(); - map.header.frame_id = string("/map"); - updated = false; - return map; - } -}; - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/include/multi_map_server/Map3D.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/include/multi_map_server/Map3D.h deleted file mode 100644 index 7f8aa7c..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/include/multi_map_server/Map3D.h +++ /dev/null @@ -1,608 +0,0 @@ -#ifndef MAP3D_H -#define MAP3D_H - -#include -#include -#include -#include -#include - -using namespace std; - -// Occupancy probability of a sensor -#define PROB_OCCUPIED 0.95 - -// Free space probability of a sensor -#define PROB_FREE 0.01 - -// Threshold that determine a cell is occupied -#define PROB_OCCUPIED_THRESHOLD 0.75 - -// If beyond this threshold, the occupancy(occupied) of this cell is fixed, no decay -#define PROB_OCCUPIED_FIXED_THRESHOLD 0.95 - -// Threshold that determine a cell is free -#define PROB_FREE_THRESHOLD 0.25 - -// If bwlow this threshold, the occupancy(free) of this cell is fixed, no decay -#define PROB_FREE_FIXED_THRESHOLD 0.05 - -// Used integer value to store occupancy, create a large scale factor to enable small scale decay -#define LOG_ODD_SCALE_FACTOR 10000 - -// Decay factor per second -#define LOG_ODD_DECAY_RATE 1.00 - -// Binary value of the occupancy output -#define OCCUPIED 1 -#define FREE -1 - -// Cell Struct ----------------------------------------- -struct OccupancyGrid -{ - int upper; - int lower; - int mass; -}; - -// Occupancy Grids List -------------------------------- -class OccupancyGridList -{ -public: - - OccupancyGridList() { updateCounter = 0; } - - ~OccupancyGridList() { } - - void PackMsg(multi_map_server::VerticalOccupancyGridList &msg) - { - msg.x = x; - msg.y = y; - for (list::iterator k = grids.begin(); k != grids.end(); k++) - { - msg.upper.push_back(k->upper); - msg.lower.push_back(k->lower); - msg.mass.push_back(k->mass); - } - } - - void UnpackMsg(const multi_map_server::VerticalOccupancyGridList &msg) - { - x = msg.x; - y = msg.y; - updateCounter = 0; - grids.clear(); - for (unsigned int k = 0; k < msg.mass.size(); k++) - { - OccupancyGrid c; - c.upper = msg.upper[k]; - c.lower = msg.lower[k]; - c.mass = msg.mass[k]; - grids.push_back(c); - } - } - - void GetOccupancyGrids(vector& _grids) - { - _grids.clear(); - for (list::iterator k = grids.begin(); k != grids.end(); k++) - _grids.push_back((*k)); - } - - inline int GetUpdateCounter() { return updateCounter; } - - inline void SetUpdateCounterXY(int _updateCounter, double _x, double _y) - { - updateCounter = _updateCounter; - x = _x; - y = _y; - } - - inline int GetOccupancyValue(int mz) - { - for (list::iterator k = grids.begin(); k != grids.end(); k++) - if (mz <= k->upper && mz >= k->lower) - return k->mass / (k->upper - k->lower + 1); - return 0; - } - - inline void DeleteOccupancyGrid(int mz) - { - for (list::iterator k = grids.begin(); k != grids.end(); k++) - { - if (mz <= k->upper && mz >= k->lower) - { - grids.erase(k); - return; - } - } - return; - } - - inline void SetOccupancyValue(int mz, int value) - { - OccupancyGrid grid; - grid.upper = mz; - grid.lower = mz; - grid.mass = value; - - list::iterator gend = grids.end(); - gend--; - - if (grids.size() == 0) // Empty case - { - grids.push_back(grid); - return; - } - else if (mz - grids.begin()->upper > 1) // Beyond highest - { - grids.push_front(grid); - return; - } - else if (mz - grids.begin()->upper == 1) // Next to highest - { - grids.begin()->upper += 1; - grids.begin()->mass += value; - return; - } - else if (gend->lower - mz > 1) // Below lowest - { - grids.push_back(grid); - return; - } - else if (gend->lower - mz == 1) // Next to lowest - { - grids.end()->lower -= 1; - grids.end()->mass += value; - return; - } - else // General case - { - for (list::iterator k = grids.begin(); k != grids.end(); k++) - { - if (mz <= k->upper && mz >= k->lower) // Within a grid - { - k->mass += value; - return; - } - else if (k != gend) - { - list::iterator j = k; - j++; - if (k->lower - mz == 1 && mz - j->upper > 1) // ###*--### - { - k->lower -= 1; - k->mass += value; - return; - } - else if (k->lower - mz > 1 && mz - j->upper == 1) // ###--*### - { - j->upper += 1; - j->mass += value; - return; - } - else if (k->lower - mz == 1 && mz - j->upper == 1) // ###*### - { - k->lower = j->lower; - k->mass += j->mass + value; - grids.erase(j); - return; - } - else if (k->lower - mz > 1 && mz - j->upper > 1) // ###-*-### - { - grids.insert(j, grid); - return; - } - } - } - } - } - - // Merging two columns, merge the grids in input "gridList" into current column - inline void Merge(const OccupancyGridList& gridsIn) - { - // Create a sorted list containing both upper and lower values - list > lp; - for (list::const_iterator k = grids.begin(); k != grids.end(); k++) - { - lp.push_back( make_pair(k->upper, k->mass)); - lp.push_back( make_pair(k->lower, -1)); - } - list > lp2; - for (list::const_iterator k = gridsIn.grids.begin(); k != gridsIn.grids.end(); k++) - { - lp2.push_back( make_pair(k->upper, k->mass)); - lp2.push_back( make_pair(k->lower, -1)); - } - lp.merge(lp2, ComparePair()); - // Manipulate this list to get a minimum size list - grids.clear(); - int currUpper = 0; - int currLower = 0; - int currMass = 0; - int upperCnt = 0; - int lowerCnt = 0; - list >::iterator lend = lp.end(); - lend--; - for (list >::iterator k = lp.begin(); k != lp.end(); k++) - { - if (k->second > 0) - { - if (upperCnt == 0) currUpper = k->first; - currMass = (k->second > currMass)?k->second:currMass; - upperCnt++; - } - if (k->second < 0) - { - currLower = k->first; - lowerCnt++; - } - if (lowerCnt == upperCnt && k != lend) - { - list >::iterator j = k; - if (k->first - (++j)->first == 1) continue; - } - if (lowerCnt == upperCnt) - { - OccupancyGrid c; - c.upper = currUpper; - c.lower = currLower; - c.mass = currMass; - grids.push_back(c); - upperCnt = lowerCnt = currUpper = currLower = currMass = 0; - } - } - } - - inline void Decay(int upThr, int lowThr, double factor) - { - for (list::iterator k = grids.begin(); k != grids.end(); k++) - { - int val = k->mass / (k->upper - k->lower + 1); - if (val < upThr && val > lowThr) - k->mass *= factor; - } - } - -private: - - struct ComparePair - { - bool operator()(pair p1, pair p2) - { - if (p1.first != p2.first) - return (p1.first > p2.first); - else - return (p1.second > p2.second); - } - }; - - // List of vertical occupancy values - list grids; - // Location of the list in world frame - double x; - double y; - // Update indicator - int updateCounter; - -}; - -// 3D Map Object --------------------------------- -class Map3D -{ -public: - - Map3D() - { - resolution = 0.1; - decayInterval = -1; - originX = -5; - originY = -5; - originZ = 0; - mapX = 200; - mapY = 200; - expandStep = 200; - updated = false; - updateCounter = 1; - updateList.clear(); - mapBase.clear(); - mapBase.resize(mapX*mapY, NULL); - logOddOccupied = log(PROB_OCCUPIED/(1.0-PROB_OCCUPIED)) * LOG_ODD_SCALE_FACTOR; - logOddFree = log(PROB_FREE/(1.0-PROB_FREE)) * LOG_ODD_SCALE_FACTOR; - logOddOccupiedThr = log(1.0/(1.0-PROB_OCCUPIED_THRESHOLD) - 1.0) * LOG_ODD_SCALE_FACTOR; - logOddOccupiedFixedThr = log(1.0/(1.0-PROB_OCCUPIED_FIXED_THRESHOLD) - 1.0) * LOG_ODD_SCALE_FACTOR; - logOddFreeThr = log(1.0/(1.0-PROB_FREE_THRESHOLD) - 1.0) * LOG_ODD_SCALE_FACTOR; - logOddFreeFixedThr = log(1.0/(1.0-PROB_FREE_FIXED_THRESHOLD) - 1.0) * LOG_ODD_SCALE_FACTOR; - } - - Map3D(const Map3D& _map3d) - { - resolution = _map3d.resolution; - decayInterval = _map3d.decayInterval; - originX = _map3d.originX; - originY = _map3d.originY; - originZ = _map3d.originZ; - mapX = _map3d.mapX; - mapY = _map3d.mapY; - expandStep = _map3d.expandStep; - updated = _map3d.updated; - updateCounter = _map3d.updateCounter; - updateList = _map3d.updateList; - mapBase = _map3d.mapBase; - for (unsigned int k = 0; k < mapBase.size(); k++) - { - if (mapBase[k]) - { - mapBase[k] = new OccupancyGridList; - *mapBase[k] = *_map3d.mapBase[k]; - } - } - logOddOccupied = log(PROB_OCCUPIED/(1.0-PROB_OCCUPIED)) * LOG_ODD_SCALE_FACTOR; - logOddFree = log(PROB_FREE/(1.0-PROB_FREE)) * LOG_ODD_SCALE_FACTOR; - logOddOccupiedThr = log(1.0/(1.0-PROB_OCCUPIED_THRESHOLD) - 1.0) * LOG_ODD_SCALE_FACTOR; - logOddOccupiedFixedThr = log(1.0/(1.0-PROB_OCCUPIED_FIXED_THRESHOLD) - 1.0) * LOG_ODD_SCALE_FACTOR; - logOddFreeThr = log(1.0/(1.0-PROB_FREE_THRESHOLD) - 1.0) * LOG_ODD_SCALE_FACTOR; - logOddFreeFixedThr = log(1.0/(1.0-PROB_FREE_FIXED_THRESHOLD) - 1.0) * LOG_ODD_SCALE_FACTOR; - } - - ~Map3D() - { - for (unsigned int k = 0; k < mapBase.size(); k++) - { - if (mapBase[k]) - { - delete mapBase[k]; - mapBase[k] = NULL; - } - } - } - - void PackMsg(multi_map_server::SparseMap3D &msg) - { - // Basic map info - msg.header.stamp = ros::Time::now(); - msg.header.frame_id = string("/map"); - msg.info.map_load_time = ros::Time::now(); - msg.info.resolution = resolution; - msg.info.origin.position.x = originX; - msg.info.origin.position.y = originY; - msg.info.origin.position.z = originZ; - msg.info.width = mapX; - msg.info.height = mapY; - msg.info.origin.orientation = tf::createQuaternionMsgFromYaw(0.0); - // Pack columns into message - msg.lists.clear(); - for (unsigned int k = 0; k < updateList.size(); k++) - { - multi_map_server::VerticalOccupancyGridList c; - updateList[k]->PackMsg(c); - msg.lists.push_back(c); - } - updateList.clear(); - updateCounter++; - } - - void UnpackMsg(const multi_map_server::SparseMap3D &msg) - { - // Unpack column msgs, Replace the whole column - for (unsigned int k = 0; k < msg.lists.size(); k++) - { - int mx, my, mz; - WorldFrameToMapFrame(msg.lists[k].x, msg.lists[k].y, 0, mx, my, mz); - ResizeMapBase(mx, my); - if (mapBase[my*mapX+mx]) delete mapBase[my*mapX+mx]; - mapBase[my*mapX+mx] = new OccupancyGridList; - mapBase[my*mapX+mx]->UnpackMsg(msg.lists[k]); - } - CheckDecayMap(); - updated = true; - } - - inline void SetOccupancyFromWorldFrame(double x, double y, double z, double p = PROB_OCCUPIED) - { - // Find occupancy value to be set - int value = 0; - if (p == PROB_OCCUPIED) value = logOddOccupied; - else if (p == PROB_FREE) value = logOddFree; - else return; - // Update occupancy value, return the column that have been changed - int mx, my, mz; - WorldFrameToMapFrame(x, y, z, mx, my, mz); - ResizeMapBase(mx, my); - if (!mapBase[my*mapX+mx]) - mapBase[my*mapX+mx] = new OccupancyGridList; - mapBase[my*mapX+mx]->SetOccupancyValue(mz, value); - // Also record the column that have been changed in another list, for publish incremental map - if (mapBase[my*mapX+mx]->GetUpdateCounter() != updateCounter) - { - updateList.push_back(mapBase[my*mapX+mx]); - mapBase[my*mapX+mx]->SetUpdateCounterXY(updateCounter, x, y); - } - updated = true; - } - - inline int GetOccupancyFromWorldFrame(double x, double y, double z) - { - int mx, my, mz; - WorldFrameToMapFrame(x, y, z, mx, my, mz); - if (mx < 0 || my < 0 || mx >= mapX || my >= mapY) - return 0; - if (!mapBase[my*mapX+mx]) - return 0; - else - { - if (mapBase[my*mapX+mx]->GetOccupancyValue(mz) > logOddOccupiedThr) - return 1; - else if (mapBase[my*mapX+mx]->GetOccupancyValue(mz) < logOddFreeThr) - return -1; - else - return 0; - } - } - - inline void DeleteFromWorldFrame(double x, double y, double z) - { - int mx, my, mz; - WorldFrameToMapFrame(x, y, z, mx, my, mz); - if (mx < 0 || my < 0 || mx >= mapX || my >= mapY) - return; - if (mapBase[my*mapX+mx]) - mapBase[my*mapX+mx]->DeleteOccupancyGrid(mz); - } - - vector& GetOccupancyWorldFrame(int type = OCCUPIED) - { - pts.clear(); - for (int mx = 0; mx < mapX; mx++) - { - for (int my = 0; my < mapY; my++) - { - if (mapBase[my*mapX+mx]) - { - vector grids; - mapBase[my*mapX+mx]->GetOccupancyGrids(grids); - for (unsigned int k = 0; k < grids.size(); k++) - { - if ( (grids[k].mass / (grids[k].upper - grids[k].lower + 1) > logOddOccupiedThr && type == OCCUPIED) || - (grids[k].mass / (grids[k].upper - grids[k].lower + 1) < logOddFreeThr && type == FREE) ) - { - for (int mz = grids[k].lower; mz <= grids[k].upper; mz++) - { - double x, y, z; - MapFrameToWorldFrame(mx, my, mz, x, y, z); - arma::colvec pt(3); - pt(0) = x; - pt(1) = y; - pt(2) = z; - pts.push_back(pt); - } - } - } - } - } - } - return pts; - } - - // Do not allow setting parameters if at least one update received - void SetResolution(double _resolution) - { - if (!updated) - resolution = _resolution; - } - - void SetDecayInterval(double _decayInterval) - { - if (!updated && _decayInterval > 0) - decayInterval = _decayInterval; - } - - inline double GetResolution() { return resolution; } - inline double GetMaxX() { return originX + mapX*resolution; } - inline double GetMinX() { return originX; } - inline double GetMaxY() { return originY + mapY*resolution; } - inline double GetMinY() { return originY; } - inline bool Updated() { return updated; } - -private: - - inline void WorldFrameToMapFrame(double x, double y, double z, int& mx, int& my, int& mz) - { - mx = (x - originX) / resolution; - my = (y - originY) / resolution; - mz = (z - originZ) / resolution; - } - - inline void MapFrameToWorldFrame(int mx, int my, int mz, double& x, double& y, double& z) - { - double r = 0.5*resolution; - x = mx * resolution + r + originX; - y = my * resolution + r + originY; - z = mz * resolution + r + originZ; - } - - inline void ResizeMapBase(int& mx, int& my) - { - if (mx < 0 || my < 0 || mx >= mapX || my >= mapY) - { - double prevOriginX = originX; - double prevOriginY = originY; - int prevMapX = mapX; - int prevMapY = mapY; - while(mx < 0) - { - mapX += expandStep; - mx += expandStep; - originX -= expandStep*resolution; - } - while(my < 0) - { - mapY += expandStep; - my += expandStep; - originY -= expandStep*resolution; - } - while(mx >= mapX) - { - mapX += expandStep; - } - while(my >= mapY) - { - mapY += expandStep; - } - vector _mapBase = mapBase; - mapBase.clear(); - mapBase.resize(mapX*mapY,NULL); - for (int _x = 0; _x < prevMapX; _x++) - { - for(int _y = 0; _y < prevMapY; _y++) - { - int x = _x + round((prevOriginX - originX) / resolution); - int y = _y + round((prevOriginY - originY) / resolution); - mapBase[y*mapX+x] = _mapBase[_y*prevMapX+_x]; - } - } - } - } - - void CheckDecayMap() - { - if (decayInterval < 0) - return; - // Check whether to decay - static ros::Time prevDecayT = ros::Time::now(); - ros::Time t = ros::Time::now(); - double dt = (t - prevDecayT).toSec(); - if (dt > decayInterval) - { - double r = pow(LOG_ODD_DECAY_RATE, dt); - for (int mx = 0; mx < mapX; mx++) - for (int my = 0; my < mapY; my++) - if (mapBase[my*mapX+mx]) - mapBase[my*mapX+mx]->Decay(logOddOccupiedFixedThr, logOddFreeFixedThr, r); - prevDecayT = t; - } - } - - double resolution; - double decayInterval; - - int logOddOccupied; - int logOddFree; - int logOddOccupiedThr; - int logOddOccupiedFixedThr; - int logOddFreeThr; - int logOddFreeFixedThr; - - bool updated; - int updateCounter; - vector updateList; - - double originX, originY, originZ; - int mapX, mapY; - int expandStep; - vector mapBase; - - vector pts; - -}; -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/mainpage.dox b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/mainpage.dox deleted file mode 100644 index 3a1fb20..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/mainpage.dox +++ /dev/null @@ -1,26 +0,0 @@ -/** -\mainpage -\htmlinclude manifest.html - -\b multi_map_server is ... - - - - -\section codeapi Code API - - - - -*/ diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/msg/MultiOccupancyGrid.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/msg/MultiOccupancyGrid.msg deleted file mode 100644 index d7b020d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/msg/MultiOccupancyGrid.msg +++ /dev/null @@ -1,2 +0,0 @@ -nav_msgs/OccupancyGrid[] maps -geometry_msgs/Pose[] origins diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/msg/MultiSparseMap3D.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/msg/MultiSparseMap3D.msg deleted file mode 100644 index c7be2d7..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/msg/MultiSparseMap3D.msg +++ /dev/null @@ -1,2 +0,0 @@ -SparseMap3D[] maps -geometry_msgs/Pose[] origins diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/msg/SparseMap3D.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/msg/SparseMap3D.msg deleted file mode 100644 index 777fb86..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/msg/SparseMap3D.msg +++ /dev/null @@ -1,4 +0,0 @@ -Header header -nav_msgs/MapMetaData info -VerticalOccupancyGridList[] lists - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/msg/VerticalOccupancyGridList.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/msg/VerticalOccupancyGridList.msg deleted file mode 100644 index 379ffaa..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/msg/VerticalOccupancyGridList.msg +++ /dev/null @@ -1,6 +0,0 @@ -float32 x -float32 y -int32[] upper -int32[] lower -int32[] mass - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/package.xml deleted file mode 100644 index f037f19..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/package.xml +++ /dev/null @@ -1,38 +0,0 @@ - - multi_map_server - multi_map_server - 0.0.0 - Shaojie Shen - BSD - - http://ros.org/wiki/multi_map_server - - catkin - - roscpp - visualization_msgs - geometry_msgs - tf - nav_msgs - std_srvs - laser_geometry - pose_utils - message_generation - quadrotor_msgs - - roscpp - visualization_msgs - geometry_msgs - tf - nav_msgs - std_srvs - laser_geometry - pose_utils - message_runtime - quadrotor_msgs - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/src/multi_map_server/__init__.py b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/src/multi_map_server/__init__.py deleted file mode 100644 index b23e43d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/src/multi_map_server/__init__.py +++ /dev/null @@ -1 +0,0 @@ -#autogenerated by ROS python message generators \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_MultiOccupancyGrid.py b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_MultiOccupancyGrid.py deleted file mode 100644 index bf2de49..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_MultiOccupancyGrid.py +++ /dev/null @@ -1,404 +0,0 @@ -"""autogenerated by genpy from multi_map_server/MultiOccupancyGrid.msg. Do not edit.""" -import sys -python3 = True if sys.hexversion > 0x03000000 else False -import genpy -import struct - -import geometry_msgs.msg -import nav_msgs.msg -import genpy -import std_msgs.msg - -class MultiOccupancyGrid(genpy.Message): - _md5sum = "61e63a291f11a6b1796a1edf79f34f72" - _type = "multi_map_server/MultiOccupancyGrid" - _has_header = False #flag to mark the presence of a Header object - _full_text = """nav_msgs/OccupancyGrid[] maps -geometry_msgs/Pose[] origins - -================================================================================ -MSG: nav_msgs/OccupancyGrid -# This represents a 2-D grid map, in which each cell represents the probability of -# occupancy. - -Header header - -#MetaData for the map -MapMetaData info - -# The map data, in row-major order, starting with (0,0). Occupancy -# probabilities are in the range [0,100]. Unknown is -1. -int8[] data - -================================================================================ -MSG: std_msgs/Header -# Standard metadata for higher-level stamped data types. -# This is generally used to communicate timestamped data -# in a particular coordinate frame. -# -# sequence ID: consecutively increasing ID -uint32 seq -#Two-integer timestamp that is expressed as: -# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') -# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') -# time-handling sugar is provided by the client library -time stamp -#Frame this data is associated with -# 0: no frame -# 1: global frame -string frame_id - -================================================================================ -MSG: nav_msgs/MapMetaData -# This hold basic information about the characterists of the OccupancyGrid - -# The time at which the map was loaded -time map_load_time -# The map resolution [m/cell] -float32 resolution -# Map width [cells] -uint32 width -# Map height [cells] -uint32 height -# The origin of the map [m, m, rad]. This is the real-world pose of the -# cell (0,0) in the map. -geometry_msgs/Pose origin -================================================================================ -MSG: geometry_msgs/Pose -# A representation of pose in free space, composed of postion and orientation. -Point position -Quaternion orientation - -================================================================================ -MSG: geometry_msgs/Point -# This contains the position of a point in free space -float64 x -float64 y -float64 z - -================================================================================ -MSG: geometry_msgs/Quaternion -# This represents an orientation in free space in quaternion form. - -float64 x -float64 y -float64 z -float64 w - -""" - __slots__ = ['maps','origins'] - _slot_types = ['nav_msgs/OccupancyGrid[]','geometry_msgs/Pose[]'] - - def __init__(self, *args, **kwds): - """ - Constructor. Any message fields that are implicitly/explicitly - set to None will be assigned a default value. The recommend - use is keyword arguments as this is more robust to future message - changes. You cannot mix in-order arguments and keyword arguments. - - The available fields are: - maps,origins - - :param args: complete set of field values, in .msg order - :param kwds: use keyword arguments corresponding to message field names - to set specific fields. - """ - if args or kwds: - super(MultiOccupancyGrid, self).__init__(*args, **kwds) - #message fields cannot be None, assign default values for those that are - if self.maps is None: - self.maps = [] - if self.origins is None: - self.origins = [] - else: - self.maps = [] - self.origins = [] - - def _get_types(self): - """ - internal API method - """ - return self._slot_types - - def serialize(self, buff): - """ - serialize message into buffer - :param buff: buffer, ``StringIO`` - """ - try: - length = len(self.maps) - buff.write(_struct_I.pack(length)) - for val1 in self.maps: - _v1 = val1.header - buff.write(_struct_I.pack(_v1.seq)) - _v2 = _v1.stamp - _x = _v2 - buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) - _x = _v1.frame_id - length = len(_x) - if python3 or type(_x) == unicode: - _x = _x.encode('utf-8') - length = len(_x) - if python3: - buff.write(struct.pack(' 0x03000000 else False -import genpy -import struct - -import geometry_msgs.msg -import multi_map_server.msg -import nav_msgs.msg -import genpy -import std_msgs.msg - -class MultiSparseMap3D(genpy.Message): - _md5sum = "2e3d76c98ee3e2b23a422f64965f6418" - _type = "multi_map_server/MultiSparseMap3D" - _has_header = False #flag to mark the presence of a Header object - _full_text = """SparseMap3D[] maps -geometry_msgs/Pose[] origins - -================================================================================ -MSG: multi_map_server/SparseMap3D -Header header -nav_msgs/MapMetaData info -VerticalOccupancyGridList[] lists - - -================================================================================ -MSG: std_msgs/Header -# Standard metadata for higher-level stamped data types. -# This is generally used to communicate timestamped data -# in a particular coordinate frame. -# -# sequence ID: consecutively increasing ID -uint32 seq -#Two-integer timestamp that is expressed as: -# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') -# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') -# time-handling sugar is provided by the client library -time stamp -#Frame this data is associated with -# 0: no frame -# 1: global frame -string frame_id - -================================================================================ -MSG: nav_msgs/MapMetaData -# This hold basic information about the characterists of the OccupancyGrid - -# The time at which the map was loaded -time map_load_time -# The map resolution [m/cell] -float32 resolution -# Map width [cells] -uint32 width -# Map height [cells] -uint32 height -# The origin of the map [m, m, rad]. This is the real-world pose of the -# cell (0,0) in the map. -geometry_msgs/Pose origin -================================================================================ -MSG: geometry_msgs/Pose -# A representation of pose in free space, composed of postion and orientation. -Point position -Quaternion orientation - -================================================================================ -MSG: geometry_msgs/Point -# This contains the position of a point in free space -float64 x -float64 y -float64 z - -================================================================================ -MSG: geometry_msgs/Quaternion -# This represents an orientation in free space in quaternion form. - -float64 x -float64 y -float64 z -float64 w - -================================================================================ -MSG: multi_map_server/VerticalOccupancyGridList -float32 x -float32 y -int32[] upper -int32[] lower -int32[] mass - - -""" - __slots__ = ['maps','origins'] - _slot_types = ['multi_map_server/SparseMap3D[]','geometry_msgs/Pose[]'] - - def __init__(self, *args, **kwds): - """ - Constructor. Any message fields that are implicitly/explicitly - set to None will be assigned a default value. The recommend - use is keyword arguments as this is more robust to future message - changes. You cannot mix in-order arguments and keyword arguments. - - The available fields are: - maps,origins - - :param args: complete set of field values, in .msg order - :param kwds: use keyword arguments corresponding to message field names - to set specific fields. - """ - if args or kwds: - super(MultiSparseMap3D, self).__init__(*args, **kwds) - #message fields cannot be None, assign default values for those that are - if self.maps is None: - self.maps = [] - if self.origins is None: - self.origins = [] - else: - self.maps = [] - self.origins = [] - - def _get_types(self): - """ - internal API method - """ - return self._slot_types - - def serialize(self, buff): - """ - serialize message into buffer - :param buff: buffer, ``StringIO`` - """ - try: - length = len(self.maps) - buff.write(_struct_I.pack(length)) - for val1 in self.maps: - _v1 = val1.header - buff.write(_struct_I.pack(_v1.seq)) - _v2 = _v1.stamp - _x = _v2 - buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) - _x = _v1.frame_id - length = len(_x) - if python3 or type(_x) == unicode: - _x = _x.encode('utf-8') - length = len(_x) - if python3: - buff.write(struct.pack(' 0x03000000 else False -import genpy -import struct - -import geometry_msgs.msg -import multi_map_server.msg -import nav_msgs.msg -import genpy -import std_msgs.msg - -class SparseMap3D(genpy.Message): - _md5sum = "a20102f0b3a02e95070dab4140b78fb5" - _type = "multi_map_server/SparseMap3D" - _has_header = True #flag to mark the presence of a Header object - _full_text = """Header header -nav_msgs/MapMetaData info -VerticalOccupancyGridList[] lists - - -================================================================================ -MSG: std_msgs/Header -# Standard metadata for higher-level stamped data types. -# This is generally used to communicate timestamped data -# in a particular coordinate frame. -# -# sequence ID: consecutively increasing ID -uint32 seq -#Two-integer timestamp that is expressed as: -# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') -# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') -# time-handling sugar is provided by the client library -time stamp -#Frame this data is associated with -# 0: no frame -# 1: global frame -string frame_id - -================================================================================ -MSG: nav_msgs/MapMetaData -# This hold basic information about the characterists of the OccupancyGrid - -# The time at which the map was loaded -time map_load_time -# The map resolution [m/cell] -float32 resolution -# Map width [cells] -uint32 width -# Map height [cells] -uint32 height -# The origin of the map [m, m, rad]. This is the real-world pose of the -# cell (0,0) in the map. -geometry_msgs/Pose origin -================================================================================ -MSG: geometry_msgs/Pose -# A representation of pose in free space, composed of postion and orientation. -Point position -Quaternion orientation - -================================================================================ -MSG: geometry_msgs/Point -# This contains the position of a point in free space -float64 x -float64 y -float64 z - -================================================================================ -MSG: geometry_msgs/Quaternion -# This represents an orientation in free space in quaternion form. - -float64 x -float64 y -float64 z -float64 w - -================================================================================ -MSG: multi_map_server/VerticalOccupancyGridList -float32 x -float32 y -int32[] upper -int32[] lower -int32[] mass - - -""" - __slots__ = ['header','info','lists'] - _slot_types = ['std_msgs/Header','nav_msgs/MapMetaData','multi_map_server/VerticalOccupancyGridList[]'] - - def __init__(self, *args, **kwds): - """ - Constructor. Any message fields that are implicitly/explicitly - set to None will be assigned a default value. The recommend - use is keyword arguments as this is more robust to future message - changes. You cannot mix in-order arguments and keyword arguments. - - The available fields are: - header,info,lists - - :param args: complete set of field values, in .msg order - :param kwds: use keyword arguments corresponding to message field names - to set specific fields. - """ - if args or kwds: - super(SparseMap3D, self).__init__(*args, **kwds) - #message fields cannot be None, assign default values for those that are - if self.header is None: - self.header = std_msgs.msg.Header() - if self.info is None: - self.info = nav_msgs.msg.MapMetaData() - if self.lists is None: - self.lists = [] - else: - self.header = std_msgs.msg.Header() - self.info = nav_msgs.msg.MapMetaData() - self.lists = [] - - def _get_types(self): - """ - internal API method - """ - return self._slot_types - - def serialize(self, buff): - """ - serialize message into buffer - :param buff: buffer, ``StringIO`` - """ - try: - _x = self - buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) - _x = self.header.frame_id - length = len(_x) - if python3 or type(_x) == unicode: - _x = _x.encode('utf-8') - length = len(_x) - if python3: - buff.write(struct.pack(' 0x03000000 else False -import genpy -import struct - - -class VerticalOccupancyGridList(genpy.Message): - _md5sum = "7ef85cc95b82747f51eb01a16bd7c795" - _type = "multi_map_server/VerticalOccupancyGridList" - _has_header = False #flag to mark the presence of a Header object - _full_text = """float32 x -float32 y -int32[] upper -int32[] lower -int32[] mass - - -""" - __slots__ = ['x','y','upper','lower','mass'] - _slot_types = ['float32','float32','int32[]','int32[]','int32[]'] - - def __init__(self, *args, **kwds): - """ - Constructor. Any message fields that are implicitly/explicitly - set to None will be assigned a default value. The recommend - use is keyword arguments as this is more robust to future message - changes. You cannot mix in-order arguments and keyword arguments. - - The available fields are: - x,y,upper,lower,mass - - :param args: complete set of field values, in .msg order - :param kwds: use keyword arguments corresponding to message field names - to set specific fields. - """ - if args or kwds: - super(VerticalOccupancyGridList, self).__init__(*args, **kwds) - #message fields cannot be None, assign default values for those that are - if self.x is None: - self.x = 0. - if self.y is None: - self.y = 0. - if self.upper is None: - self.upper = [] - if self.lower is None: - self.lower = [] - if self.mass is None: - self.mass = [] - else: - self.x = 0. - self.y = 0. - self.upper = [] - self.lower = [] - self.mass = [] - - def _get_types(self): - """ - internal API method - """ - return self._slot_types - - def serialize(self, buff): - """ - serialize message into buffer - :param buff: buffer, ``StringIO`` - """ - try: - _x = self - buff.write(_struct_2f.pack(_x.x, _x.y)) - length = len(self.upper) - buff.write(_struct_I.pack(length)) - pattern = '<%si'%length - buff.write(struct.pack(pattern, *self.upper)) - length = len(self.lower) - buff.write(_struct_I.pack(length)) - pattern = '<%si'%length - buff.write(struct.pack(pattern, *self.lower)) - length = len(self.mass) - buff.write(_struct_I.pack(length)) - pattern = '<%si'%length - buff.write(struct.pack(pattern, *self.mass)) - except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x)))) - except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x)))) - - def deserialize(self, str): - """ - unpack serialized message in str into this message instance - :param str: byte array of serialized message, ``str`` - """ - try: - end = 0 - _x = self - start = end - end += 8 - (_x.x, _x.y,) = _struct_2f.unpack(str[start:end]) - start = end - end += 4 - (length,) = _struct_I.unpack(str[start:end]) - pattern = '<%si'%length - start = end - end += struct.calcsize(pattern) - self.upper = struct.unpack(pattern, str[start:end]) - start = end - end += 4 - (length,) = _struct_I.unpack(str[start:end]) - pattern = '<%si'%length - start = end - end += struct.calcsize(pattern) - self.lower = struct.unpack(pattern, str[start:end]) - start = end - end += 4 - (length,) = _struct_I.unpack(str[start:end]) - pattern = '<%si'%length - start = end - end += struct.calcsize(pattern) - self.mass = struct.unpack(pattern, str[start:end]) - return self - except struct.error as e: - raise genpy.DeserializationError(e) #most likely buffer underfill - - - def serialize_numpy(self, buff, numpy): - """ - serialize message with numpy array types into buffer - :param buff: buffer, ``StringIO`` - :param numpy: numpy python module - """ - try: - _x = self - buff.write(_struct_2f.pack(_x.x, _x.y)) - length = len(self.upper) - buff.write(_struct_I.pack(length)) - pattern = '<%si'%length - buff.write(self.upper.tostring()) - length = len(self.lower) - buff.write(_struct_I.pack(length)) - pattern = '<%si'%length - buff.write(self.lower.tostring()) - length = len(self.mass) - buff.write(_struct_I.pack(length)) - pattern = '<%si'%length - buff.write(self.mass.tostring()) - except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x)))) - except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x)))) - - def deserialize_numpy(self, str, numpy): - """ - unpack serialized message in str into this message instance using numpy for array types - :param str: byte array of serialized message, ``str`` - :param numpy: numpy python module - """ - try: - end = 0 - _x = self - start = end - end += 8 - (_x.x, _x.y,) = _struct_2f.unpack(str[start:end]) - start = end - end += 4 - (length,) = _struct_I.unpack(str[start:end]) - pattern = '<%si'%length - start = end - end += struct.calcsize(pattern) - self.upper = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length) - start = end - end += 4 - (length,) = _struct_I.unpack(str[start:end]) - pattern = '<%si'%length - start = end - end += struct.calcsize(pattern) - self.lower = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length) - start = end - end += 4 - (length,) = _struct_I.unpack(str[start:end]) - pattern = '<%si'%length - start = end - end += struct.calcsize(pattern) - self.mass = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length) - return self - except struct.error as e: - raise genpy.DeserializationError(e) #most likely buffer underfill - -_struct_I = genpy.struct_I -_struct_2f = struct.Struct("<2f") diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/__init__.py b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/__init__.py deleted file mode 100644 index 29e5795..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/__init__.py +++ /dev/null @@ -1,4 +0,0 @@ -from ._SparseMap3D import * -from ._MultiOccupancyGrid import * -from ._MultiSparseMap3D import * -from ._VerticalOccupancyGridList import * diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/src/multi_map_visualization.cc b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/src/multi_map_visualization.cc deleted file mode 100644 index 7013fef..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/src/multi_map_visualization.cc +++ /dev/null @@ -1,90 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include - -ros::Publisher pub1; -ros::Publisher pub2; - -vector maps2d; -vector origins2d; -vector maps3d; -vector origins3d; - -void maps2d_callback(const multi_map_server::MultiOccupancyGrid::ConstPtr &msg) -{ - // Merge map - maps2d.resize(msg->maps.size(), Map2D(4)); - for (unsigned int k = 0; k < msg->maps.size(); k++) - maps2d[k].Replace(msg->maps[k]); - origins2d = msg->origins; - // Assemble and publish map - multi_map_server::MultiOccupancyGrid m; - m.maps.resize(maps2d.size()); - m.origins.resize(maps2d.size()); - for (unsigned int k = 0; k < maps2d.size(); k++) - { - m.maps[k] = maps2d[k].GetMap(); - m.origins[k] = origins2d[k]; - } - pub1.publish(m); -} - -void maps3d_callback(const multi_map_server::MultiSparseMap3D::ConstPtr &msg) -{ - // Update incremental map - maps3d.resize(msg->maps.size()); - for (unsigned int k = 0; k < msg->maps.size(); k++) - maps3d[k].UnpackMsg(msg->maps[k]); - origins3d = msg->origins; - // Publish - sensor_msgs::PointCloud m; - for (unsigned int k = 0; k < msg->maps.size(); k++) - { - colvec po(6); - po(0) = origins3d[k].position.x; - po(1) = origins3d[k].position.y; - po(2) = origins3d[k].position.z; - colvec poq(4); - poq(0) = origins3d[k].orientation.w; - poq(1) = origins3d[k].orientation.x; - poq(2) = origins3d[k].orientation.y; - poq(3) = origins3d[k].orientation.z; - po.rows(3,5) = R_to_ypr(quaternion_to_R(poq)); - colvec tpo = po.rows(0,2); - mat Rpo = ypr_to_R(po.rows(3,5)); - vector pts = maps3d[k].GetOccupancyWorldFrame(OCCUPIED); - for (unsigned int i = 0; i < pts.size(); i++) - { - colvec pt = Rpo * pts[i] + tpo; - geometry_msgs::Point32 _pt; - _pt.x = pt(0); - _pt.y = pt(1); - _pt.z = pt(2); - m.points.push_back(_pt); - } - } - // Publish - m.header.stamp = ros::Time::now(); - m.header.frame_id = string("/map"); - pub2.publish(m); -} - -int main(int argc, char** argv) -{ - ros::init(argc, argv, "multi_map_visualization"); - ros::NodeHandle n("~"); - - ros::Subscriber sub1 = n.subscribe("dmaps2d", 1, maps2d_callback); - ros::Subscriber sub2 = n.subscribe("dmaps3d", 1, maps3d_callback); - pub1 = n.advertise("maps2d", 1, true); - pub2 = n.advertise("map3d", 1, true); - - ros::spin(); - return 0; -} - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/src/unused/multi_map_server.cc b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/src/unused/multi_map_server.cc deleted file mode 100644 index a96d953..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/multi_map_server/src/unused/multi_map_server.cc +++ /dev/null @@ -1,192 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -using namespace arma; -using namespace std; -#define MAX_MAP_CNT 25 - -ros::Publisher pub1; -ros::Publisher pub2; - -// 2D Map -int maps2dCnt = 0; -Map2D maps2d[MAX_MAP_CNT]; -map_server_3d_new::MultiOccupancyGrid grids2d; -// 3D Map -int maps3dCnt = 0; -Map3D maps3d[MAX_MAP_CNT]; -// Map origin from UKF -vector maps_origin; - -void map2d_callback(const nav_msgs::OccupancyGrid::ConstPtr &msg) -{ - // Update msg and publish - if (grids2d.maps.size() == 0) - { - // Init msg - grids2d.maps.push_back(*msg); - maps2dCnt++; - } - else if (grids2d.maps.back().info.map_load_time != msg->info.map_load_time) - { - // Add Costmap - nav_msgs::OccupancyGrid m; - maps2d[maps2dCnt-1].get_map(m); - mapMatcher.AddCostMap(m); - // Increase msg size - grids2d.maps.back().data.clear(); - grids2d.maps.push_back(*msg); - maps2dCnt++; - } - else - { - grids2d.maps.back() = *msg; - } - pub1.publish(grids2d); - // Update internval map - maps2d[maps2dCnt-1].update(*msg); -} - -void scan_callback(const sensor_msgs::LaserScan::ConstPtr &msg) -{ - // Get Map Status - static bool isSLAMValid = false; - if (msg->intensities[10]) - { - if (!isSLAMValid) - { - maps3dCnt++; - mapLinks.push_back(zeros(3)); - } - isSLAMValid = true; - } - else - { - isSLAMValid = false; - return; - } - // Scan cnt - mapLinks.back()(2)++; - // Get Current Pose - colvec pose(6); - pose(0) = msg->intensities[0]; - pose(1) = msg->intensities[1]; - pose(2) = msg->intensities[2]; - pose(3) = msg->intensities[3]; - pose(4) = msg->intensities[4]; - pose(5) = msg->intensities[5]; - colvec pose2D(3); - pose2D(0) = msg->intensities[0]; - pose2D(1) = msg->intensities[1]; - pose2D(2) = msg->intensities[3]; - double currFloor = msg->intensities[7]; - double currLaserH = msg->intensities[8]; - // Horizontal laser scans - sensor_msgs::LaserScan scan = *msg; - scan.intensities.clear(); - laser_geometry::LaserProjection projector; - sensor_msgs::PointCloud scanCloud; - projector.projectLaser(scan, scanCloud); - mat scanMat(3, scanCloud.points.size()); - // Get scan in body frame - for (int k = 0; k < scanCloud.points.size(); k++) - { - scanMat(0,k) = scanCloud.points[k].x; - scanMat(1,k) = scanCloud.points[k].y; - scanMat(2,k) = 0.215 - 0.09; - } - // Downsample Laser scan to map resolution - double resolution = maps3d[maps3dCnt-1].GetResolution(); - double px = NUM_INF; - double py = NUM_INF; - int cnt = 0; - mat scanMatDown = zeros(3, scanMat.n_cols); - for (int k = 0; k < scanMat.n_cols; k++) - { - double x = scanMat(0,k); - double y = scanMat(1,k); - double dist = (x-px)*(x-px) + (y-py)*(y-py); - if (dist > resolution * resolution) - { - scanMatDown.col(cnt) = scanMat.col(k); - px = x; - py = y; - cnt++; - } - } - if (cnt > 0) - scanMat = scanMatDown.cols(0, cnt-1); - else - scanMat = scanMatDown.cols(0,cnt); - // Transform to map local frame - scanMat = ypr_to_R(pose.rows(3,5)) * scanMat + pose.rows(0,2)*ones(scanMat.n_cols); - // Update map - for (int k = 0; k < scanMat.n_cols; k++) - maps3d[maps3dCnt-1].SetOccupancyFromWorldFrame(scanMat(0,k), scanMat(1,k), scanMat(2,k), PROB_LASER_OCCUPIED); - // downward facing laser scans - if (currLaserH > 0) - { - colvec pt(3); - pt(0) = 0; - pt(1) = 0; - pt(2) = -currLaserH; - pt = ypr_to_R(pose.rows(3,5)) * pt + pose.rows(0,2); - double resolution = maps3d[maps3dCnt-1].GetResolution(); - for (double x = -0.1; x <= 0.1; x+=resolution) - for (double y = -0.1; y <= 0.1; y+=resolution) - maps3d[maps3dCnt-1].SetOccupancyFromWorldFrame(pt(0)+x, pt(1)+y, pt(2), PROB_LASER_OCCUPIED); - } - // Floor Levels - maps3d[maps3dCnt-1].SetFloor(currFloor); -} - -void maps_origin_callback(const geometry_msgs::PoseArray::ConstPtr &msg) -{ - maps_origin = msg->poses; -} - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "multi_map_server_3d"); - ros::NodeHandle n("~"); - - ros::Subscriber sub1 = n.subscribe("dmap2d", 100, map2d_callback); - ros::Subscriber sub2 = n.subscribe("scan", 100, scan_callback); - ros::Subscriber sub3 = n.subscribe("/maps_origin", 100, maps_origin_callback); - pub1 = n.advertise("dmaps2d", 10, true); - pub2 = n.advertise( "dmaps3d", 10, true); - - ros::Rate r(100.0); - int cnt = 0; - while (n.ok()) - { - cnt++; - if (cnt > 100) - { - cnt = 0; - map_server_3d_new::MultiSparseMap3D msg; - msg.maps_origin = maps_origin; - for (int k = 0; k < maps3dCnt; k++) - { - msg.maps_active.push_back((bool)(!mapLinks[k](0)) && mapLinks[k](2) > 50); - map_server_3d_new::SparseMap3D m; - maps3d[k].GetSparseMap3DMsg(m); - m.header.seq = k; - msg.maps.push_back(m); - } - pub2.publish(msg); - } - ros::spinOnce(); - r.sleep(); - } - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/odom_visualization/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/odom_visualization/CMakeLists.txt deleted file mode 100644 index 4917db3..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/odom_visualization/CMakeLists.txt +++ /dev/null @@ -1,213 +0,0 @@ -#cmake_minimum_required(VERSION 2.4.6) -#include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) - -# Set the build type. Options are: -# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage -# Debug : w/ debug symbols, w/o optimization -# Release : w/o debug symbols, w/ optimization -# RelWithDebInfo : w/ debug symbols, w/ optimization -# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries -#set(ROS_BUILD_TYPE RelWithDebInfo) - -#rosbuild_init() - -#set the default path for built executables to the "bin" directory -#set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) -#set the default path for built libraries to the "lib" directory -#set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) - -#uncomment if you have defined messages -#rosbuild_genmsg() -#uncomment if you have defined services -#rosbuild_gensrv() - -#common commands for building c++ executables and libraries -#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) -#target_link_libraries(${PROJECT_NAME} another_library) -#rosbuild_add_boost_directories() -#rosbuild_link_boost(${PROJECT_NAME} thread) -#rosbuild_add_executable(example examples/example.cpp) -#target_link_libraries(example ${PROJECT_NAME}) - -#rosbuild_add_executable(odom_visualization src/odom_visualization.cpp) -#target_link_libraries(odom_visualization pose_utils) - -#---------------------------------- -cmake_minimum_required(VERSION 2.8.3) -project(odom_visualization) - -set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-O3 -Wall -g") -ADD_COMPILE_OPTIONS(-std=c++11 ) -ADD_COMPILE_OPTIONS(-std=c++14 ) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - roscpp - sensor_msgs - nav_msgs - visualization_msgs - quadrotor_msgs - tf - pose_utils -) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependencies might have been -## pulled in transitively but can be declared for certainty nonetheless: -## * add a build_depend tag for "message_generation" -## * add a run_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -#add_message_files( -# FILES -# MultiOccupancyGrid.msg -# MultiSparseMap3D.msg -# SparseMap3D.msg -# VerticalOccupancyGridList.msg - #plan_cmd.msg -#) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -#generate_messages( -# DEPENDENCIES -# geometry_msgs -# nav_msgs -#) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if you package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES irobot_msgs -# CATKIN_DEPENDS geometry_msgs nav_msgs -# DEPENDS system_lib -) - -########### -## Build ## -########### -find_package(Armadillo REQUIRED) -include_directories(${ARMADILLO_INCLUDE_DIRS}) - - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories(include) -include_directories( - ${catkin_INCLUDE_DIRS} -) - -## Declare a cpp library -# add_library(irobot_msgs -# src/${PROJECT_NAME}/irobot_msgs.cpp -# ) - -## Declare a cpp executable -add_executable(odom_visualization src/odom_visualization.cpp) - -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -# add_dependencies(multi_map_visualization multi_map_server_messages_cpp) - -## Specify libraries to link a library or executable target against -target_link_libraries(odom_visualization - ${catkin_LIBRARIES} - ${ARMADILLO_LIBRARIES} - ${pose_utils_LIBRARIES} -) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS irobot_msgs irobot_msgs_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_irobot_msgs.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/odom_visualization/Makefile b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/odom_visualization/Makefile deleted file mode 100644 index b75b928..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/odom_visualization/Makefile +++ /dev/null @@ -1 +0,0 @@ -include $(shell rospack find mk)/cmake.mk \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/odom_visualization/mainpage.dox b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/odom_visualization/mainpage.dox deleted file mode 100644 index 3c09d69..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/odom_visualization/mainpage.dox +++ /dev/null @@ -1,26 +0,0 @@ -/** -\mainpage -\htmlinclude manifest.html - -\b odom_visualization is ... - - - - -\section codeapi Code API - - - - -*/ diff --git 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z8F?dkegvgAek*c#hWN(uC)%Yj3ON$|F%&-_{jB|(k4D}Je!b(vRd$E5$T8qoFM{$C z7>B$kL%i_viSkOAfE*7#yT$XapPa85CL-?#UoXTbsPq-UgUCtXPyYx?Kir3r4}l+Q z1fM~#f+@(U;O7y~qK5u34QcfGFn-qdM*87SM?MOEsPXDm*#~AKXMmqz1f`GNS;!|c z#7k$TkHp!?C&5Qy1f`FwXOK^WkEsZL4t`Y6A?Jc0QG6aspLbtCJ`aAl5e6U!!UE(g zP?2y9gd9Xzn8EWSD7|sRt6+#nyFX6-dMrl134Sf&r?b*m085cez&kL4(tCFqa(RY$ QX`mbeE0HU}&m+SB1B|esOaK4? diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/odom_visualization/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/odom_visualization/package.xml deleted file mode 100644 index f875691..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/odom_visualization/package.xml +++ /dev/null @@ -1,31 +0,0 @@ - - 0.0.0 - odom_visualization - - - odom_visualization - - - Shaojie Shen - BSD - http://ros.org/wiki/odom_visualization - - catkin - - roscpp - sensor_msgs - nav_msgs - visualization_msgs - tf - pose_utils - - roscpp - sensor_msgs - nav_msgs - visualization_msgs - tf - pose_utils - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/odom_visualization/src/odom_visualization.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/odom_visualization/src/odom_visualization.cpp deleted file mode 100644 index fcc9845..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/odom_visualization/src/odom_visualization.cpp +++ /dev/null @@ -1,483 +0,0 @@ -#include -#include -#include "ros/ros.h" -#include "tf/transform_broadcaster.h" -#include "nav_msgs/Odometry.h" -#include "geometry_msgs/PoseWithCovarianceStamped.h" -#include "geometry_msgs/PoseStamped.h" -#include "nav_msgs/Path.h" -#include "sensor_msgs/Range.h" -#include "visualization_msgs/Marker.h" -#include "armadillo" -#include "pose_utils.h" -#include "quadrotor_msgs/PositionCommand.h" - -using namespace arma; -using namespace std; - -static string mesh_resource; -static double color_r, color_g, color_b, color_a, cov_scale, scale; - -bool cross_config = false; -bool tf45 = false; -bool cov_pos = false; -bool cov_vel = false; -bool cov_color = false; -bool origin = false; -bool isOriginSet = false; -colvec poseOrigin(6); -ros::Publisher posePub; -ros::Publisher pathPub; -ros::Publisher velPub; -ros::Publisher covPub; -ros::Publisher covVelPub; -ros::Publisher trajPub; -ros::Publisher sensorPub; -ros::Publisher meshPub; -ros::Publisher heightPub; -tf::TransformBroadcaster* broadcaster; -geometry_msgs::PoseStamped poseROS; -nav_msgs::Path pathROS; -visualization_msgs::Marker velROS; -visualization_msgs::Marker covROS; -visualization_msgs::Marker covVelROS; -visualization_msgs::Marker trajROS; -visualization_msgs::Marker sensorROS; -visualization_msgs::Marker meshROS; -sensor_msgs::Range heightROS; -string _frame_id; -int _drone_id; - -void odom_callback(const nav_msgs::Odometry::ConstPtr& msg) -{ - if (msg->header.frame_id == string("null")) - return; - - colvec pose(6); - pose(0) = msg->pose.pose.position.x; - pose(1) = msg->pose.pose.position.y; - pose(2) = msg->pose.pose.position.z; - colvec q(4); - - q(0) = msg->pose.pose.orientation.w; - q(1) = msg->pose.pose.orientation.x; - q(2) = msg->pose.pose.orientation.y; - q(3) = msg->pose.pose.orientation.z; - pose.rows(3,5) = R_to_ypr(quaternion_to_R(q)); - colvec vel(3); - - vel(0) = msg->twist.twist.linear.x; - vel(1) = msg->twist.twist.linear.y; - vel(2) = msg->twist.twist.linear.z; - - if (origin && !isOriginSet) - { - isOriginSet = true; - poseOrigin = pose; - } - if (origin) - { - vel = trans(ypr_to_R(pose.rows(3,5))) * vel; - pose = pose_update(pose_inverse(poseOrigin), pose); - vel = ypr_to_R(pose.rows(3,5)) * vel; - } - - // Pose - poseROS.header = msg->header; - poseROS.header.stamp = msg->header.stamp; - poseROS.header.frame_id = string("world"); - poseROS.pose.position.x = pose(0); - poseROS.pose.position.y = pose(1); - poseROS.pose.position.z = pose(2); - q = R_to_quaternion(ypr_to_R(pose.rows(3,5))); - poseROS.pose.orientation.w = q(0); - poseROS.pose.orientation.x = q(1); - poseROS.pose.orientation.y = q(2); - poseROS.pose.orientation.z = q(3); - posePub.publish(poseROS); - - // Velocity - colvec yprVel(3); - yprVel(0) = atan2(vel(1), vel(0)); - yprVel(1) = -atan2(vel(2), norm(vel.rows(0,1),2)); - yprVel(2) = 0; - q = R_to_quaternion(ypr_to_R(yprVel)); - velROS.header.frame_id = string("world"); - velROS.header.stamp = msg->header.stamp; - velROS.ns = string("velocity"); - velROS.id = 0; - velROS.type = visualization_msgs::Marker::ARROW; - velROS.action = visualization_msgs::Marker::ADD; - velROS.pose.position.x = pose(0); - velROS.pose.position.y = pose(1); - velROS.pose.position.z = pose(2); - velROS.pose.orientation.w = q(0); - velROS.pose.orientation.x = q(1); - velROS.pose.orientation.y = q(2); - velROS.pose.orientation.z = q(3); - velROS.scale.x = norm(vel, 2); - velROS.scale.y = 0.05; - velROS.scale.z = 0.05; - velROS.color.a = 1.0; - velROS.color.r = color_r; - velROS.color.g = color_g; - velROS.color.b = color_b; - velPub.publish(velROS); - - // Path - static ros::Time prevt = msg->header.stamp; - if ((msg->header.stamp - prevt).toSec() > 0.1) - { - prevt = msg->header.stamp; - pathROS.header = poseROS.header; - pathROS.poses.push_back(poseROS); - pathPub.publish(pathROS); - } - - // Covariance color - double r = 1; - double g = 1; - double b = 1; - bool G = msg->twist.covariance[33]; - bool V = msg->twist.covariance[34]; - bool L = msg->twist.covariance[35]; - if (cov_color) - { - r = G; - g = V; - b = L; - } - - // Covariance Position - if (cov_pos) - { - mat P(6,6); - for (int j = 0; j < 6; j++) - for (int i = 0; i < 6; i++) - P(i,j) = msg->pose.covariance[i+j*6]; - colvec eigVal; - mat eigVec; - eig_sym(eigVal, eigVec, P.submat(0,0,2,2)); - if (det(eigVec) < 0) - { - for (int k = 0; k < 3; k++) - { - mat eigVecRev = eigVec; - eigVecRev.col(k) *= -1; - if (det(eigVecRev) > 0) - { - eigVec = eigVecRev; - break; - } - } - } - covROS.header.frame_id = string("world"); - covROS.header.stamp = msg->header.stamp; - covROS.ns = string("covariance"); - covROS.id = 0; - covROS.type = visualization_msgs::Marker::SPHERE; - covROS.action = visualization_msgs::Marker::ADD; - covROS.pose.position.x = pose(0); - covROS.pose.position.y = pose(1); - covROS.pose.position.z = pose(2); - q = R_to_quaternion(eigVec); - covROS.pose.orientation.w = q(0); - covROS.pose.orientation.x = q(1); - covROS.pose.orientation.y = q(2); - covROS.pose.orientation.z = q(3); - covROS.scale.x = sqrt(eigVal(0))*cov_scale; - covROS.scale.y = sqrt(eigVal(1))*cov_scale; - covROS.scale.z = sqrt(eigVal(2))*cov_scale; - covROS.color.a = 0.4; - covROS.color.r = r * 0.5; - covROS.color.g = g * 0.5; - covROS.color.b = b * 0.5; - covPub.publish(covROS); - } - - // Covariance Velocity - if (cov_vel) - { - mat P(3,3); - for (int j = 0; j < 3; j++) - for (int i = 0; i < 3; i++) - P(i,j) = msg->twist.covariance[i+j*6]; - mat R = ypr_to_R(pose.rows(3,5)); - P = R * P * trans(R); - colvec eigVal; - mat eigVec; - eig_sym(eigVal, eigVec, P); - if (det(eigVec) < 0) - { - for (int k = 0; k < 3; k++) - { - mat eigVecRev = eigVec; - eigVecRev.col(k) *= -1; - if (det(eigVecRev) > 0) - { - eigVec = eigVecRev; - break; - } - } - } - covVelROS.header.frame_id = string("world"); - covVelROS.header.stamp = msg->header.stamp; - covVelROS.ns = string("covariance_velocity"); - covVelROS.id = 0; - covVelROS.type = visualization_msgs::Marker::SPHERE; - covVelROS.action = visualization_msgs::Marker::ADD; - covVelROS.pose.position.x = pose(0); - covVelROS.pose.position.y = pose(1); - covVelROS.pose.position.z = pose(2); - q = R_to_quaternion(eigVec); - covVelROS.pose.orientation.w = q(0); - covVelROS.pose.orientation.x = q(1); - covVelROS.pose.orientation.y = q(2); - covVelROS.pose.orientation.z = q(3); - covVelROS.scale.x = sqrt(eigVal(0))*cov_scale; - covVelROS.scale.y = sqrt(eigVal(1))*cov_scale; - covVelROS.scale.z = sqrt(eigVal(2))*cov_scale; - covVelROS.color.a = 0.4; - covVelROS.color.r = r; - covVelROS.color.g = g; - covVelROS.color.b = b; - covVelPub.publish(covVelROS); - } - - // Color Coded Trajectory - static colvec ppose = pose; - static ros::Time pt = msg->header.stamp; - ros::Time t = msg->header.stamp; - if ((t - pt).toSec() > 0.5) - { - trajROS.header.frame_id = string("world"); - trajROS.header.stamp = ros::Time::now(); - trajROS.ns = string("trajectory"); - trajROS.type = visualization_msgs::Marker::LINE_LIST; - trajROS.action = visualization_msgs::Marker::ADD; - trajROS.pose.position.x = 0; - trajROS.pose.position.y = 0; - trajROS.pose.position.z = 0; - trajROS.pose.orientation.w = 1; - trajROS.pose.orientation.x = 0; - trajROS.pose.orientation.y = 0; - trajROS.pose.orientation.z = 0; - trajROS.scale.x = 0.1; - trajROS.scale.y = 0; - trajROS.scale.z = 0; - trajROS.color.r = 0.0; - trajROS.color.g = 1.0; - trajROS.color.b = 0.0; - trajROS.color.a = 0.8; - geometry_msgs::Point p; - p.x = ppose(0); - p.y = ppose(1); - p.z = ppose(2); - trajROS.points.push_back(p); - p.x = pose(0); - p.y = pose(1); - p.z = pose(2); - trajROS.points.push_back(p); - std_msgs::ColorRGBA color; - color.r = r; - color.g = g; - color.b = b; - color.a = 1; - trajROS.colors.push_back(color); - trajROS.colors.push_back(color); - ppose = pose; - pt = t; - trajPub.publish(trajROS); - } - - // Sensor availability - sensorROS.header.frame_id = string("world"); - sensorROS.header.stamp = msg->header.stamp; - sensorROS.ns = string("sensor"); - sensorROS.type = visualization_msgs::Marker::TEXT_VIEW_FACING; - sensorROS.action = visualization_msgs::Marker::ADD; - sensorROS.pose.position.x = pose(0); - sensorROS.pose.position.y = pose(1); - sensorROS.pose.position.z = pose(2) + 1.0; - sensorROS.pose.orientation.w = q(0); - sensorROS.pose.orientation.x = q(1); - sensorROS.pose.orientation.y = q(2); - sensorROS.pose.orientation.z = q(3); - string strG = G?string(" GPS "):string(""); - string strV = V?string(" Vision "):string(""); - string strL = L?string(" Laser "):string(""); - sensorROS.text = "| " + strG + strV + strL + " |"; - sensorROS.color.a = 1.0; - sensorROS.color.r = 1.0; - sensorROS.color.g = 1.0; - sensorROS.color.b = 1.0; - sensorROS.scale.z = 0.5; - sensorPub.publish(sensorROS); - - // Laser height measurement - double H = msg->twist.covariance[32]; - heightROS.header.frame_id = string("height"); - heightROS.header.stamp = msg->header.stamp; - heightROS.radiation_type = sensor_msgs::Range::ULTRASOUND; - heightROS.field_of_view = 5.0 * M_PI / 180.0; - heightROS.min_range = -100; - heightROS.max_range = 100; - heightROS.range = H; - heightPub.publish(heightROS); - - // Mesh model - meshROS.header.frame_id = _frame_id; - meshROS.header.stamp = msg->header.stamp; - meshROS.ns = "mesh"; - meshROS.id = 0; - meshROS.type = visualization_msgs::Marker::MESH_RESOURCE; - meshROS.action = visualization_msgs::Marker::ADD; - meshROS.pose.position.x = msg->pose.pose.position.x; - meshROS.pose.position.y = msg->pose.pose.position.y; - meshROS.pose.position.z = msg->pose.pose.position.z; - q(0) = msg->pose.pose.orientation.w; - q(1) = msg->pose.pose.orientation.x; - q(2) = msg->pose.pose.orientation.y; - q(3) = msg->pose.pose.orientation.z; - if (cross_config) - { - colvec ypr = R_to_ypr(quaternion_to_R(q)); - ypr(0) += 45.0*PI/180.0; - q = R_to_quaternion(ypr_to_R(ypr)); - } - meshROS.pose.orientation.w = q(0); - meshROS.pose.orientation.x = q(1); - meshROS.pose.orientation.y = q(2); - meshROS.pose.orientation.z = q(3); - meshROS.scale.x = scale; - meshROS.scale.y = scale; - meshROS.scale.z = scale; - meshROS.color.a = color_a; - meshROS.color.r = color_r; - meshROS.color.g = color_g; - meshROS.color.b = color_b; - meshROS.mesh_resource = mesh_resource; - meshPub.publish(meshROS); - - // TF for raw sensor visualization - if (tf45) - { - tf::Transform transform; - transform.setOrigin(tf::Vector3(pose(0), pose(1), pose(2))); - transform.setRotation(tf::Quaternion(q(1), q(2), q(3), q(0))); - - tf::Transform transform45; - transform45.setOrigin(tf::Vector3(0, 0, 0)); - colvec y45 = zeros(3); - y45(0) = 45.0 * M_PI/180; - colvec q45 = R_to_quaternion(ypr_to_R(y45)); - transform45.setRotation(tf::Quaternion(q45(1), q45(2), q45(3), q45(0))); - - tf::Transform transform90; - transform90.setOrigin(tf::Vector3(0, 0, 0)); - colvec p90 = zeros(3); - p90(1) = 90.0 * M_PI/180; - colvec q90 = R_to_quaternion(ypr_to_R(p90)); - transform90.setRotation(tf::Quaternion(q90(1), q90(2), q90(3), q90(0))); - - string base_s = _drone_id == -1 ? string("base") : string("base") +std::to_string(_drone_id); - string laser_s = _drone_id == -1 ? string("laser") : string("laser") +std::to_string(_drone_id); - string vision_s = _drone_id == -1 ? string("vision") : string("vision")+std::to_string(_drone_id); - string height_s = _drone_id == -1 ? string("height") : string("height")+std::to_string(_drone_id); - - - broadcaster->sendTransform(tf::StampedTransform(transform, msg->header.stamp, string("world"), base_s)); - broadcaster->sendTransform(tf::StampedTransform(transform45, msg->header.stamp, base_s, laser_s)); - broadcaster->sendTransform(tf::StampedTransform(transform45, msg->header.stamp, base_s, vision_s)); - broadcaster->sendTransform(tf::StampedTransform(transform90, msg->header.stamp, base_s, height_s)); - } -} - -void cmd_callback(const quadrotor_msgs::PositionCommand cmd) -{ - if (cmd.header.frame_id == string("null")) - return; - - colvec pose(6); - pose(0) = cmd.position.x; - pose(1) = cmd.position.y; - pose(2) = cmd.position.z; - colvec q(4); - q(0) = 1.0; - q(1) = 0.0; - q(2) = 0.0; - q(3) = 0.0; - pose.rows(3,5) = R_to_ypr(quaternion_to_R(q)); - - // Mesh model - meshROS.header.frame_id = _frame_id; - meshROS.header.stamp = cmd.header.stamp; - meshROS.ns = "mesh"; - meshROS.id = 0; - meshROS.type = visualization_msgs::Marker::MESH_RESOURCE; - meshROS.action = visualization_msgs::Marker::ADD; - meshROS.pose.position.x = cmd.position.x; - meshROS.pose.position.y = cmd.position.y; - meshROS.pose.position.z = cmd.position.z; - - if (cross_config) - { - colvec ypr = R_to_ypr(quaternion_to_R(q)); - ypr(0) += 45.0*PI/180.0; - q = R_to_quaternion(ypr_to_R(ypr)); - } - meshROS.pose.orientation.w = q(0); - meshROS.pose.orientation.x = q(1); - meshROS.pose.orientation.y = q(2); - meshROS.pose.orientation.z = q(3); - meshROS.scale.x = 2.0; - meshROS.scale.y = 2.0; - meshROS.scale.z = 2.0; - meshROS.color.a = color_a; - meshROS.color.r = color_r; - meshROS.color.g = color_g; - meshROS.color.b = color_b; - meshROS.mesh_resource = mesh_resource; - meshPub.publish(meshROS); -} - -int main(int argc, char** argv) -{ - ros::init(argc, argv, "odom_visualization"); - ros::NodeHandle n("~"); - - n.param("mesh_resource", mesh_resource, std::string("package://odom_visualization/meshes/hummingbird.mesh")); - n.param("color/r", color_r, 1.0); - n.param("color/g", color_g, 0.0); - n.param("color/b", color_b, 0.0); - n.param("color/a", color_a, 1.0); - n.param("origin", origin, false); - n.param("robot_scale", scale, 2.0); - n.param("frame_id", _frame_id, string("world") ); - - n.param("cross_config", cross_config, false); - n.param("tf45", tf45, false); - n.param("covariance_scale", cov_scale, 100.0); - n.param("covariance_position", cov_pos, false); - n.param("covariance_velocity", cov_vel, false); - n.param("covariance_color", cov_color, false); - n.param("drone_id", _drone_id, -1); - - ros::Subscriber sub_odom = n.subscribe("odom", 100, odom_callback); - ros::Subscriber sub_cmd = n.subscribe("cmd", 100, cmd_callback); - posePub = n.advertise("pose", 100, true); - pathPub = n.advertise( "path", 100, true); - velPub = n.advertise("velocity", 100, true); - covPub = n.advertise("covariance", 100, true); - covVelPub = n.advertise("covariance_velocity", 100, true); - trajPub = n.advertise("trajectory", 100, true); - sensorPub = n.advertise("sensor", 100, true); - meshPub = n.advertise("robot", 100, true); - heightPub = n.advertise( "height", 100, true); - tf::TransformBroadcaster b; - broadcaster = &b; - - ros::spin(); - - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/odom_visualization/src/odom_visualization_simplified.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/odom_visualization/src/odom_visualization_simplified.cpp deleted file mode 100644 index fcc9845..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/odom_visualization/src/odom_visualization_simplified.cpp +++ /dev/null @@ -1,483 +0,0 @@ -#include -#include -#include "ros/ros.h" -#include "tf/transform_broadcaster.h" -#include "nav_msgs/Odometry.h" -#include "geometry_msgs/PoseWithCovarianceStamped.h" -#include "geometry_msgs/PoseStamped.h" -#include "nav_msgs/Path.h" -#include "sensor_msgs/Range.h" -#include "visualization_msgs/Marker.h" -#include "armadillo" -#include "pose_utils.h" -#include "quadrotor_msgs/PositionCommand.h" - -using namespace arma; -using namespace std; - -static string mesh_resource; -static double color_r, color_g, color_b, color_a, cov_scale, scale; - -bool cross_config = false; -bool tf45 = false; -bool cov_pos = false; -bool cov_vel = false; -bool cov_color = false; -bool origin = false; -bool isOriginSet = false; -colvec poseOrigin(6); -ros::Publisher posePub; -ros::Publisher pathPub; -ros::Publisher velPub; -ros::Publisher covPub; -ros::Publisher covVelPub; -ros::Publisher trajPub; -ros::Publisher sensorPub; -ros::Publisher meshPub; -ros::Publisher heightPub; -tf::TransformBroadcaster* broadcaster; -geometry_msgs::PoseStamped poseROS; -nav_msgs::Path pathROS; -visualization_msgs::Marker velROS; -visualization_msgs::Marker covROS; -visualization_msgs::Marker covVelROS; -visualization_msgs::Marker trajROS; -visualization_msgs::Marker sensorROS; -visualization_msgs::Marker meshROS; -sensor_msgs::Range heightROS; -string _frame_id; -int _drone_id; - -void odom_callback(const nav_msgs::Odometry::ConstPtr& msg) -{ - if (msg->header.frame_id == string("null")) - return; - - colvec pose(6); - pose(0) = msg->pose.pose.position.x; - pose(1) = msg->pose.pose.position.y; - pose(2) = msg->pose.pose.position.z; - colvec q(4); - - q(0) = msg->pose.pose.orientation.w; - q(1) = msg->pose.pose.orientation.x; - q(2) = msg->pose.pose.orientation.y; - q(3) = msg->pose.pose.orientation.z; - pose.rows(3,5) = R_to_ypr(quaternion_to_R(q)); - colvec vel(3); - - vel(0) = msg->twist.twist.linear.x; - vel(1) = msg->twist.twist.linear.y; - vel(2) = msg->twist.twist.linear.z; - - if (origin && !isOriginSet) - { - isOriginSet = true; - poseOrigin = pose; - } - if (origin) - { - vel = trans(ypr_to_R(pose.rows(3,5))) * vel; - pose = pose_update(pose_inverse(poseOrigin), pose); - vel = ypr_to_R(pose.rows(3,5)) * vel; - } - - // Pose - poseROS.header = msg->header; - poseROS.header.stamp = msg->header.stamp; - poseROS.header.frame_id = string("world"); - poseROS.pose.position.x = pose(0); - poseROS.pose.position.y = pose(1); - poseROS.pose.position.z = pose(2); - q = R_to_quaternion(ypr_to_R(pose.rows(3,5))); - poseROS.pose.orientation.w = q(0); - poseROS.pose.orientation.x = q(1); - poseROS.pose.orientation.y = q(2); - poseROS.pose.orientation.z = q(3); - posePub.publish(poseROS); - - // Velocity - colvec yprVel(3); - yprVel(0) = atan2(vel(1), vel(0)); - yprVel(1) = -atan2(vel(2), norm(vel.rows(0,1),2)); - yprVel(2) = 0; - q = R_to_quaternion(ypr_to_R(yprVel)); - velROS.header.frame_id = string("world"); - velROS.header.stamp = msg->header.stamp; - velROS.ns = string("velocity"); - velROS.id = 0; - velROS.type = visualization_msgs::Marker::ARROW; - velROS.action = visualization_msgs::Marker::ADD; - velROS.pose.position.x = pose(0); - velROS.pose.position.y = pose(1); - velROS.pose.position.z = pose(2); - velROS.pose.orientation.w = q(0); - velROS.pose.orientation.x = q(1); - velROS.pose.orientation.y = q(2); - velROS.pose.orientation.z = q(3); - velROS.scale.x = norm(vel, 2); - velROS.scale.y = 0.05; - velROS.scale.z = 0.05; - velROS.color.a = 1.0; - velROS.color.r = color_r; - velROS.color.g = color_g; - velROS.color.b = color_b; - velPub.publish(velROS); - - // Path - static ros::Time prevt = msg->header.stamp; - if ((msg->header.stamp - prevt).toSec() > 0.1) - { - prevt = msg->header.stamp; - pathROS.header = poseROS.header; - pathROS.poses.push_back(poseROS); - pathPub.publish(pathROS); - } - - // Covariance color - double r = 1; - double g = 1; - double b = 1; - bool G = msg->twist.covariance[33]; - bool V = msg->twist.covariance[34]; - bool L = msg->twist.covariance[35]; - if (cov_color) - { - r = G; - g = V; - b = L; - } - - // Covariance Position - if (cov_pos) - { - mat P(6,6); - for (int j = 0; j < 6; j++) - for (int i = 0; i < 6; i++) - P(i,j) = msg->pose.covariance[i+j*6]; - colvec eigVal; - mat eigVec; - eig_sym(eigVal, eigVec, P.submat(0,0,2,2)); - if (det(eigVec) < 0) - { - for (int k = 0; k < 3; k++) - { - mat eigVecRev = eigVec; - eigVecRev.col(k) *= -1; - if (det(eigVecRev) > 0) - { - eigVec = eigVecRev; - break; - } - } - } - covROS.header.frame_id = string("world"); - covROS.header.stamp = msg->header.stamp; - covROS.ns = string("covariance"); - covROS.id = 0; - covROS.type = visualization_msgs::Marker::SPHERE; - covROS.action = visualization_msgs::Marker::ADD; - covROS.pose.position.x = pose(0); - covROS.pose.position.y = pose(1); - covROS.pose.position.z = pose(2); - q = R_to_quaternion(eigVec); - covROS.pose.orientation.w = q(0); - covROS.pose.orientation.x = q(1); - covROS.pose.orientation.y = q(2); - covROS.pose.orientation.z = q(3); - covROS.scale.x = sqrt(eigVal(0))*cov_scale; - covROS.scale.y = sqrt(eigVal(1))*cov_scale; - covROS.scale.z = sqrt(eigVal(2))*cov_scale; - covROS.color.a = 0.4; - covROS.color.r = r * 0.5; - covROS.color.g = g * 0.5; - covROS.color.b = b * 0.5; - covPub.publish(covROS); - } - - // Covariance Velocity - if (cov_vel) - { - mat P(3,3); - for (int j = 0; j < 3; j++) - for (int i = 0; i < 3; i++) - P(i,j) = msg->twist.covariance[i+j*6]; - mat R = ypr_to_R(pose.rows(3,5)); - P = R * P * trans(R); - colvec eigVal; - mat eigVec; - eig_sym(eigVal, eigVec, P); - if (det(eigVec) < 0) - { - for (int k = 0; k < 3; k++) - { - mat eigVecRev = eigVec; - eigVecRev.col(k) *= -1; - if (det(eigVecRev) > 0) - { - eigVec = eigVecRev; - break; - } - } - } - covVelROS.header.frame_id = string("world"); - covVelROS.header.stamp = msg->header.stamp; - covVelROS.ns = string("covariance_velocity"); - covVelROS.id = 0; - covVelROS.type = visualization_msgs::Marker::SPHERE; - covVelROS.action = visualization_msgs::Marker::ADD; - covVelROS.pose.position.x = pose(0); - covVelROS.pose.position.y = pose(1); - covVelROS.pose.position.z = pose(2); - q = R_to_quaternion(eigVec); - covVelROS.pose.orientation.w = q(0); - covVelROS.pose.orientation.x = q(1); - covVelROS.pose.orientation.y = q(2); - covVelROS.pose.orientation.z = q(3); - covVelROS.scale.x = sqrt(eigVal(0))*cov_scale; - covVelROS.scale.y = sqrt(eigVal(1))*cov_scale; - covVelROS.scale.z = sqrt(eigVal(2))*cov_scale; - covVelROS.color.a = 0.4; - covVelROS.color.r = r; - covVelROS.color.g = g; - covVelROS.color.b = b; - covVelPub.publish(covVelROS); - } - - // Color Coded Trajectory - static colvec ppose = pose; - static ros::Time pt = msg->header.stamp; - ros::Time t = msg->header.stamp; - if ((t - pt).toSec() > 0.5) - { - trajROS.header.frame_id = string("world"); - trajROS.header.stamp = ros::Time::now(); - trajROS.ns = string("trajectory"); - trajROS.type = visualization_msgs::Marker::LINE_LIST; - trajROS.action = visualization_msgs::Marker::ADD; - trajROS.pose.position.x = 0; - trajROS.pose.position.y = 0; - trajROS.pose.position.z = 0; - trajROS.pose.orientation.w = 1; - trajROS.pose.orientation.x = 0; - trajROS.pose.orientation.y = 0; - trajROS.pose.orientation.z = 0; - trajROS.scale.x = 0.1; - trajROS.scale.y = 0; - trajROS.scale.z = 0; - trajROS.color.r = 0.0; - trajROS.color.g = 1.0; - trajROS.color.b = 0.0; - trajROS.color.a = 0.8; - geometry_msgs::Point p; - p.x = ppose(0); - p.y = ppose(1); - p.z = ppose(2); - trajROS.points.push_back(p); - p.x = pose(0); - p.y = pose(1); - p.z = pose(2); - trajROS.points.push_back(p); - std_msgs::ColorRGBA color; - color.r = r; - color.g = g; - color.b = b; - color.a = 1; - trajROS.colors.push_back(color); - trajROS.colors.push_back(color); - ppose = pose; - pt = t; - trajPub.publish(trajROS); - } - - // Sensor availability - sensorROS.header.frame_id = string("world"); - sensorROS.header.stamp = msg->header.stamp; - sensorROS.ns = string("sensor"); - sensorROS.type = visualization_msgs::Marker::TEXT_VIEW_FACING; - sensorROS.action = visualization_msgs::Marker::ADD; - sensorROS.pose.position.x = pose(0); - sensorROS.pose.position.y = pose(1); - sensorROS.pose.position.z = pose(2) + 1.0; - sensorROS.pose.orientation.w = q(0); - sensorROS.pose.orientation.x = q(1); - sensorROS.pose.orientation.y = q(2); - sensorROS.pose.orientation.z = q(3); - string strG = G?string(" GPS "):string(""); - string strV = V?string(" Vision "):string(""); - string strL = L?string(" Laser "):string(""); - sensorROS.text = "| " + strG + strV + strL + " |"; - sensorROS.color.a = 1.0; - sensorROS.color.r = 1.0; - sensorROS.color.g = 1.0; - sensorROS.color.b = 1.0; - sensorROS.scale.z = 0.5; - sensorPub.publish(sensorROS); - - // Laser height measurement - double H = msg->twist.covariance[32]; - heightROS.header.frame_id = string("height"); - heightROS.header.stamp = msg->header.stamp; - heightROS.radiation_type = sensor_msgs::Range::ULTRASOUND; - heightROS.field_of_view = 5.0 * M_PI / 180.0; - heightROS.min_range = -100; - heightROS.max_range = 100; - heightROS.range = H; - heightPub.publish(heightROS); - - // Mesh model - meshROS.header.frame_id = _frame_id; - meshROS.header.stamp = msg->header.stamp; - meshROS.ns = "mesh"; - meshROS.id = 0; - meshROS.type = visualization_msgs::Marker::MESH_RESOURCE; - meshROS.action = visualization_msgs::Marker::ADD; - meshROS.pose.position.x = msg->pose.pose.position.x; - meshROS.pose.position.y = msg->pose.pose.position.y; - meshROS.pose.position.z = msg->pose.pose.position.z; - q(0) = msg->pose.pose.orientation.w; - q(1) = msg->pose.pose.orientation.x; - q(2) = msg->pose.pose.orientation.y; - q(3) = msg->pose.pose.orientation.z; - if (cross_config) - { - colvec ypr = R_to_ypr(quaternion_to_R(q)); - ypr(0) += 45.0*PI/180.0; - q = R_to_quaternion(ypr_to_R(ypr)); - } - meshROS.pose.orientation.w = q(0); - meshROS.pose.orientation.x = q(1); - meshROS.pose.orientation.y = q(2); - meshROS.pose.orientation.z = q(3); - meshROS.scale.x = scale; - meshROS.scale.y = scale; - meshROS.scale.z = scale; - meshROS.color.a = color_a; - meshROS.color.r = color_r; - meshROS.color.g = color_g; - meshROS.color.b = color_b; - meshROS.mesh_resource = mesh_resource; - meshPub.publish(meshROS); - - // TF for raw sensor visualization - if (tf45) - { - tf::Transform transform; - transform.setOrigin(tf::Vector3(pose(0), pose(1), pose(2))); - transform.setRotation(tf::Quaternion(q(1), q(2), q(3), q(0))); - - tf::Transform transform45; - transform45.setOrigin(tf::Vector3(0, 0, 0)); - colvec y45 = zeros(3); - y45(0) = 45.0 * M_PI/180; - colvec q45 = R_to_quaternion(ypr_to_R(y45)); - transform45.setRotation(tf::Quaternion(q45(1), q45(2), q45(3), q45(0))); - - tf::Transform transform90; - transform90.setOrigin(tf::Vector3(0, 0, 0)); - colvec p90 = zeros(3); - p90(1) = 90.0 * M_PI/180; - colvec q90 = R_to_quaternion(ypr_to_R(p90)); - transform90.setRotation(tf::Quaternion(q90(1), q90(2), q90(3), q90(0))); - - string base_s = _drone_id == -1 ? string("base") : string("base") +std::to_string(_drone_id); - string laser_s = _drone_id == -1 ? string("laser") : string("laser") +std::to_string(_drone_id); - string vision_s = _drone_id == -1 ? string("vision") : string("vision")+std::to_string(_drone_id); - string height_s = _drone_id == -1 ? string("height") : string("height")+std::to_string(_drone_id); - - - broadcaster->sendTransform(tf::StampedTransform(transform, msg->header.stamp, string("world"), base_s)); - broadcaster->sendTransform(tf::StampedTransform(transform45, msg->header.stamp, base_s, laser_s)); - broadcaster->sendTransform(tf::StampedTransform(transform45, msg->header.stamp, base_s, vision_s)); - broadcaster->sendTransform(tf::StampedTransform(transform90, msg->header.stamp, base_s, height_s)); - } -} - -void cmd_callback(const quadrotor_msgs::PositionCommand cmd) -{ - if (cmd.header.frame_id == string("null")) - return; - - colvec pose(6); - pose(0) = cmd.position.x; - pose(1) = cmd.position.y; - pose(2) = cmd.position.z; - colvec q(4); - q(0) = 1.0; - q(1) = 0.0; - q(2) = 0.0; - q(3) = 0.0; - pose.rows(3,5) = R_to_ypr(quaternion_to_R(q)); - - // Mesh model - meshROS.header.frame_id = _frame_id; - meshROS.header.stamp = cmd.header.stamp; - meshROS.ns = "mesh"; - meshROS.id = 0; - meshROS.type = visualization_msgs::Marker::MESH_RESOURCE; - meshROS.action = visualization_msgs::Marker::ADD; - meshROS.pose.position.x = cmd.position.x; - meshROS.pose.position.y = cmd.position.y; - meshROS.pose.position.z = cmd.position.z; - - if (cross_config) - { - colvec ypr = R_to_ypr(quaternion_to_R(q)); - ypr(0) += 45.0*PI/180.0; - q = R_to_quaternion(ypr_to_R(ypr)); - } - meshROS.pose.orientation.w = q(0); - meshROS.pose.orientation.x = q(1); - meshROS.pose.orientation.y = q(2); - meshROS.pose.orientation.z = q(3); - meshROS.scale.x = 2.0; - meshROS.scale.y = 2.0; - meshROS.scale.z = 2.0; - meshROS.color.a = color_a; - meshROS.color.r = color_r; - meshROS.color.g = color_g; - meshROS.color.b = color_b; - meshROS.mesh_resource = mesh_resource; - meshPub.publish(meshROS); -} - -int main(int argc, char** argv) -{ - ros::init(argc, argv, "odom_visualization"); - ros::NodeHandle n("~"); - - n.param("mesh_resource", mesh_resource, std::string("package://odom_visualization/meshes/hummingbird.mesh")); - n.param("color/r", color_r, 1.0); - n.param("color/g", color_g, 0.0); - n.param("color/b", color_b, 0.0); - n.param("color/a", color_a, 1.0); - n.param("origin", origin, false); - n.param("robot_scale", scale, 2.0); - n.param("frame_id", _frame_id, string("world") ); - - n.param("cross_config", cross_config, false); - n.param("tf45", tf45, false); - n.param("covariance_scale", cov_scale, 100.0); - n.param("covariance_position", cov_pos, false); - n.param("covariance_velocity", cov_vel, false); - n.param("covariance_color", cov_color, false); - n.param("drone_id", _drone_id, -1); - - ros::Subscriber sub_odom = n.subscribe("odom", 100, odom_callback); - ros::Subscriber sub_cmd = n.subscribe("cmd", 100, cmd_callback); - posePub = n.advertise("pose", 100, true); - pathPub = n.advertise( "path", 100, true); - velPub = n.advertise("velocity", 100, true); - covPub = n.advertise("covariance", 100, true); - covVelPub = n.advertise("covariance_velocity", 100, true); - trajPub = n.advertise("trajectory", 100, true); - sensorPub = n.advertise("sensor", 100, true); - meshPub = n.advertise("robot", 100, true); - heightPub = n.advertise( "height", 100, true); - tf::TransformBroadcaster b; - broadcaster = &b; - - ros::spin(); - - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/pose_utils/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/pose_utils/CMakeLists.txt deleted file mode 100644 index d65f182..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/pose_utils/CMakeLists.txt +++ /dev/null @@ -1,31 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(pose_utils) - -set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-O3 -Wall -g") -ADD_COMPILE_OPTIONS(-std=c++11 ) -ADD_COMPILE_OPTIONS(-std=c++14 ) - -find_package(catkin REQUIRED COMPONENTS - #armadillo - roscpp -) - -catkin_package( - INCLUDE_DIRS include - LIBRARIES pose_utils -# CATKIN_DEPENDS geometry_msgs nav_msgs -# DEPENDS system_lib -) - -find_package(Armadillo REQUIRED) - -include_directories( - ${catkin_INCLUDE_DIRS} - ${ARMADILLO_INCLUDE_DIRS} - include - ) - -add_library(pose_utils - ${ARMADILLO_LIBRARIES} - src/pose_utils.cpp) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/pose_utils/Makefile b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/pose_utils/Makefile deleted file mode 100644 index b75b928..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/pose_utils/Makefile +++ /dev/null @@ -1 +0,0 @@ -include $(shell rospack find mk)/cmake.mk \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/pose_utils/include/pose_utils.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/pose_utils/include/pose_utils.h deleted file mode 100644 index 326c7c8..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/pose_utils/include/pose_utils.h +++ /dev/null @@ -1,53 +0,0 @@ -#ifndef POSE_UTILS_H -#define POSE_UTILS_H - -#include -#include "armadillo" - -#define PI 3.14159265359 -#define NUM_INF 999999.9 - -using namespace arma; -using namespace std; - -// Rotation --------------------- -mat ypr_to_R(const colvec& ypr); - -mat yaw_to_R(double yaw); - -colvec R_to_ypr(const mat& R); - -mat quaternion_to_R(const colvec& q); - -colvec R_to_quaternion(const mat& R); - -colvec quaternion_mul(const colvec& q1, const colvec& q2); - -colvec quaternion_inv(const colvec& q); - -// General Pose Update ---------- -colvec pose_update(const colvec& X1, const colvec& X2); - -colvec pose_inverse(const colvec& X); - -colvec pose_update_2d(const colvec& X1, const colvec& X2); - -colvec pose_inverse_2d(const colvec& X); - -// For Pose EKF ----------------- -mat Jplus1(const colvec& X1, const colvec& X2); - -mat Jplus2(const colvec& X1, const colvec& X2); - -// For IMU EKF ------------------ -colvec state_update(const colvec& X, const colvec& U, double dt); - -mat jacobianF(const colvec& X, const colvec& U, double dt); - -mat jacobianU(const colvec& X, const colvec& U, double dt); - -colvec state_measure(const colvec& X); - -mat jacobianH(); - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/pose_utils/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/pose_utils/package.xml deleted file mode 100644 index df593f9..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/pose_utils/package.xml +++ /dev/null @@ -1,15 +0,0 @@ - - pose_utils - 0.0.0 - pose_utils - Shaojie Shen - BSD - catkin - roscpp - roscpp - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/pose_utils/src/pose_utils.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/pose_utils/src/pose_utils.cpp deleted file mode 100644 index f2b4365..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/pose_utils/src/pose_utils.cpp +++ /dev/null @@ -1,531 +0,0 @@ -#include "pose_utils.h" - -// Rotation --------------------- - -mat ypr_to_R(const colvec& ypr) -{ - double c, s; - mat Rz = zeros(3,3); - double y = ypr(0); - c = cos(y); - s = sin(y); - Rz(0,0) = c; - Rz(1,0) = s; - Rz(0,1) = -s; - Rz(1,1) = c; - Rz(2,2) = 1; - - mat Ry = zeros(3,3); - double p = ypr(1); - c = cos(p); - s = sin(p); - Ry(0,0) = c; - Ry(2,0) = -s; - Ry(0,2) = s; - Ry(2,2) = c; - Ry(1,1) = 1; - - mat Rx = zeros(3,3); - double r = ypr(2); - c = cos(r); - s = sin(r); - Rx(1,1) = c; - Rx(2,1) = s; - Rx(1,2) = -s; - Rx(2,2) = c; - Rx(0,0) = 1; - - mat R = Rz*Ry*Rx; - return R; -} - -mat yaw_to_R(double yaw) -{ - mat R = zeros(2,2); - double c = cos(yaw); - double s = sin(yaw); - R(0,0) = c; - R(1,0) = s; - R(0,1) = -s; - R(1,1) = c; - return R; -} - -colvec R_to_ypr(const mat& R) -{ - colvec n = R.col(0); - colvec o = R.col(1); - colvec a = R.col(2); - - colvec ypr(3); - double y = atan2(n(1), n(0)); - double p = atan2(-n(2), n(0)*cos(y)+n(1)*sin(y)); - double r = atan2(a(0)*sin(y)-a(1)*cos(y), -o(0)*sin(y)+o(1)*cos(y)); - ypr(0) = y; - ypr(1) = p; - ypr(2) = r; - - return ypr; -} - -mat quaternion_to_R(const colvec& q) -{ - double n = norm(q, 2); - colvec nq = q / n; - - double w = nq(0); - double x = nq(1); - double y = nq(2); - double z = nq(3); - double w2 = w*w; - double x2 = x*x; - double y2 = y*y; - double z2 = z*z; - double xy = x*y; - double xz = x*z; - double yz = y*z; - double wx = w*x; - double wy = w*y; - double wz = w*z; - - mat R = zeros(3,3); - R(0,0) = w2+x2-y2-z2; - R(1,0) = 2*(wz + xy); - R(2,0) = 2*(xz - wy); - R(0,1) = 2*(xy - wz); - R(1,1) = w2-x2+y2-z2; - R(2,1) = 2*(wx + yz); - R(0,2) = 2*(wy + xz); - R(1,2) = 2*(yz - wx); - R(2,2) = w2-x2-y2+z2; - return R; -} - -colvec R_to_quaternion(const mat& R) -{ - colvec q(4); - double tr = R(0,0) + R(1,1) + R(2,2); - if (tr > 0) - { - double S = sqrt(tr + 1.0) * 2; - q(0) = 0.25 * S; - q(1) = (R(2,1) - R(1,2)) / S; - q(2) = (R(0,2) - R(2,0)) / S; - q(3) = (R(1,0) - R(0,1)) / S; - } - else if (R(0,0) > R(1,1) && R(0,0) > R(2,2)) - { - double S = sqrt(1.0 + R(0,0) - R(1,1) - R(2,2)) * 2; - q(0) = (R(2,1) - R(1,2)) / S; - q(1) = 0.25 * S; - q(2) = (R(0,1) + R(1,0)) / S; - q(3) = (R(0,2) + R(2,0)) / S; - } - else if (R(1,1) > R(2,2)) - { - double S = sqrt(1.0 + R(1,1) - R(0,0) - R(2,2)) * 2; - q(0) = (R(0,2) - R(2,0)) / S; - q(1) = (R(0,1) + R(1,0)) / S; - q(2) = 0.25 * S; - q(3) = (R(1,2) + R(2,1)) / S; - } - else - { - double S = sqrt(1.0 + R(2,2) - R(0,0) - R(1,1)) * 2; - q(0) = (R(1,0) - R(0,1)) / S; - q(1) = (R(0,2) + R(2,0)) / S; - q(2) = (R(1,2) + R(2,1)) / S; - q(3) = 0.25 * S; - } - return q; -} - -colvec quaternion_mul(const colvec& q1, const colvec& q2) -{ - double a1 = q1(0); - double b1 = q1(1); - double c1 = q1(2); - double d1 = q1(3); - - double a2 = q2(0); - double b2 = q2(1); - double c2 = q2(2); - double d2 = q2(3); - - colvec q3(4); - q3(0) = a1*a2 - b1*b2 - c1*c2 - d1*d2; - q3(1) = a1*b2 + b1*a2 + c1*d2 - d1*c2; - q3(2) = a1*c2 - b1*d2 + c1*a2 + d1*b2; - q3(3) = a1*d2 + b1*c2 - c1*b2 + d1*a2; - return q3; -} - -colvec quaternion_inv(const colvec& q) -{ - colvec q2(4); - q2(0) = q(0); - q2(1) = -q(1); - q2(2) = -q(2); - q2(3) = -q(3); - return q2; -} - -// General Pose Update ---------- - -colvec pose_update(const colvec& X1, const colvec& X2) -{ - mat R1 = ypr_to_R(X1.rows(3,5)); - mat R2 = ypr_to_R(X2.rows(3,5)); - mat R3 = R1 * R2; - - colvec X3xyz = X1.rows(0,2) + R1*X2.rows(0,2); - colvec X3ypr = R_to_ypr(R3); - - colvec X3 = join_cols(X3xyz, X3ypr); - return X3; -} - -colvec pose_inverse(const colvec& X) -{ - mat R = ypr_to_R(X.rows(3,5)); - colvec n = R.col(0); - colvec o = R.col(1); - colvec a = R.col(2); - - colvec XIxyz = -trans(R) * (X.rows(0,2)); - colvec XIypr(3); - double XIy = atan2(o(0), n(0)); - double XIp = atan2(-a(0), n(0)*cos(XIy)+o(0)*sin(XIy)); - double XIr = atan2(n(2)*sin(XIy)-o(2)*cos(XIy), -n(1)*sin(XIy)+o(1)*cos(XIy)); - XIypr(0) = XIy; - XIypr(1) = XIp; - XIypr(2) = XIr; - - colvec XI = join_cols(XIxyz, XIypr); - return XI; -} - -colvec pose_update_2d(const colvec& X1, const colvec& X2) -{ - mat R = yaw_to_R(X1(2)); - colvec X3(3); - X3.rows(0,1) = R * X2.rows(0,1) + X1.rows(0,1); - X3(2) = X1(2) + X2(2); - return X3; -} - -colvec pose_inverse_2d(const colvec& X) -{ - double c = cos(X(2)); - double s = sin(X(2)); - colvec XI(3); - XI(0) = -X(0) * c - X(1) * s; - XI(1) = X(0) * s - X(1) * c; - XI(2) = -X(2); - return XI; -} - - -// For Pose EKF ---------------------- - -mat Jplus1(const colvec& X1, const colvec& X2) -{ - colvec X3 = pose_update(X1,X2); - mat R1 = ypr_to_R(X1.rows(3,5)); - mat R2 = ypr_to_R(X2.rows(3,5)); - mat R3 = ypr_to_R(X3.rows(3,5)); - colvec o1 = R1.col(1); - colvec a1 = R1.col(2); - colvec o2 = R2.col(1); - colvec a2 = R2.col(2); - - mat I = eye(3,3); - mat Z = zeros(3,3); - - double Marr[9] = { -(X3(2-1)-X1(2-1)) , (X3(3-1)-X1(3-1))*cos(X1(4-1)) , a1(1-1)*X2(2-1)-o1(1-1)*X2(3-1) , - X3(1-1)-X1(1-1) , (X3(3-1)-X1(3-1))*sin(X1(4-1)) , a1(2-1)*X2(2-1)-o1(2-1)*X2(3-1) , - 0 , -X2(1-1)*cos(X1(5-1))-X2(2-1)*sin(X1(5-1))*sin(X1(6-1))-X2(3-1)*sin(X1(5-1))*cos(X1(6-1)) , a1(3-1)*X2(2-1)-o1(3-1)*X2(3-1) }; - mat M(3,3); - for (int i =0; i < 9; i++) - M(i) = Marr[i]; - M = trans(M); - - double K1arr[9] = { 1 , sin(X3(5-1))*sin(X3(4-1)-X1(4-1))/cos(X3(5-1)) , ( o2(1-1)*sin(X3(6-1))+a2(1-1)*cos(X3(6-1)) )/cos(X3(5-1)) , - 0 , cos(X3(4-1)-X1(4-1)) , -cos(X1(5-1))*sin(X3(4-1)-X1(4-1)) , - 0 , sin(X3(4-1)-X1(4-1))/cos(X3(5-1)) , cos(X1(5-1))*cos(X3(4-1)-X1(4-1))/cos(X3(5-1)) }; - mat K1(3,3); - for (int i =0; i < 9; i++) - K1(i) = K1arr[i]; - K1 = trans(K1); - - mat J1 = join_cols ( join_rows(I, M) , join_rows(Z,K1) ); - return J1; -} - -mat Jplus2(const colvec& X1, const colvec& X2) -{ - colvec X3 = pose_update(X1,X2); - mat R1 = ypr_to_R(X1.rows(3,5)); - mat R2 = ypr_to_R(X2.rows(3,5)); - mat R3 = ypr_to_R(X3.rows(3,5)); - colvec o1 = R1.col(1); - colvec a1 = R1.col(2); - colvec o2 = R2.col(1); - colvec a2 = R2.col(2); - - mat Z = zeros(3,3); - - double K2arr[9] = { cos(X2(5-1))*cos(X3(6-1)-X2(6-1))/cos(X3(5-1)) , sin(X3(6-1)-X2(6-1))/cos(X3(5-1)) , 0 , - -cos(X2(5-1))*sin(X3(6-1)-X2(6-1)) , cos(X3(6-1)-X2(6-1)) , 0 , - ( a1(1-1)*cos(X3(4-1))+a1(2-1)*sin(X3(4-1)) )/cos(X3(5-1)) , sin(X3(5-1))*sin(X3(6-1)-X2(6-1))/cos(X3(5-1)) , 1 }; - mat K2(3,3); - for (int i =0; i < 9; i++) - K2(i) = K2arr[i]; - K2 = trans(K2); - - mat J2 = join_cols ( join_rows(R1,Z) , join_rows(Z,K2) ); - return J2; -} - - -// For IMU EKF ---------------------- - -colvec state_update(const colvec& X, const colvec& U, double dt) -{ - double ro = X(3); - double pt = X(4); - double ya = X(5); - - colvec ypr(3); - ypr(0) = ya; - ypr(1) = pt; - ypr(2) = ro; - mat R = ypr_to_R(ypr); - - mat M(3,3); - M(0,0) = 1; M(0,1) = 0; M(0,2) = -sin(pt); - M(1,0) = 0; M(1,1) = cos(ro); M(1,2) = cos(pt)*sin(ro); - M(2,0) = 0; M(2,1) = -sin(ro); M(2,2) = cos(pt)*cos(ro); - - colvec Xt(9); - Xt.rows(0,2) = X.rows(0,2) + X.rows(6,8)*dt + R*U.rows(0,2)*dt*dt/2; - Xt.rows(3,5) = X.rows(3,5) + inv(M)*U.rows(3,5)*dt; - Xt.rows(6,8) = X.rows(6,8) + R*U.rows(0,2)*dt; - - return Xt; -} - -mat jacobianF(const colvec& X, const colvec& U, double dt) -{ - double x = X(0); - double y = X(1); - double z = X(2); - double ro = X(3); - double pt = X(4); - double ya = X(5); - double vx = X(6); - double vy = X(7); - double vz = X(8); - double ax = U(0); - double ay = U(1); - double az = U(2); - double wx = U(3); - double wy = U(4); - double wz = U(5); - - mat F(9,9); - - F(0,0) = 1; - F(0,1) = 0; - F(0,2) = 0; - F(0,3) = (dt*dt*(ay*(sin(ro)*sin(ya) + cos(ro)*cos(ya)*sin(pt)) + az*(cos(ro)*sin(ya) - cos(ya)*sin(pt)*sin(ro))))/2, - F(0,4) = (dt*dt*(az*cos(pt)*cos(ro)*cos(ya) - ax*cos(ya)*sin(pt) + ay*cos(pt)*cos(ya)*sin(ro)))/2; - F(0,5) = -(dt*dt*(ay*(cos(ro)*cos(ya) + sin(pt)*sin(ro)*sin(ya)) - az*(cos(ya)*sin(ro) - cos(ro)*sin(pt)*sin(ya)) + ax*cos(pt)*sin(ya)))/2; - F(0,6) = dt; - F(0,7) = 0; - F(0,8) = 0; - - F(1,0) = 0; - F(1,1) = 1; - F(1,2) = 0; - F(1,3) = -(dt*dt*(ay*(cos(ya)*sin(ro) - cos(ro)*sin(pt)*sin(ya)) + az*(cos(ro)*cos(ya) + sin(pt)*sin(ro)*sin(ya))))/2; - F(1,4) = (dt*dt*(az*cos(pt)*cos(ro)*sin(ya) - ax*sin(pt)*sin(ya) + ay*cos(pt)*sin(ro)*sin(ya)))/2; - F(1,5) = (dt*dt*(az*(sin(ro)*sin(ya) + cos(ro)*cos(ya)*sin(pt)) - ay*(cos(ro)*sin(ya) - cos(ya)*sin(pt)*sin(ro)) + ax*cos(pt)*cos(ya)))/2; - F(1,6) = 0; - F(1,7) = dt; - F(1,8) = 0; - - F(2,0) = 0; - F(2,1) = 0; - F(2,2) = 1; - F(2,3) = (dt*dt*(ay*cos(pt)*cos(ro) - az*cos(pt)*sin(ro)))/2, - F(2,4) = -(dt*dt*(ax*cos(pt) + az*cos(ro)*sin(pt) + ay*sin(pt)*sin(ro)))/2, - F(2,5) = 0; - F(2,6) = 0; - F(2,7) = 0; - F(2,8) = dt; - - F(3,0) = 0; - F(3,1) = 0; - F(3,2) = 0; - F(3,3) = 1 - dt*((wz*(cos(pt - ro)/2 - cos(pt + ro)/2))/cos(pt) - (wy*(sin(pt - ro)/2 + sin(pt + ro)/2))/cos(pt)); - F(3,4) = dt*((wz*(cos(pt - ro)/2 + cos(pt + ro)/2))/cos(pt) - (wy*(sin(pt - ro)/2 - sin(pt + ro)/2))/cos(pt) + - (wy*sin(pt)*(cos(pt - ro)/2 - cos(pt + ro)/2))/(cos(pt)*cos(pt)) + (wz*sin(pt)*(sin(pt - ro)/2 + sin(pt + ro)/2))/(cos(pt)*cos(pt))); - F(3,5) = 0; - F(3,6) = 0; - F(3,7) = 0; - F(3,8) = 0; - - F(4,0) = 0; - F(4,1) = 0; - F(4,2) = 0; - F(4,3) = -dt*(wz*cos(ro) + wy*sin(ro)); - F(4,4) = 1; - F(4,5) = 0; - F(4,6) = 0; - F(4,7) = 0; - F(4,8) = 0; - - F(5,0) = 0; - F(5,1) = 0; - F(5,2) = 0; - F(5,3) = dt*((wy*cos(ro))/cos(pt) - (wz*sin(ro))/cos(pt)); - F(5,4) = dt*((wz*cos(ro)*sin(pt))/(cos(pt)*cos(pt)) + (wy*sin(pt)*sin(ro))/(cos(pt)*cos(pt))); - F(5,5) = 1; - F(5,6) = 0; - F(5,7) = 0; - F(5,8) = 0; - - F(6,0) = 0; - F(6,1) = 0; - F(6,2) = 0; - F(6,3) = dt*(ay*(sin(ro)*sin(ya) + cos(ro)*cos(ya)*sin(pt)) + az*(cos(ro)*sin(ya) - cos(ya)*sin(pt)*sin(ro))); - F(6,4) = dt*(az*cos(pt)*cos(ro)*cos(ya) - ax*cos(ya)*sin(pt) + ay*cos(pt)*cos(ya)*sin(ro)); - F(6,5) = -dt*(ay*(cos(ro)*cos(ya) + sin(pt)*sin(ro)*sin(ya)) - az*(cos(ya)*sin(ro) - cos(ro)*sin(pt)*sin(ya)) + ax*cos(pt)*sin(ya)); - F(6,6) = 1; - F(6,7) = 0; - F(6,8) = 0; - - F(7,0) = 0; - F(7,1) = 0; - F(7,2) = 0; - F(7,3) = -dt*(ay*(cos(ya)*sin(ro) - cos(ro)*sin(pt)*sin(ya)) + az*(cos(ro)*cos(ya) + sin(pt)*sin(ro)*sin(ya))); - F(7,4) = dt*(az*cos(pt)*cos(ro)*sin(ya) - ax*sin(pt)*sin(ya) + ay*cos(pt)*sin(ro)*sin(ya)); - F(7,5) = dt*(az*(sin(ro)*sin(ya) + cos(ro)*cos(ya)*sin(pt)) - ay*(cos(ro)*sin(ya) - cos(ya)*sin(pt)*sin(ro)) + ax*cos(pt)*cos(ya)); - F(7,6) = 0; - F(7,7) = 1; - F(7,8) = 0; - - F(8,0) = 0; - F(8,1) = 0; - F(8,2) = 0; - F(8,3) = dt*(ay*cos(pt)*cos(ro) - az*cos(pt)*sin(ro)); - F(8,4) = -dt*(ax*cos(pt) + az*cos(ro)*sin(pt) + ay*sin(pt)*sin(ro)); - F(8,5) = 0; - F(8,6) = 0; - F(8,7) = 0; - F(8,8) = 1; - - return F; -} - -mat jacobianU(const colvec& X, const colvec& U, double dt) -{ - double x = X(0); - double y = X(1); - double z = X(2); - double ro = X(3); - double pt = X(4); - double ya = X(5); - double vx = X(6); - double vy = X(7); - double vz = X(8); - double ax = U(0); - double ay = U(1); - double az = U(2); - double wx = U(3); - double wy = U(4); - double wz = U(5); - - mat G(9,6); - - G(0,0) = (dt*dt*cos(pt)*cos(ya))/2; - G(0,1) = -(dt*dt*(cos(ro)*sin(ya) - cos(ya)*sin(pt)*sin(ro)))/2; - G(0,2) = (dt*dt*(sin(ro)*sin(ya) + cos(ro)*cos(ya)*sin(pt)))/2; - G(0,3) = 0; - G(0,4) = 0; - G(0,5) = 0; - - G(1,0) = (dt*dt*cos(pt)*sin(ya))/2; - G(1,1) = (dt*dt*(cos(ro)*cos(ya) + sin(pt)*sin(ro)*sin(ya)))/2; - G(1,2) = -(dt*dt*(cos(ya)*sin(ro) - cos(ro)*sin(pt)*sin(ya)))/2; - G(1,3) = 0; - G(1,4) = 0; - G(1,5) = 0; - - G(2,0) = -(dt*dt*sin(pt))/2; - G(2,1) = (dt*dt*cos(pt)*sin(ro))/2; - G(2,2) = (dt*dt*cos(pt)*cos(ro))/2; - G(2,3) = 0; - G(2,4) = 0; - G(2,5) = 0; - - G(3,0) = 0; - G(3,1) = 0; - G(3,2) = 0; - G(3,3) = dt; - G(3,4) = (dt*(cos(pt - ro)/2 - cos(pt + ro)/2))/cos(pt); - G(3,5) = (dt*(sin(pt - ro)/2 + sin(pt + ro)/2))/cos(pt); - - G(4,0) = 0; - G(4,1) = 0; - G(4,2) = 0; - G(4,3) = 0; - G(4,4) = dt*cos(ro); - G(4,5) = -dt*sin(ro); - - G(5,0) = 0; - G(5,1) = 0; - G(5,2) = 0; - G(5,3) = 0; - G(5,4) = (dt*sin(ro))/cos(pt); - G(5,5) = (dt*cos(ro))/cos(pt); - - G(6,0) = dt*cos(pt)*cos(ya); - G(6,1) = -dt*(cos(ro)*sin(ya) - cos(ya)*sin(pt)*sin(ro)); - G(6,2) = dt*(sin(ro)*sin(ya) + cos(ro)*cos(ya)*sin(pt)); - G(6,3) = 0; - G(6,4) = 0; - G(6,5) = 0; - - G(7,0) = dt*cos(pt)*sin(ya); - G(7,1) = dt*(cos(ro)*cos(ya) + sin(pt)*sin(ro)*sin(ya)); - G(7,2) = -dt*(cos(ya)*sin(ro) - cos(ro)*sin(pt)*sin(ya)); - G(7,3) = 0; - G(7,4) = 0; - G(7,5) = 0; - - G(8,0) = -dt*sin(pt); - G(8,1) = dt*cos(pt)*sin(ro); - G(8,2) = dt*cos(pt)*cos(ro); - G(8,3) = 0; - G(8,4) = 0; - G(8,5) = 0; - - return G; -} - -colvec state_measure(const colvec& X) -{ - colvec Z = X.rows(0,5); - return Z; -} - -mat jacobianH() -{ - mat H = zeros(6,9); - H.cols(0,5) = eye(6,6); - - return H; -} - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/CMakeLists.txt deleted file mode 100644 index 2e446cf..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/CMakeLists.txt +++ /dev/null @@ -1,109 +0,0 @@ -#-cmake_minimum_required(VERSION 2.4.6) -#-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) - -# Set the build type. Options are: -# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage -# Debug : w/ debug symbols, w/o optimization -# Release : w/o debug symbols, w/ optimization -# RelWithDebInfo : w/ debug symbols, w/ optimization -# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries -#set(ROS_BUILD_TYPE RelWithDebInfo) - -#-rosbuild_init() - -#set the default path for built executables to the "bin" directory -#-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) -#set the default path for built libraries to the "lib" directory -#-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) - -#uncomment if you have defined messages -#rosbuild_genmsg() -#uncomment if you have defined services -#rosbuild_gensrv() - -#common commands for building c++ executables and libraries -#-\rosbuild_add_library(${PROJECT_NAME} src/example.cpp) -#target_link_libraries(${PROJECT_NAME} another_library) -#rosbuild_add_boost_directories() -#rosbuild_link_boost(${PROJECT_NAME} thread) -#rosbuild_add_executable(example examples/example.cpp) -#target_link_libraries(example ${PROJECT_NAME}) - -#-rosbuild_add_library(encode_msgs src/encode_msgs.cpp) -#-rosbuild_add_link_flags(encode_msgs -Wl,--as-needed) - -#list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake) -#find_package(Eigen3 REQUIRED) - -#include_directories(${EIGEN3_INCLUDE_DIR}) -#-rosbuild_add_library(decode_msgs src/decode_msgs.cpp) -#-rosbuild_add_link_flags(decode_msgs -Wl,--as-needed) - -#------------------------------------------------------------------ -cmake_minimum_required(VERSION 2.8.3) -project(quadrotor_msgs) - -find_package(catkin REQUIRED COMPONENTS - #armadillo - roscpp - nav_msgs - geometry_msgs - message_generation -) - -set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) - -include_directories( - ${catkin_INCLUDE_DIRS} - include - ) - - -add_message_files( - FILES - AuxCommand.msg - Corrections.msg - Gains.msg - OutputData.msg - PositionCommand.msg - PPROutputData.msg - Serial.msg - SO3Command.msg - StatusData.msg - TRPYCommand.msg - Odometry.msg - PolynomialTrajectory.msg - LQRTrajectory.msg -) - -generate_messages( - DEPENDENCIES - geometry_msgs - nav_msgs -) - -catkin_package( - #INCLUDE_DIRS include - LIBRARIES encode_msgs decode_msgs - #CATKIN_DEPENDS geometry_msgs nav_msgs - #DEPENDS system_lib - CATKIN_DEPENDS message_runtime -) - -# add_executable(test_exe src/test_exe.cpp) -add_library(decode_msgs src/decode_msgs.cpp) -add_library(encode_msgs src/encode_msgs.cpp) - -# add_dependencies(test_exe quadrotor_msgs_generate_messages_cpp) -add_dependencies(encode_msgs quadrotor_msgs_generate_messages_cpp) -add_dependencies(decode_msgs quadrotor_msgs_generate_messages_cpp) - -find_package(Eigen3 REQUIRED) -include_directories(${EIGEN3_INCLUDE_DIR}) - - -# target_link_libraries(test_exe -# decode_msgs -# encode_msgs -# ) - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/cmake/FindEigen3.cmake b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/cmake/FindEigen3.cmake deleted file mode 100644 index 9c546a0..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/cmake/FindEigen3.cmake +++ /dev/null @@ -1,81 +0,0 @@ -# - Try to find Eigen3 lib -# -# This module supports requiring a minimum version, e.g. you can do -# find_package(Eigen3 3.1.2) -# to require version 3.1.2 or newer of Eigen3. -# -# Once done this will define -# -# EIGEN3_FOUND - system has eigen lib with correct version -# EIGEN3_INCLUDE_DIR - the eigen include directory -# EIGEN3_VERSION - eigen version - -# Copyright (c) 2006, 2007 Montel Laurent, -# Copyright (c) 2008, 2009 Gael Guennebaud, -# Copyright (c) 2009 Benoit Jacob -# Redistribution and use is allowed according to the terms of the 2-clause BSD license. - -if(NOT Eigen3_FIND_VERSION) - if(NOT Eigen3_FIND_VERSION_MAJOR) - set(Eigen3_FIND_VERSION_MAJOR 2) - endif(NOT Eigen3_FIND_VERSION_MAJOR) - if(NOT Eigen3_FIND_VERSION_MINOR) - set(Eigen3_FIND_VERSION_MINOR 91) - endif(NOT Eigen3_FIND_VERSION_MINOR) - if(NOT Eigen3_FIND_VERSION_PATCH) - set(Eigen3_FIND_VERSION_PATCH 0) - endif(NOT Eigen3_FIND_VERSION_PATCH) - - set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}") -endif(NOT Eigen3_FIND_VERSION) - -macro(_eigen3_check_version) - file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header) - - string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}") - set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}") - string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}") - set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}") - string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}") - set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}") - - set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION}) - if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) - set(EIGEN3_VERSION_OK FALSE) - else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) - set(EIGEN3_VERSION_OK TRUE) - endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) - - if(NOT EIGEN3_VERSION_OK) - - message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, " - "but at least version ${Eigen3_FIND_VERSION} is required") - endif(NOT EIGEN3_VERSION_OK) -endmacro(_eigen3_check_version) - -if (EIGEN3_INCLUDE_DIR) - - # in cache already - _eigen3_check_version() - set(EIGEN3_FOUND ${EIGEN3_VERSION_OK}) - -else (EIGEN3_INCLUDE_DIR) - - find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library - PATHS - ${CMAKE_INSTALL_PREFIX}/include - ${KDE4_INCLUDE_DIR} - PATH_SUFFIXES eigen3 eigen - ) - - if(EIGEN3_INCLUDE_DIR) - _eigen3_check_version() - endif(EIGEN3_INCLUDE_DIR) - - include(FindPackageHandleStandardArgs) - find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK) - - mark_as_advanced(EIGEN3_INCLUDE_DIR) - -endif(EIGEN3_INCLUDE_DIR) - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/comm_types.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/comm_types.h deleted file mode 100644 index 42a08aa..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/comm_types.h +++ /dev/null @@ -1,87 +0,0 @@ -#ifndef __QUADROTOR_MSGS_COMM_TYPES_H__ -#define __QUADROTOR_MSGS_COMM_TYPES_H__ - -#define TYPE_SO3_CMD 's' -struct SO3_CMD_INPUT -{ - // Scaling factors when decoding - int16_t force[3]; // /500 - int8_t des_qx, des_qy, des_qz, des_qw; // /125 - uint8_t kR[3]; // /50 - uint8_t kOm[3]; // /100 - int16_t cur_yaw; // /1e4 - int16_t kf_correction; // /1e11; - uint8_t angle_corrections[2]; // roll,pitch /2500 - uint8_t enable_motors:1; - uint8_t use_external_yaw:1; - uint8_t seq; -}; - -#define TYPE_STATUS_DATA 'c' -struct STATUS_DATA -{ - uint16_t loop_rate; - uint16_t voltage; - uint8_t seq; -}; - -#define TYPE_OUTPUT_DATA 'd' -struct OUTPUT_DATA -{ - uint16_t loop_rate; - uint16_t voltage; - int16_t roll, pitch, yaw; - int16_t ang_vel[3]; - int16_t acc[3]; - int16_t dheight; - int32_t height; - int16_t mag[3]; - uint8_t radio[8]; - //uint8_t rpm[4]; - uint8_t seq; -}; - -#define TYPE_TRPY_CMD 'p' -struct TRPY_CMD -{ - int16_t thrust; - int16_t roll; - int16_t pitch; - int16_t yaw; - int16_t current_yaw; - uint8_t enable_motors:1; - uint8_t use_external_yaw:1; -}; - -#define TYPE_PPR_OUTPUT_DATA 't' -struct PPR_OUTPUT_DATA -{ - uint16_t time; - int16_t des_thrust; - int16_t des_roll; - int16_t des_pitch; - int16_t des_yaw; - int16_t est_roll; - int16_t est_pitch; - int16_t est_yaw; - int16_t est_angvel_x; - int16_t est_angvel_y; - int16_t est_angvel_z; - int16_t est_acc_x; - int16_t est_acc_y; - int16_t est_acc_z; - uint16_t pwm1; - uint16_t pwm2; - uint16_t pwm3; - uint16_t pwm4; -}; - -#define TYPE_PPR_GAINS 'g' -struct PPR_GAINS -{ - int16_t Kp; - int16_t Kd; - int16_t Kp_yaw; - int16_t Kd_yaw; -}; -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h deleted file mode 100644 index a3076ea..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h +++ /dev/null @@ -1,23 +0,0 @@ -#ifndef __QUADROTOR_MSGS_QUADROTOR_MSGS_H__ -#define __QUADROTOR_MSGS_QUADROTOR_MSGS_H__ - -#include -#include -#include -#include -#include - -namespace quadrotor_msgs -{ - -bool decodeOutputData(const std::vector &data, - quadrotor_msgs::OutputData &output); - -bool decodeStatusData(const std::vector &data, - quadrotor_msgs::StatusData &status); - -bool decodePPROutputData(const std::vector &data, - quadrotor_msgs::PPROutputData &output); -} - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h deleted file mode 100644 index a424b11..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h +++ /dev/null @@ -1,22 +0,0 @@ -#ifndef __QUADROTOR_MSGS_QUADROTOR_MSGS_H__ -#define __QUADROTOR_MSGS_QUADROTOR_MSGS_H__ - -#include -#include -#include -#include -#include - -namespace quadrotor_msgs -{ - -void encodeSO3Command(const quadrotor_msgs::SO3Command &so3_command, - std::vector &output); -void encodeTRPYCommand(const quadrotor_msgs::TRPYCommand &trpy_command, - std::vector &output); - -void encodePPRGains(const quadrotor_msgs::Gains &gains, - std::vector &output); -} - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/AuxCommand.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/AuxCommand.msg deleted file mode 100644 index f59bf35..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/AuxCommand.msg +++ /dev/null @@ -1,5 +0,0 @@ -float64 current_yaw -float64 kf_correction -float64[2] angle_corrections# Trims for roll, pitch -bool enable_motors -bool use_external_yaw diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/Corrections.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/Corrections.msg deleted file mode 100644 index e0f4e88..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/Corrections.msg +++ /dev/null @@ -1,2 +0,0 @@ -float64 kf_correction -float64[2] angle_corrections diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/Gains.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/Gains.msg deleted file mode 100644 index f5d10a3..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/Gains.msg +++ /dev/null @@ -1,4 +0,0 @@ -float64 Kp -float64 Kd -float64 Kp_yaw -float64 Kd_yaw diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/LQRTrajectory.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/LQRTrajectory.msg deleted file mode 100644 index 0a34e9b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/LQRTrajectory.msg +++ /dev/null @@ -1,30 +0,0 @@ -Header header - -# the trajectory id, starts from "1". -uint32 trajectory_id - -# the action command for trajectory server. -uint32 ACTION_ADD = 1 -uint32 ACTION_ABORT = 2 -uint32 ACTION_WARN_START = 3 -uint32 ACTION_WARN_FINAL = 4 -uint32 ACTION_WARN_IMPOSSIBLE = 5 -uint32 action - -# the weight coefficient of the control effort -float64 r - -# the yaw command -float64 start_yaw -float64 final_yaw - -# the initial and final state -float64[6] s0 -float64[3] ut - -float64[6] sf - -# the optimal arrival time -float64 t_f - -string debug_info diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/Odometry.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/Odometry.msg deleted file mode 100644 index 3272d71..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/Odometry.msg +++ /dev/null @@ -1,8 +0,0 @@ -uint8 STATUS_ODOM_VALID=0 -uint8 STATUS_ODOM_INVALID=1 -uint8 STATUS_ODOM_LOOPCLOSURE=2 - -nav_msgs/Odometry curodom -nav_msgs/Odometry kfodom -uint32 kfid -uint8 status diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/OutputData.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/OutputData.msg deleted file mode 100644 index ac95888..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/OutputData.msg +++ /dev/null @@ -1,12 +0,0 @@ -Header header -uint16 loop_rate -float64 voltage -geometry_msgs/Quaternion orientation -geometry_msgs/Vector3 angular_velocity -geometry_msgs/Vector3 linear_acceleration -float64 pressure_dheight -float64 pressure_height -geometry_msgs/Vector3 magnetic_field -uint8[8] radio_channel -#uint8[4] motor_rpm -uint8 seq diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/PPROutputData.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/PPROutputData.msg deleted file mode 100644 index 70434a0..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/PPROutputData.msg +++ /dev/null @@ -1,16 +0,0 @@ -Header header -uint16 quad_time -float64 des_thrust -float64 des_roll -float64 des_pitch -float64 des_yaw -float64 est_roll -float64 est_pitch -float64 est_yaw -float64 est_angvel_x -float64 est_angvel_y -float64 est_angvel_z -float64 est_acc_x -float64 est_acc_y -float64 est_acc_z -uint16[4] pwm diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/PolynomialTrajectory.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/PolynomialTrajectory.msg deleted file mode 100644 index 0aab297..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/PolynomialTrajectory.msg +++ /dev/null @@ -1,28 +0,0 @@ -Header header - -# the trajectory id, starts from "1". -uint32 trajectory_id - -# the action command for trajectory server. -uint32 ACTION_ADD = 1 -uint32 ACTION_ABORT = 2 -uint32 ACTION_WARN_START = 3 -uint32 ACTION_WARN_FINAL = 4 -uint32 ACTION_WARN_IMPOSSIBLE = 5 -uint32 action - -# the order of trajectory. -uint32 num_order -uint32 num_segment - -# the polynomial coecfficients of the trajectory. -float64 start_yaw -float64 final_yaw -float64[] coef_x -float64[] coef_y -float64[] coef_z -float64[] time -float64 mag_coeff -uint32[] order - -string debug_info diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/PositionCommand.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/PositionCommand.msg deleted file mode 100644 index 481518f..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/PositionCommand.msg +++ /dev/null @@ -1,21 +0,0 @@ -Header header -geometry_msgs/Point position -geometry_msgs/Vector3 velocity -geometry_msgs/Vector3 acceleration -float64 yaw -float64 yaw_dot -float64[3] kx -float64[3] kv - -uint32 trajectory_id - -uint8 TRAJECTORY_STATUS_EMPTY = 0 -uint8 TRAJECTORY_STATUS_READY = 1 -uint8 TRAJECTORY_STATUS_COMPLETED = 3 -uint8 TRAJECTROY_STATUS_ABORT = 4 -uint8 TRAJECTORY_STATUS_ILLEGAL_START = 5 -uint8 TRAJECTORY_STATUS_ILLEGAL_FINAL = 6 -uint8 TRAJECTORY_STATUS_IMPOSSIBLE = 7 - -# Its ID number will start from 1, allowing you comparing it with 0. -uint8 trajectory_flag diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/SO3Command.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/SO3Command.msg deleted file mode 100644 index d3868ef..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/SO3Command.msg +++ /dev/null @@ -1,6 +0,0 @@ -Header header -geometry_msgs/Vector3 force -geometry_msgs/Quaternion orientation -float64[3] kR -float64[3] kOm -quadrotor_msgs/AuxCommand aux diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/Serial.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/Serial.msg deleted file mode 100644 index 5a54cce..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/Serial.msg +++ /dev/null @@ -1,13 +0,0 @@ -# Note: These constants need to be kept in sync with the types -# defined in include/quadrotor_msgs/comm_types.h -uint8 SO3_CMD = 115 # 's' in base 10 -uint8 TRPY_CMD = 112 # 'p' in base 10 -uint8 STATUS_DATA = 99 # 'c' in base 10 -uint8 OUTPUT_DATA = 100 # 'd' in base 10 -uint8 PPR_OUTPUT_DATA = 116 # 't' in base 10 -uint8 PPR_GAINS = 103 # 'g' - -Header header -uint8 channel -uint8 type # One of the types listed above -uint8[] data diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/StatusData.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/StatusData.msg deleted file mode 100644 index d176e4f..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/StatusData.msg +++ /dev/null @@ -1,4 +0,0 @@ -Header header -uint16 loop_rate -float64 voltage -uint8 seq diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/TRPYCommand.msg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/TRPYCommand.msg deleted file mode 100644 index 0d471a6..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/msg/TRPYCommand.msg +++ /dev/null @@ -1,6 +0,0 @@ -Header header -float32 thrust -float32 roll -float32 pitch -float32 yaw -quadrotor_msgs/AuxCommand aux diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/package.xml deleted file mode 100644 index 42e9f76..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/package.xml +++ /dev/null @@ -1,20 +0,0 @@ - - quadrotor_msgs - 0.0.0 - quadrotor_msgs - Kartik Mohta - http://ros.org/wiki/quadrotor_msgs - BSD - catkin - geometry_msgs - nav_msgs - message_generation - geometry_msgs - nav_msgs - message_runtime - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/src/decode_msgs.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/src/decode_msgs.cpp deleted file mode 100644 index 609ffb8..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/src/decode_msgs.cpp +++ /dev/null @@ -1,103 +0,0 @@ -#include "quadrotor_msgs/decode_msgs.h" -#include -#include - -namespace quadrotor_msgs -{ - -bool decodeOutputData(const std::vector &data, - quadrotor_msgs::OutputData &output) -{ - struct OUTPUT_DATA output_data; - if(data.size() != sizeof(output_data)) - return false; - - memcpy(&output_data, &data[0], sizeof(output_data)); - output.loop_rate = output_data.loop_rate; - output.voltage = output_data.voltage/1e3; - - const double roll = output_data.roll/1e2 * M_PI/180; - const double pitch = output_data.pitch/1e2 * M_PI/180; - const double yaw = output_data.yaw/1e2 * M_PI/180; - // Asctec (2012 firmware) uses Z-Y-X convention - Eigen::Quaterniond q = Eigen::AngleAxisd(yaw, Eigen::Vector3d::UnitZ()) * - Eigen::AngleAxisd(pitch, Eigen::Vector3d::UnitY()) * - Eigen::AngleAxisd(roll, Eigen::Vector3d::UnitX()); - output.orientation.w = q.w(); - output.orientation.x = q.x(); - output.orientation.y = q.y(); - output.orientation.z = q.z(); - - output.angular_velocity.x = output_data.ang_vel[0]*0.0154*M_PI/180; - output.angular_velocity.y = output_data.ang_vel[1]*0.0154*M_PI/180; - output.angular_velocity.z = output_data.ang_vel[2]*0.0154*M_PI/180; - - output.linear_acceleration.x = output_data.acc[0]/1e3 * 9.81; - output.linear_acceleration.y = output_data.acc[1]/1e3 * 9.81; - output.linear_acceleration.z = output_data.acc[2]/1e3 * 9.81; - - output.pressure_dheight = output_data.dheight/1e3; - output.pressure_height = output_data.height/1e3; - - output.magnetic_field.x = output_data.mag[0]/2500.0; - output.magnetic_field.y = output_data.mag[1]/2500.0; - output.magnetic_field.z = output_data.mag[2]/2500.0; - - for(int i = 0; i < 8; i++) - { - output.radio_channel[i] = output_data.radio[i]; - } - //for(int i = 0; i < 4; i++) - // output.motor_rpm[i] = output_data.rpm[i]; - - output.seq = output_data.seq; - - return true; -} - -bool decodeStatusData(const std::vector &data, - quadrotor_msgs::StatusData &status) -{ - struct STATUS_DATA status_data; - if(data.size() != sizeof(status_data)) - return false; - memcpy(&status_data, &data[0], sizeof(status_data)); - - status.loop_rate = status_data.loop_rate; - status.voltage = status_data.voltage/1e3; - status.seq = status_data.seq; - - return true; -} - -bool decodePPROutputData(const std::vector &data, - quadrotor_msgs::PPROutputData &output) -{ - struct PPR_OUTPUT_DATA output_data; - if(data.size() != sizeof(output_data)) - return false; - memcpy(&output_data, &data[0], sizeof(output_data)); - - output.quad_time = output_data.time; - output.des_thrust = output_data.des_thrust*1e-4; - output.des_roll = output_data.des_roll*1e-4; - output.des_pitch = output_data.des_pitch*1e-4; - output.des_yaw = output_data.des_yaw*1e-4; - output.est_roll = output_data.est_roll*1e-4; - output.est_pitch = output_data.est_pitch*1e-4; - output.est_yaw = output_data.est_yaw*1e-4; - output.est_angvel_x = output_data.est_angvel_x*1e-3; - output.est_angvel_y = output_data.est_angvel_y*1e-3; - output.est_angvel_z = output_data.est_angvel_z*1e-3; - output.est_acc_x = output_data.est_acc_x*1e-4; - output.est_acc_y = output_data.est_acc_y*1e-4; - output.est_acc_z = output_data.est_acc_z*1e-4; - output.pwm[0] = output_data.pwm1; - output.pwm[1] = output_data.pwm2; - output.pwm[2] = output_data.pwm3; - output.pwm[3] = output_data.pwm4; - - return true; -} - -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/src/encode_msgs.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/src/encode_msgs.cpp deleted file mode 100644 index d0cccf2..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/src/encode_msgs.cpp +++ /dev/null @@ -1,73 +0,0 @@ -#include "quadrotor_msgs/encode_msgs.h" -#include - -namespace quadrotor_msgs -{ - -void encodeSO3Command(const quadrotor_msgs::SO3Command &so3_command, - std::vector &output) -{ - struct SO3_CMD_INPUT so3_cmd_input; - - so3_cmd_input.force[0] = so3_command.force.x*500; - so3_cmd_input.force[1] = so3_command.force.y*500; - so3_cmd_input.force[2] = so3_command.force.z*500; - - so3_cmd_input.des_qx = so3_command.orientation.x*125; - so3_cmd_input.des_qy = so3_command.orientation.y*125; - so3_cmd_input.des_qz = so3_command.orientation.z*125; - so3_cmd_input.des_qw = so3_command.orientation.w*125; - - so3_cmd_input.kR[0] = so3_command.kR[0]*50; - so3_cmd_input.kR[1] = so3_command.kR[1]*50; - so3_cmd_input.kR[2] = so3_command.kR[2]*50; - - so3_cmd_input.kOm[0] = so3_command.kOm[0]*100; - so3_cmd_input.kOm[1] = so3_command.kOm[1]*100; - so3_cmd_input.kOm[2] = so3_command.kOm[2]*100; - - so3_cmd_input.cur_yaw = so3_command.aux.current_yaw*1e4; - - so3_cmd_input.kf_correction = so3_command.aux.kf_correction*1e11; - so3_cmd_input.angle_corrections[0] = so3_command.aux.angle_corrections[0]*2500; - so3_cmd_input.angle_corrections[1] = so3_command.aux.angle_corrections[1]*2500; - - so3_cmd_input.enable_motors = so3_command.aux.enable_motors; - so3_cmd_input.use_external_yaw = so3_command.aux.use_external_yaw; - - so3_cmd_input.seq = so3_command.header.seq % 255; - - output.resize(sizeof(so3_cmd_input)); - memcpy(&output[0], &so3_cmd_input, sizeof(so3_cmd_input)); -} - -void encodeTRPYCommand(const quadrotor_msgs::TRPYCommand &trpy_command, - std::vector &output) -{ - struct TRPY_CMD trpy_cmd_input; - trpy_cmd_input.thrust = trpy_command.thrust*1e4; - trpy_cmd_input.roll = trpy_command.roll*1e4; - trpy_cmd_input.pitch = trpy_command.pitch*1e4; - trpy_cmd_input.yaw = trpy_command.yaw*1e4; - trpy_cmd_input.current_yaw = trpy_command.aux.current_yaw*1e4; - trpy_cmd_input.enable_motors = trpy_command.aux.enable_motors; - trpy_cmd_input.use_external_yaw = trpy_command.aux.use_external_yaw; - - output.resize(sizeof(trpy_cmd_input)); - memcpy(&output[0], &trpy_cmd_input, sizeof(trpy_cmd_input)); -} - -void encodePPRGains(const quadrotor_msgs::Gains &gains, - std::vector &output) -{ - struct PPR_GAINS ppr_gains; - ppr_gains.Kp = gains.Kp; - ppr_gains.Kd = gains.Kd; - ppr_gains.Kp_yaw = gains.Kp_yaw; - ppr_gains.Kd_yaw = gains.Kd_yaw; - - output.resize(sizeof(ppr_gains)); - memcpy(&output[0], &ppr_gains, sizeof(ppr_gains)); -} - -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_AuxCommand.py b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_AuxCommand.py deleted file mode 100644 index 652a255..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_AuxCommand.py +++ /dev/null @@ -1,143 +0,0 @@ -"""autogenerated by genpy from quadrotor_msgs/AuxCommand.msg. Do not edit.""" -import sys -python3 = True if sys.hexversion > 0x03000000 else False -import genpy -import struct - - -class AuxCommand(genpy.Message): - _md5sum = "94f75840e4b1e03675da764692f2c839" - _type = "quadrotor_msgs/AuxCommand" - _has_header = False #flag to mark the presence of a Header object - _full_text = """float64 current_yaw -float64 kf_correction -float64[2] angle_corrections# Trims for roll, pitch -bool enable_motors -bool use_external_yaw - -""" - __slots__ = ['current_yaw','kf_correction','angle_corrections','enable_motors','use_external_yaw'] - _slot_types = ['float64','float64','float64[2]','bool','bool'] - - def __init__(self, *args, **kwds): - """ - Constructor. Any message fields that are implicitly/explicitly - set to None will be assigned a default value. The recommend - use is keyword arguments as this is more robust to future message - changes. You cannot mix in-order arguments and keyword arguments. - - The available fields are: - current_yaw,kf_correction,angle_corrections,enable_motors,use_external_yaw - - :param args: complete set of field values, in .msg order - :param kwds: use keyword arguments corresponding to message field names - to set specific fields. - """ - if args or kwds: - super(AuxCommand, self).__init__(*args, **kwds) - #message fields cannot be None, assign default values for those that are - if self.current_yaw is None: - self.current_yaw = 0. - if self.kf_correction is None: - self.kf_correction = 0. - if self.angle_corrections is None: - self.angle_corrections = [0.,0.] - if self.enable_motors is None: - self.enable_motors = False - if self.use_external_yaw is None: - self.use_external_yaw = False - else: - self.current_yaw = 0. - self.kf_correction = 0. - self.angle_corrections = [0.,0.] - self.enable_motors = False - self.use_external_yaw = False - - def _get_types(self): - """ - internal API method - """ - return self._slot_types - - def serialize(self, buff): - """ - serialize message into buffer - :param buff: buffer, ``StringIO`` - """ - try: - _x = self - buff.write(_struct_2d.pack(_x.current_yaw, _x.kf_correction)) - buff.write(_struct_2d.pack(*self.angle_corrections)) - _x = self - buff.write(_struct_2B.pack(_x.enable_motors, _x.use_external_yaw)) - except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x)))) - except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x)))) - - def deserialize(self, str): - """ - unpack serialized message in str into this message instance - :param str: byte array of serialized message, ``str`` - """ - try: - end = 0 - _x = self - start = end - end += 16 - (_x.current_yaw, _x.kf_correction,) = _struct_2d.unpack(str[start:end]) - start = end - end += 16 - self.angle_corrections = _struct_2d.unpack(str[start:end]) - _x = self - start = end - end += 2 - (_x.enable_motors, _x.use_external_yaw,) = _struct_2B.unpack(str[start:end]) - self.enable_motors = bool(self.enable_motors) - self.use_external_yaw = bool(self.use_external_yaw) - return self - except struct.error as e: - raise genpy.DeserializationError(e) #most likely buffer underfill - - - def serialize_numpy(self, buff, numpy): - """ - serialize message with numpy array types into buffer - :param buff: buffer, ``StringIO`` - :param numpy: numpy python module - """ - try: - _x = self - buff.write(_struct_2d.pack(_x.current_yaw, _x.kf_correction)) - buff.write(self.angle_corrections.tostring()) - _x = self - buff.write(_struct_2B.pack(_x.enable_motors, _x.use_external_yaw)) - except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x)))) - except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x)))) - - def deserialize_numpy(self, str, numpy): - """ - unpack serialized message in str into this message instance using numpy for array types - :param str: byte array of serialized message, ``str`` - :param numpy: numpy python module - """ - try: - end = 0 - _x = self - start = end - end += 16 - (_x.current_yaw, _x.kf_correction,) = _struct_2d.unpack(str[start:end]) - start = end - end += 16 - self.angle_corrections = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=2) - _x = self - start = end - end += 2 - (_x.enable_motors, _x.use_external_yaw,) = _struct_2B.unpack(str[start:end]) - self.enable_motors = bool(self.enable_motors) - self.use_external_yaw = bool(self.use_external_yaw) - return self - except struct.error as e: - raise genpy.DeserializationError(e) #most likely buffer underfill - -_struct_I = genpy.struct_I -_struct_2d = struct.Struct("<2d") -_struct_2B = struct.Struct("<2B") diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_Corrections.py b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_Corrections.py deleted file mode 100644 index d2b19c2..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_Corrections.py +++ /dev/null @@ -1,111 +0,0 @@ -"""autogenerated by genpy from quadrotor_msgs/Corrections.msg. Do not edit.""" -import sys -python3 = True if sys.hexversion > 0x03000000 else False -import genpy -import struct - - -class Corrections(genpy.Message): - _md5sum = "61e86887a75fe520847d3256306360f5" - _type = "quadrotor_msgs/Corrections" - _has_header = False #flag to mark the presence of a Header object - _full_text = """float64 kf_correction -float64[2] angle_corrections - -""" - __slots__ = ['kf_correction','angle_corrections'] - _slot_types = ['float64','float64[2]'] - - def __init__(self, *args, **kwds): - """ - Constructor. Any message fields that are implicitly/explicitly - set to None will be assigned a default value. The recommend - use is keyword arguments as this is more robust to future message - changes. You cannot mix in-order arguments and keyword arguments. - - The available fields are: - kf_correction,angle_corrections - - :param args: complete set of field values, in .msg order - :param kwds: use keyword arguments corresponding to message field names - to set specific fields. - """ - if args or kwds: - super(Corrections, self).__init__(*args, **kwds) - #message fields cannot be None, assign default values for those that are - if self.kf_correction is None: - self.kf_correction = 0. - if self.angle_corrections is None: - self.angle_corrections = [0.,0.] - else: - self.kf_correction = 0. - self.angle_corrections = [0.,0.] - - def _get_types(self): - """ - internal API method - """ - return self._slot_types - - def serialize(self, buff): - """ - serialize message into buffer - :param buff: buffer, ``StringIO`` - """ - try: - buff.write(_struct_d.pack(self.kf_correction)) - buff.write(_struct_2d.pack(*self.angle_corrections)) - except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x)))) - except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x)))) - - def deserialize(self, str): - """ - unpack serialized message in str into this message instance - :param str: byte array of serialized message, ``str`` - """ - try: - end = 0 - start = end - end += 8 - (self.kf_correction,) = _struct_d.unpack(str[start:end]) - start = end - end += 16 - self.angle_corrections = _struct_2d.unpack(str[start:end]) - return self - except struct.error as e: - raise genpy.DeserializationError(e) #most likely buffer underfill - - - def serialize_numpy(self, buff, numpy): - """ - serialize message with numpy array types into buffer - :param buff: buffer, ``StringIO`` - :param numpy: numpy python module - """ - try: - buff.write(_struct_d.pack(self.kf_correction)) - buff.write(self.angle_corrections.tostring()) - except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x)))) - except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x)))) - - def deserialize_numpy(self, str, numpy): - """ - unpack serialized message in str into this message instance using numpy for array types - :param str: byte array of serialized message, ``str`` - :param numpy: numpy python module - """ - try: - end = 0 - start = end - end += 8 - (self.kf_correction,) = _struct_d.unpack(str[start:end]) - start = end - end += 16 - self.angle_corrections = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=2) - return self - except struct.error as e: - raise genpy.DeserializationError(e) #most likely buffer underfill - -_struct_I = genpy.struct_I -_struct_2d = struct.Struct("<2d") -_struct_d = struct.Struct(" 0x03000000 else False -import genpy -import struct - - -class Gains(genpy.Message): - _md5sum = "b82763b9f24e5595e2a816aa779c9461" - _type = "quadrotor_msgs/Gains" - _has_header = False #flag to mark the presence of a Header object - _full_text = """float64 Kp -float64 Kd -float64 Kp_yaw -float64 Kd_yaw - -""" - __slots__ = ['Kp','Kd','Kp_yaw','Kd_yaw'] - _slot_types = ['float64','float64','float64','float64'] - - def __init__(self, *args, **kwds): - """ - Constructor. Any message fields that are implicitly/explicitly - set to None will be assigned a default value. The recommend - use is keyword arguments as this is more robust to future message - changes. You cannot mix in-order arguments and keyword arguments. - - The available fields are: - Kp,Kd,Kp_yaw,Kd_yaw - - :param args: complete set of field values, in .msg order - :param kwds: use keyword arguments corresponding to message field names - to set specific fields. - """ - if args or kwds: - super(Gains, self).__init__(*args, **kwds) - #message fields cannot be None, assign default values for those that are - if self.Kp is None: - self.Kp = 0. - if self.Kd is None: - self.Kd = 0. - if self.Kp_yaw is None: - self.Kp_yaw = 0. - if self.Kd_yaw is None: - self.Kd_yaw = 0. - else: - self.Kp = 0. - self.Kd = 0. - self.Kp_yaw = 0. - self.Kd_yaw = 0. - - def _get_types(self): - """ - internal API method - """ - return self._slot_types - - def serialize(self, buff): - """ - serialize message into buffer - :param buff: buffer, ``StringIO`` - """ - try: - _x = self - buff.write(_struct_4d.pack(_x.Kp, _x.Kd, _x.Kp_yaw, _x.Kd_yaw)) - except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x)))) - except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x)))) - - def deserialize(self, str): - """ - unpack serialized message in str into this message instance - :param str: byte array of serialized message, ``str`` - """ - try: - end = 0 - _x = self - start = end - end += 32 - (_x.Kp, _x.Kd, _x.Kp_yaw, _x.Kd_yaw,) = _struct_4d.unpack(str[start:end]) - return self - except struct.error as e: - raise genpy.DeserializationError(e) #most likely buffer underfill - - - def serialize_numpy(self, buff, numpy): - """ - serialize message with numpy array types into buffer - :param buff: buffer, ``StringIO`` - :param numpy: numpy python module - """ - try: - _x = self - buff.write(_struct_4d.pack(_x.Kp, _x.Kd, _x.Kp_yaw, _x.Kd_yaw)) - except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x)))) - except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x)))) - - def deserialize_numpy(self, str, numpy): - """ - unpack serialized message in str into this message instance using numpy for array types - :param str: byte array of serialized message, ``str`` - :param numpy: numpy python module - """ - try: - end = 0 - _x = self - start = end - end += 32 - (_x.Kp, _x.Kd, _x.Kp_yaw, _x.Kd_yaw,) = _struct_4d.unpack(str[start:end]) - return self - except struct.error as e: - raise genpy.DeserializationError(e) #most likely buffer underfill - -_struct_I = genpy.struct_I -_struct_4d = struct.Struct("<4d") diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_OutputData.py b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_OutputData.py deleted file mode 100644 index 357c5f1..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_OutputData.py +++ /dev/null @@ -1,277 +0,0 @@ -"""autogenerated by genpy from quadrotor_msgs/OutputData.msg. Do not edit.""" -import sys -python3 = True if sys.hexversion > 0x03000000 else False -import genpy -import struct - -import geometry_msgs.msg -import std_msgs.msg - -class OutputData(genpy.Message): - _md5sum = "5759ee97fd5c090dcdccf7fc3e50d024" - _type = "quadrotor_msgs/OutputData" - _has_header = True #flag to mark the presence of a Header object - _full_text = """Header header -uint16 loop_rate -float64 voltage -geometry_msgs/Quaternion orientation -geometry_msgs/Vector3 angular_velocity -geometry_msgs/Vector3 linear_acceleration -float64 pressure_dheight -float64 pressure_height -geometry_msgs/Vector3 magnetic_field -uint8[8] radio_channel -#uint8[4] motor_rpm -uint8 seq - -================================================================================ -MSG: std_msgs/Header -# Standard metadata for higher-level stamped data types. -# This is generally used to communicate timestamped data -# in a particular coordinate frame. -# -# sequence ID: consecutively increasing ID -uint32 seq -#Two-integer timestamp that is expressed as: -# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') -# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') -# time-handling sugar is provided by the client library -time stamp -#Frame this data is associated with -# 0: no frame -# 1: global frame -string frame_id - -================================================================================ -MSG: geometry_msgs/Quaternion -# This represents an orientation in free space in quaternion form. - -float64 x -float64 y -float64 z -float64 w - -================================================================================ -MSG: geometry_msgs/Vector3 -# This represents a vector in free space. - -float64 x -float64 y -float64 z -""" - __slots__ = ['header','loop_rate','voltage','orientation','angular_velocity','linear_acceleration','pressure_dheight','pressure_height','magnetic_field','radio_channel','seq'] - _slot_types = ['std_msgs/Header','uint16','float64','geometry_msgs/Quaternion','geometry_msgs/Vector3','geometry_msgs/Vector3','float64','float64','geometry_msgs/Vector3','uint8[8]','uint8'] - - def __init__(self, *args, **kwds): - """ - Constructor. Any message fields that are implicitly/explicitly - set to None will be assigned a default value. The recommend - use is keyword arguments as this is more robust to future message - changes. You cannot mix in-order arguments and keyword arguments. - - The available fields are: - header,loop_rate,voltage,orientation,angular_velocity,linear_acceleration,pressure_dheight,pressure_height,magnetic_field,radio_channel,seq - - :param args: complete set of field values, in .msg order - :param kwds: use keyword arguments corresponding to message field names - to set specific fields. - """ - if args or kwds: - super(OutputData, self).__init__(*args, **kwds) - #message fields cannot be None, assign default values for those that are - if self.header is None: - self.header = std_msgs.msg.Header() - if self.loop_rate is None: - self.loop_rate = 0 - if self.voltage is None: - self.voltage = 0. - if self.orientation is None: - self.orientation = geometry_msgs.msg.Quaternion() - if self.angular_velocity is None: - self.angular_velocity = geometry_msgs.msg.Vector3() - if self.linear_acceleration is None: - self.linear_acceleration = geometry_msgs.msg.Vector3() - if self.pressure_dheight is None: - self.pressure_dheight = 0. - if self.pressure_height is None: - self.pressure_height = 0. - if self.magnetic_field is None: - self.magnetic_field = geometry_msgs.msg.Vector3() - if self.radio_channel is None: - self.radio_channel = chr(0)*8 - if self.seq is None: - self.seq = 0 - else: - self.header = std_msgs.msg.Header() - self.loop_rate = 0 - self.voltage = 0. - self.orientation = geometry_msgs.msg.Quaternion() - self.angular_velocity = geometry_msgs.msg.Vector3() - self.linear_acceleration = geometry_msgs.msg.Vector3() - self.pressure_dheight = 0. - self.pressure_height = 0. - self.magnetic_field = geometry_msgs.msg.Vector3() - self.radio_channel = chr(0)*8 - self.seq = 0 - - def _get_types(self): - """ - internal API method - """ - return self._slot_types - - def serialize(self, buff): - """ - serialize message into buffer - :param buff: buffer, ``StringIO`` - """ - try: - _x = self - buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) - _x = self.header.frame_id - length = len(_x) - if python3 or type(_x) == unicode: - _x = _x.encode('utf-8') - length = len(_x) - if python3: - buff.write(struct.pack(' 0x03000000 else False -import genpy -import struct - -import std_msgs.msg - -class PPROutputData(genpy.Message): - _md5sum = "732c0e3ca36f241464f8c445e78a0d0a" - _type = "quadrotor_msgs/PPROutputData" - _has_header = True #flag to mark the presence of a Header object - _full_text = """Header header -uint16 quad_time -float64 des_thrust -float64 des_roll -float64 des_pitch -float64 des_yaw -float64 est_roll -float64 est_pitch -float64 est_yaw -float64 est_angvel_x -float64 est_angvel_y -float64 est_angvel_z -float64 est_acc_x -float64 est_acc_y -float64 est_acc_z -uint16[4] pwm - -================================================================================ -MSG: std_msgs/Header -# Standard metadata for higher-level stamped data types. -# This is generally used to communicate timestamped data -# in a particular coordinate frame. -# -# sequence ID: consecutively increasing ID -uint32 seq -#Two-integer timestamp that is expressed as: -# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') -# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') -# time-handling sugar is provided by the client library -time stamp -#Frame this data is associated with -# 0: no frame -# 1: global frame -string frame_id - -""" - __slots__ = ['header','quad_time','des_thrust','des_roll','des_pitch','des_yaw','est_roll','est_pitch','est_yaw','est_angvel_x','est_angvel_y','est_angvel_z','est_acc_x','est_acc_y','est_acc_z','pwm'] - _slot_types = ['std_msgs/Header','uint16','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','uint16[4]'] - - def __init__(self, *args, **kwds): - """ - Constructor. Any message fields that are implicitly/explicitly - set to None will be assigned a default value. The recommend - use is keyword arguments as this is more robust to future message - changes. You cannot mix in-order arguments and keyword arguments. - - The available fields are: - header,quad_time,des_thrust,des_roll,des_pitch,des_yaw,est_roll,est_pitch,est_yaw,est_angvel_x,est_angvel_y,est_angvel_z,est_acc_x,est_acc_y,est_acc_z,pwm - - :param args: complete set of field values, in .msg order - :param kwds: use keyword arguments corresponding to message field names - to set specific fields. - """ - if args or kwds: - super(PPROutputData, self).__init__(*args, **kwds) - #message fields cannot be None, assign default values for those that are - if self.header is None: - self.header = std_msgs.msg.Header() - if self.quad_time is None: - self.quad_time = 0 - if self.des_thrust is None: - self.des_thrust = 0. - if self.des_roll is None: - self.des_roll = 0. - if self.des_pitch is None: - self.des_pitch = 0. - if self.des_yaw is None: - self.des_yaw = 0. - if self.est_roll is None: - self.est_roll = 0. - if self.est_pitch is None: - self.est_pitch = 0. - if self.est_yaw is None: - self.est_yaw = 0. - if self.est_angvel_x is None: - self.est_angvel_x = 0. - if self.est_angvel_y is None: - self.est_angvel_y = 0. - if self.est_angvel_z is None: - self.est_angvel_z = 0. - if self.est_acc_x is None: - self.est_acc_x = 0. - if self.est_acc_y is None: - self.est_acc_y = 0. - if self.est_acc_z is None: - self.est_acc_z = 0. - if self.pwm is None: - self.pwm = [0,0,0,0] - else: - self.header = std_msgs.msg.Header() - self.quad_time = 0 - self.des_thrust = 0. - self.des_roll = 0. - self.des_pitch = 0. - self.des_yaw = 0. - self.est_roll = 0. - self.est_pitch = 0. - self.est_yaw = 0. - self.est_angvel_x = 0. - self.est_angvel_y = 0. - self.est_angvel_z = 0. - self.est_acc_x = 0. - self.est_acc_y = 0. - self.est_acc_z = 0. - self.pwm = [0,0,0,0] - - def _get_types(self): - """ - internal API method - """ - return self._slot_types - - def serialize(self, buff): - """ - serialize message into buffer - :param buff: buffer, ``StringIO`` - """ - try: - _x = self - buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) - _x = self.header.frame_id - length = len(_x) - if python3 or type(_x) == unicode: - _x = _x.encode('utf-8') - length = len(_x) - if python3: - buff.write(struct.pack(' 0x03000000 else False -import genpy -import struct - -import geometry_msgs.msg -import std_msgs.msg - -class PositionCommand(genpy.Message): - _md5sum = "835935bcd6f18632d9e26a3093237902" - _type = "quadrotor_msgs/PositionCommand" - _has_header = True #flag to mark the presence of a Header object - _full_text = """Header header -geometry_msgs/Point position -geometry_msgs/Vector3 velocity -geometry_msgs/Vector3 acceleration -float64 yaw -float64 yaw_dot -float64[3] kx -float64[3] kv - -================================================================================ -MSG: std_msgs/Header -# Standard metadata for higher-level stamped data types. -# This is generally used to communicate timestamped data -# in a particular coordinate frame. -# -# sequence ID: consecutively increasing ID -uint32 seq -#Two-integer timestamp that is expressed as: -# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') -# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') -# time-handling sugar is provided by the client library -time stamp -#Frame this data is associated with -# 0: no frame -# 1: global frame -string frame_id - -================================================================================ -MSG: geometry_msgs/Point -# This contains the position of a point in free space -float64 x -float64 y -float64 z - -================================================================================ -MSG: geometry_msgs/Vector3 -# This represents a vector in free space. - -float64 x -float64 y -float64 z -""" - __slots__ = ['header','position','velocity','acceleration','yaw','yaw_dot','kx','kv'] - _slot_types = ['std_msgs/Header','geometry_msgs/Point','geometry_msgs/Vector3','geometry_msgs/Vector3','float64','float64','float64[3]','float64[3]'] - - def __init__(self, *args, **kwds): - """ - Constructor. Any message fields that are implicitly/explicitly - set to None will be assigned a default value. The recommend - use is keyword arguments as this is more robust to future message - changes. You cannot mix in-order arguments and keyword arguments. - - The available fields are: - header,position,velocity,acceleration,yaw,yaw_dot,kx,kv - - :param args: complete set of field values, in .msg order - :param kwds: use keyword arguments corresponding to message field names - to set specific fields. - """ - if args or kwds: - super(PositionCommand, self).__init__(*args, **kwds) - #message fields cannot be None, assign default values for those that are - if self.header is None: - self.header = std_msgs.msg.Header() - if self.position is None: - self.position = geometry_msgs.msg.Point() - if self.velocity is None: - self.velocity = geometry_msgs.msg.Vector3() - if self.acceleration is None: - self.acceleration = geometry_msgs.msg.Vector3() - if self.yaw is None: - self.yaw = 0. - if self.yaw_dot is None: - self.yaw_dot = 0. - if self.kx is None: - self.kx = [0.,0.,0.] - if self.kv is None: - self.kv = [0.,0.,0.] - else: - self.header = std_msgs.msg.Header() - self.position = geometry_msgs.msg.Point() - self.velocity = geometry_msgs.msg.Vector3() - self.acceleration = geometry_msgs.msg.Vector3() - self.yaw = 0. - self.yaw_dot = 0. - self.kx = [0.,0.,0.] - self.kv = [0.,0.,0.] - - def _get_types(self): - """ - internal API method - """ - return self._slot_types - - def serialize(self, buff): - """ - serialize message into buffer - :param buff: buffer, ``StringIO`` - """ - try: - _x = self - buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) - _x = self.header.frame_id - length = len(_x) - if python3 or type(_x) == unicode: - _x = _x.encode('utf-8') - length = len(_x) - if python3: - buff.write(struct.pack(' 0x03000000 else False -import genpy -import struct - -import geometry_msgs.msg -import quadrotor_msgs.msg -import std_msgs.msg - -class SO3Command(genpy.Message): - _md5sum = "a466650b2633e768513aa3bf62383c86" - _type = "quadrotor_msgs/SO3Command" - _has_header = True #flag to mark the presence of a Header object - _full_text = """Header header -geometry_msgs/Vector3 force -geometry_msgs/Quaternion orientation -float64[3] kR -float64[3] kOm -quadrotor_msgs/AuxCommand aux - -================================================================================ -MSG: std_msgs/Header -# Standard metadata for higher-level stamped data types. -# This is generally used to communicate timestamped data -# in a particular coordinate frame. -# -# sequence ID: consecutively increasing ID -uint32 seq -#Two-integer timestamp that is expressed as: -# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') -# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') -# time-handling sugar is provided by the client library -time stamp -#Frame this data is associated with -# 0: no frame -# 1: global frame -string frame_id - -================================================================================ -MSG: geometry_msgs/Vector3 -# This represents a vector in free space. - -float64 x -float64 y -float64 z -================================================================================ -MSG: geometry_msgs/Quaternion -# This represents an orientation in free space in quaternion form. - -float64 x -float64 y -float64 z -float64 w - -================================================================================ -MSG: quadrotor_msgs/AuxCommand -float64 current_yaw -float64 kf_correction -float64[2] angle_corrections# Trims for roll, pitch -bool enable_motors -bool use_external_yaw - -""" - __slots__ = ['header','force','orientation','kR','kOm','aux'] - _slot_types = ['std_msgs/Header','geometry_msgs/Vector3','geometry_msgs/Quaternion','float64[3]','float64[3]','quadrotor_msgs/AuxCommand'] - - def __init__(self, *args, **kwds): - """ - Constructor. Any message fields that are implicitly/explicitly - set to None will be assigned a default value. The recommend - use is keyword arguments as this is more robust to future message - changes. You cannot mix in-order arguments and keyword arguments. - - The available fields are: - header,force,orientation,kR,kOm,aux - - :param args: complete set of field values, in .msg order - :param kwds: use keyword arguments corresponding to message field names - to set specific fields. - """ - if args or kwds: - super(SO3Command, self).__init__(*args, **kwds) - #message fields cannot be None, assign default values for those that are - if self.header is None: - self.header = std_msgs.msg.Header() - if self.force is None: - self.force = geometry_msgs.msg.Vector3() - if self.orientation is None: - self.orientation = geometry_msgs.msg.Quaternion() - if self.kR is None: - self.kR = [0.,0.,0.] - if self.kOm is None: - self.kOm = [0.,0.,0.] - if self.aux is None: - self.aux = quadrotor_msgs.msg.AuxCommand() - else: - self.header = std_msgs.msg.Header() - self.force = geometry_msgs.msg.Vector3() - self.orientation = geometry_msgs.msg.Quaternion() - self.kR = [0.,0.,0.] - self.kOm = [0.,0.,0.] - self.aux = quadrotor_msgs.msg.AuxCommand() - - def _get_types(self): - """ - internal API method - """ - return self._slot_types - - def serialize(self, buff): - """ - serialize message into buffer - :param buff: buffer, ``StringIO`` - """ - try: - _x = self - buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) - _x = self.header.frame_id - length = len(_x) - if python3 or type(_x) == unicode: - _x = _x.encode('utf-8') - length = len(_x) - if python3: - buff.write(struct.pack(' 0x03000000 else False -import genpy -import struct - -import std_msgs.msg - -class Serial(genpy.Message): - _md5sum = "e448fb7595af9a8adfcab5ec241c7d4f" - _type = "quadrotor_msgs/Serial" - _has_header = True #flag to mark the presence of a Header object - _full_text = """# Note: These constants need to be kept in sync with the types -# defined in include/quadrotor_msgs/comm_types.h -uint8 SO3_CMD = 115 # 's' in base 10 -uint8 TRPY_CMD = 112 # 'p' in base 10 -uint8 STATUS_DATA = 99 # 'c' in base 10 -uint8 OUTPUT_DATA = 100 # 'd' in base 10 -uint8 PPR_OUTPUT_DATA = 116 # 't' in base 10 -uint8 PPR_GAINS = 103 # 'g' - -Header header -uint8 channel -uint8 type # One of the types listed above -uint8[] data - -================================================================================ -MSG: std_msgs/Header -# Standard metadata for higher-level stamped data types. -# This is generally used to communicate timestamped data -# in a particular coordinate frame. -# -# sequence ID: consecutively increasing ID -uint32 seq -#Two-integer timestamp that is expressed as: -# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') -# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') -# time-handling sugar is provided by the client library -time stamp -#Frame this data is associated with -# 0: no frame -# 1: global frame -string frame_id - -""" - # Pseudo-constants - SO3_CMD = 115 - TRPY_CMD = 112 - STATUS_DATA = 99 - OUTPUT_DATA = 100 - PPR_OUTPUT_DATA = 116 - PPR_GAINS = 103 - - __slots__ = ['header','channel','type','data'] - _slot_types = ['std_msgs/Header','uint8','uint8','uint8[]'] - - def __init__(self, *args, **kwds): - """ - Constructor. Any message fields that are implicitly/explicitly - set to None will be assigned a default value. The recommend - use is keyword arguments as this is more robust to future message - changes. You cannot mix in-order arguments and keyword arguments. - - The available fields are: - header,channel,type,data - - :param args: complete set of field values, in .msg order - :param kwds: use keyword arguments corresponding to message field names - to set specific fields. - """ - if args or kwds: - super(Serial, self).__init__(*args, **kwds) - #message fields cannot be None, assign default values for those that are - if self.header is None: - self.header = std_msgs.msg.Header() - if self.channel is None: - self.channel = 0 - if self.type is None: - self.type = 0 - if self.data is None: - self.data = '' - else: - self.header = std_msgs.msg.Header() - self.channel = 0 - self.type = 0 - self.data = '' - - def _get_types(self): - """ - internal API method - """ - return self._slot_types - - def serialize(self, buff): - """ - serialize message into buffer - :param buff: buffer, ``StringIO`` - """ - try: - _x = self - buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) - _x = self.header.frame_id - length = len(_x) - if python3 or type(_x) == unicode: - _x = _x.encode('utf-8') - length = len(_x) - if python3: - buff.write(struct.pack(' 0x03000000 else False -import genpy -import struct - -import std_msgs.msg - -class StatusData(genpy.Message): - _md5sum = "c70a4ec4725273263ae176ad30f89553" - _type = "quadrotor_msgs/StatusData" - _has_header = True #flag to mark the presence of a Header object - _full_text = """Header header -uint16 loop_rate -float64 voltage -uint8 seq - -================================================================================ -MSG: std_msgs/Header -# Standard metadata for higher-level stamped data types. -# This is generally used to communicate timestamped data -# in a particular coordinate frame. -# -# sequence ID: consecutively increasing ID -uint32 seq -#Two-integer timestamp that is expressed as: -# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') -# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') -# time-handling sugar is provided by the client library -time stamp -#Frame this data is associated with -# 0: no frame -# 1: global frame -string frame_id - -""" - __slots__ = ['header','loop_rate','voltage','seq'] - _slot_types = ['std_msgs/Header','uint16','float64','uint8'] - - def __init__(self, *args, **kwds): - """ - Constructor. Any message fields that are implicitly/explicitly - set to None will be assigned a default value. The recommend - use is keyword arguments as this is more robust to future message - changes. You cannot mix in-order arguments and keyword arguments. - - The available fields are: - header,loop_rate,voltage,seq - - :param args: complete set of field values, in .msg order - :param kwds: use keyword arguments corresponding to message field names - to set specific fields. - """ - if args or kwds: - super(StatusData, self).__init__(*args, **kwds) - #message fields cannot be None, assign default values for those that are - if self.header is None: - self.header = std_msgs.msg.Header() - if self.loop_rate is None: - self.loop_rate = 0 - if self.voltage is None: - self.voltage = 0. - if self.seq is None: - self.seq = 0 - else: - self.header = std_msgs.msg.Header() - self.loop_rate = 0 - self.voltage = 0. - self.seq = 0 - - def _get_types(self): - """ - internal API method - """ - return self._slot_types - - def serialize(self, buff): - """ - serialize message into buffer - :param buff: buffer, ``StringIO`` - """ - try: - _x = self - buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) - _x = self.header.frame_id - length = len(_x) - if python3 or type(_x) == unicode: - _x = _x.encode('utf-8') - length = len(_x) - if python3: - buff.write(struct.pack(' 0x03000000 else False -import genpy -import struct - -import quadrotor_msgs.msg -import std_msgs.msg - -class TRPYCommand(genpy.Message): - _md5sum = "6779ee8a86cc757aeea21725df32d00c" - _type = "quadrotor_msgs/TRPYCommand" - _has_header = True #flag to mark the presence of a Header object - _full_text = """Header header -float32 thrust -float32 roll -float32 pitch -float32 yaw -quadrotor_msgs/AuxCommand aux - -================================================================================ -MSG: std_msgs/Header -# Standard metadata for higher-level stamped data types. -# This is generally used to communicate timestamped data -# in a particular coordinate frame. -# -# sequence ID: consecutively increasing ID -uint32 seq -#Two-integer timestamp that is expressed as: -# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') -# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') -# time-handling sugar is provided by the client library -time stamp -#Frame this data is associated with -# 0: no frame -# 1: global frame -string frame_id - -================================================================================ -MSG: quadrotor_msgs/AuxCommand -float64 current_yaw -float64 kf_correction -float64[2] angle_corrections# Trims for roll, pitch -bool enable_motors -bool use_external_yaw - -""" - __slots__ = ['header','thrust','roll','pitch','yaw','aux'] - _slot_types = ['std_msgs/Header','float32','float32','float32','float32','quadrotor_msgs/AuxCommand'] - - def __init__(self, *args, **kwds): - """ - Constructor. Any message fields that are implicitly/explicitly - set to None will be assigned a default value. The recommend - use is keyword arguments as this is more robust to future message - changes. You cannot mix in-order arguments and keyword arguments. - - The available fields are: - header,thrust,roll,pitch,yaw,aux - - :param args: complete set of field values, in .msg order - :param kwds: use keyword arguments corresponding to message field names - to set specific fields. - """ - if args or kwds: - super(TRPYCommand, self).__init__(*args, **kwds) - #message fields cannot be None, assign default values for those that are - if self.header is None: - self.header = std_msgs.msg.Header() - if self.thrust is None: - self.thrust = 0. - if self.roll is None: - self.roll = 0. - if self.pitch is None: - self.pitch = 0. - if self.yaw is None: - self.yaw = 0. - if self.aux is None: - self.aux = quadrotor_msgs.msg.AuxCommand() - else: - self.header = std_msgs.msg.Header() - self.thrust = 0. - self.roll = 0. - self.pitch = 0. - self.yaw = 0. - self.aux = quadrotor_msgs.msg.AuxCommand() - - def _get_types(self): - """ - internal API method - """ - return self._slot_types - - def serialize(self, buff): - """ - serialize message into buffer - :param buff: buffer, ``StringIO`` - """ - try: - _x = self - buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) - _x = self.header.frame_id - length = len(_x) - if python3 or type(_x) == unicode: - _x = _x.encode('utf-8') - length = len(_x) - if python3: - buff.write(struct.pack(' - Value: true - - Class: rviz/Axes - Enabled: true - Length: 10 - Name: Axes - Radius: 0.01 - Reference Frame: - Value: true - Enabled: true - Name: Basic - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_ukf/robot - Name: Robot UKF - Namespaces: - mesh: true - Queue Size: 100 - Value: true - - Alpha: 1 - Axes Length: 0.5 - Axes Radius: 0.05 - Class: rviz/Pose - Color: 255; 25; 0 - Enabled: true - Head Length: 0.3 - Head Radius: 0.1 - Name: Pose UKF - Shaft Length: 1 - Shaft Radius: 0.05 - Shape: Axes - Topic: /odom_visualization_ukf/pose - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_ukf/velocity - Name: Velocity UKF - Namespaces: - velocity: true - Queue Size: 100 - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 0; 0 - Enabled: true - Line Style: Lines - Line Width: 0.03 - Name: Path UKF - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /odom_visualization_ukf/path - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /odom_visualization_ukf/covariance - Name: Cov UKF - Namespaces: - {} - Queue Size: 100 - Value: false - Enabled: true - Name: UKF Odom - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_slam/robot - Name: Robot SLAM - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Axes Length: 0.3 - Axes Radius: 0.12 - Class: rviz/Pose - Color: 255; 25; 0 - Enabled: true - Head Length: 0.3 - Head Radius: 0.1 - Name: Pose SLAM - Shaft Length: 1 - Shaft Radius: 0.05 - Shape: Axes - Topic: /odom_visualization_slam/pose - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_slam/velocity - Name: Velocity SLAM - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 255; 0 - Enabled: true - Line Style: Lines - Line Width: 0.03 - Name: Path SLAM - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /odom_visualization_slam/path - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /odom_visualization_slam/covariance - Name: Cov SLAM - Namespaces: - {} - Queue Size: 100 - Value: false - Enabled: false - Name: SLAM Odom - - Class: rviz/Group - Displays: - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 0; 0 - Enabled: true - Line Style: Lines - Line Width: 0.03 - Name: Path World - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /waypoint_generator/waypoints_vis - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 255; 0 - Enabled: true - Line Style: Lines - Line Width: 0.03 - Name: Path Desired - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /trajectory_generator/path - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 0; 255 - Enabled: true - Line Style: Lines - Line Width: 0.03 - Name: Path Trajectory - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /trajectory_generator/traj - Value: true - Enabled: true - Name: Trajectory Generator - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud - Color: 255; 0; 255 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Features - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.2 - Style: Spheres - Topic: /visual_pose_estimator/pointcloud - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud - Color: 255; 255; 255 - Color Transformer: RGBF32 - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Loc Err Points - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.1 - Style: Spheres - Topic: /visual_pose_estimator/loc_pointcloud - Use Fixed Frame: true - Use rainbow: true - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /visual_pose_estimator/loc_connect - Name: Loc Err Lines - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud - Color: 255; 255; 255 - Color Transformer: RGBF32 - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Stereo Dense - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.1 - Style: Boxes - Topic: /visual_slam/cloud_stereo - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud - Color: 0; 255; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Stereo Sparse - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.1 - Style: Spheres - Topic: /visual_slam/points_stereo - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 0.2 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.8 - Min Value: -0.8 - Value: true - Axis: Z - Channel Name: z - Class: rviz/PointCloud - Color: 255; 255; 255 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 2 - Min Color: 0; 0; 0 - Min Intensity: -0.8 - Name: Map 3D Vision - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.2 - Style: Boxes - Topic: /visual_slam/map - Use Fixed Frame: true - Use rainbow: true - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /visual_slam/pose_graph_odom - Name: SLAM Pose Graph - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /visual_slam/pose_graph_loop - Name: SLAM Loop CLosure - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /visual_slam/pose_graph_loop_tf - Name: SLAM Loop TF - Namespaces: - {} - Queue Size: 100 - Value: false - Enabled: true - Name: Hummingbird - - Class: rviz/Group - Displays: - - Alpha: 0.7 - Class: rviz_plugins/ProbMapDisplay - Draw Behind: false - Enabled: true - Name: Map 2D Laser - Topic: /map3d_visualization/map2d - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud - Color: 255; 255; 255 - Color Transformer: RGBF32 - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Map 3D Laser - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.1 - Style: Spheres - Topic: /map3d_visualization/map3d - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 0.60212 - Min Value: -0.161681 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 255; 0; 4 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 0; 4 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Laser Raw - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.01 - Style: Points - Topic: /laser/scan - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: false - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 255; 255; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 0 - Max Intensity: 4096 - Min Color: 255; 255; 0 - Min Intensity: 0 - Name: Laser - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.01 - Style: Points - Topic: /laser_odom_pelican/lscan - Use Fixed Frame: true - Use rainbow: false - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud - Color: 255; 170; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Kinect - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.01 - Style: Points - Topic: /kinect/depth/points - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 255; 0 - Enabled: true - Line Style: Lines - Line Width: 0.03 - Name: RRT* Path - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /rrts/path - Value: true - - Arrow Length: 0.3 - Class: rviz/PoseArray - Color: 255; 255; 0 - Enabled: true - Name: RRT* Pose - Topic: /rrts/path_pose - Value: true - Enabled: true - Name: Pelican - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /monocular_velocity_estimator/plane - Name: Plane - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /monocular_velocity_estimator/normal - Name: Normal - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /monocular_velocity_estimator/velocity - Name: Velocity - Namespaces: - {} - Queue Size: 100 - Value: true - Enabled: true - Name: OpticalFlow - - Class: rviz/Group - Displays: - - Alpha: 0.7 - Class: rviz_plugins/AerialMapDisplay - Draw Behind: true - Enabled: true - Name: AerialMapDisplay - Topic: /aerial_map_publisher/aerial_map - Value: true - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_ukf_laser/robot - Name: Robot Laser - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Axes Length: 0.5 - Axes Radius: 0.05 - Class: rviz/Pose - Color: 255; 25; 0 - Enabled: true - Head Length: 0.3 - Head Radius: 0.1 - Name: Pose Laser - Shaft Length: 1 - Shaft Radius: 0.05 - Shape: Axes - Topic: /odom_visualization_ukf_laser/pose - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_ukf_laser/velocity - Name: Velocity Laser - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 0; 0 - Enabled: true - Line Style: Lines - Line Width: 0.03 - Name: Path Laser - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /odom_visualization_ukf_laser/path - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /odom_visualization_ukf_laser/covariance - Name: Cov Laser - Namespaces: - {} - Queue Size: 100 - Value: false - Enabled: false - Name: Laser - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_ukf_vision/robot - Name: Robot Vision - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Axes Length: 0.5 - Axes Radius: 0.05 - Class: rviz/Pose - Color: 255; 25; 0 - Enabled: true - Head Length: 0.3 - Head Radius: 0.1 - Name: Pose Vision - Shaft Length: 1 - Shaft Radius: 0.05 - Shape: Axes - Topic: /odom_visualization_ukf_vision/pose - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /odom_visualization_ukf_vision/velocity - Name: Velocity Vision - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 255; 0 - Enabled: true - Line Style: Lines - Line Width: 0.03 - Name: Path Vision - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /odom_visualization_ukf_vision/path - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /odom_visualization_ukf_vision/covariance - Name: Cov Vision - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud - Color: 255; 0; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Stereo Features - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 10 - Size (m): 0.2 - Style: Points - Topic: /stereo_pose_estimator/pointcloud - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Vision - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_ukf_gps/robot - Name: Robot GPS - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Axes Length: 0.5 - Axes Radius: 0.05 - Class: rviz/Pose - Color: 255; 25; 0 - Enabled: true - Head Length: 0.3 - Head Radius: 0.1 - Name: Pose GPS - Shaft Length: 1 - Shaft Radius: 0.05 - Shape: Axes - Topic: /odom_visualization_ukf_gps/pose - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_ukf_gps/velocity - Name: Velocity GPS - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 255; 0 - Enabled: true - Line Style: Lines - Line Width: 0.03 - Name: Path GPS - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /odom_visualization_ukf_gps/path - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_ukf_gps/covariance - Name: Cov GPS - Namespaces: - {} - Queue Size: 100 - Value: true - Enabled: false - Name: GPS - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_ukf_multi/robot - Name: Robot Multi - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Axes Length: 0.5 - Axes Radius: 0.05 - Class: rviz/Pose - Color: 255; 25; 0 - Enabled: true - Head Length: 0.3 - Head Radius: 0.1 - Name: Pose Multi - Shaft Length: 1 - Shaft Radius: 0.05 - Shape: Axes - Topic: /odom_visualization_ukf_multi/pose - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_ukf_multi/velocity - Name: Velocity Multi - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 0; 0 - Enabled: true - Line Style: Lines - Line Width: 0.03 - Name: Path Multi - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /odom_visualization_ukf_multi/path - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /odom_visualization_ukf_multi/trajectory - Name: Traj Multi - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_ukf_multi/covariance - Name: Cov Multi - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /odom_visualization_ukf_multi/covariance_velocity - Name: Cov Vel Multi - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /multi_sensor_slam/graph - Name: SLAM Graph - Namespaces: - {} - Queue Size: 100 - Value: false - - Class: rviz_plugins/MultiProbMapDisplay - Draw Behind: true - Enabled: true - Name: MultiProbMapDisplay - Topic: /multi_map_visualization/maps2d - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.15 - Min Value: -0.35 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud - Color: 255; 255; 255 - Color Transformer: AxisColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Multi3DMap - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.1 - Style: Spheres - Topic: /multi_map_visualization/map3d - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 0.5 - Buffer Length: 1 - Class: rviz/Range - Color: 255; 0; 255 - Enabled: true - Name: Laser Height - Queue Size: 100 - Topic: /odom_visualization_ukf_multi/height - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_ukf_multi/sensor - Name: Sensor Availability - Namespaces: - {} - Queue Size: 100 - Value: true - Enabled: true - Name: Multi - - Class: rviz/Group - Displays: - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_vins/robot - Name: Robot VINS - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Axes Length: 0.5 - Axes Radius: 0.05 - Class: rviz/Pose - Color: 255; 25; 0 - Enabled: true - Head Length: 0.3 - Head Radius: 0.1 - Name: Pose VINS - Shaft Length: 1 - Shaft Radius: 0.05 - Shape: Axes - Topic: /odom_visualization_vins/pose - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_vins/velocity - Name: Velocity VINS - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 0; 0 - Enabled: false - Line Style: Lines - Line Width: 0.03 - Name: Path VINS - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /odom_visualization_vins/path - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud - Color: 255; 0; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 0; 255; 0 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Cloud VINS - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.1 - Style: Spheres - Topic: /monocular_vins_estimator/cloud - Use Fixed Frame: true - Use rainbow: true - Value: true - - Arrow Length: 0.3 - Class: rviz/PoseArray - Color: 255; 0; 0 - Enabled: true - Name: Poses VINS - Topic: /monocular_vins_estimator/poses - Value: true - Enabled: true - Name: VINS - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_nonlinear/robot - Name: Robot Nonlinear - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Axes Length: 0.5 - Axes Radius: 0.05 - Class: rviz/Pose - Color: 255; 25; 0 - Enabled: true - Head Length: 0.3 - Head Radius: 0.1 - Name: Pose Nonlinear - Shaft Length: 1 - Shaft Radius: 0.05 - Shape: Axes - Topic: /odom_visualization_nonlinear/pose - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_nonlinear/velocity - Name: Velocity Nonlinear - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 255; 0 - Enabled: true - Line Style: Lines - Line Width: 0.03 - Name: Path - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /odom_visualization_nonlinear/path - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud - Color: 0; 255; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Cloud Nonlinear - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.1 - Style: Spheres - Topic: /monocular_vins_estimator/cloud_nonlinear - Use Fixed Frame: true - Use rainbow: true - Value: true - - Arrow Length: 0.3 - Class: rviz/PoseArray - Color: 0; 255; 0 - Enabled: true - Name: Poses Nonlinear - Topic: /monocular_vins_estimator/poses_nonlinear - Value: true - Enabled: true - Name: Nonlinear - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_imu/robot - Name: Robot IMU - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Axes Length: 0.5 - Axes Radius: 0.05 - Class: rviz/Pose - Color: 255; 25; 0 - Enabled: false - Head Length: 0.3 - Head Radius: 0.1 - Name: Pose IMU - Shaft Length: 1 - Shaft Radius: 0.05 - Shape: Axes - Topic: /odom_visualization_imu/pose - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_imu/velocity - Name: Velocity IMU - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 255; 0 - Enabled: false - Line Style: Lines - Line Width: 0.03 - Name: Path IMU - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /odom_visualization_imu/path - Value: false - Enabled: false - Name: IMU - - Class: rviz/Group - Displays: - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_control/robot - Name: Robot Control - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Axes Length: 0.75 - Axes Radius: 0.075 - Class: rviz/Pose - Color: 0; 0; 255 - Enabled: false - Head Length: 0.3 - Head Radius: 0.1 - Name: Pose Control - Shaft Length: 0.5 - Shaft Radius: 0.05 - Shape: Axes - Topic: /odom_visualization_control/pose - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /odom_visualization_control/velocity - Name: Velocity Control - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 0; 255 - Enabled: false - Line Style: Lines - Line Width: 0.03 - Name: Path Control - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /odom_visualization_control/path - Value: false - Enabled: false - Name: Control - Enabled: true - Name: VINS - Enabled: true - Name: NUC - - Class: rviz/Marker - Enabled: true - Marker Topic: /irobot/irobot_marker - Name: Marker - Namespaces: - {} - Queue Size: 100 - Value: true - Enabled: true - Global Options: - Background Color: 61; 61; 61 - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/MoveCamera - - Class: rviz_plugins/Goal3DTool - Topic: goal - - Class: rviz/SetInitialPose - Topic: trigger - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 0.0262036 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 4.92202 - Y: -11.2494 - Z: 11.5579 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.674797 - Target Frame: - Value: Orbit (rviz) - Yaw: 4.72857 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 744 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000010000000000000190000002a2fc020000000ffb0000000a0049006d0061006700650000000041000001760000000000000000fb000000100044006900730070006c0061007900730100000028000002a2000000dd00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000001c5000000810000006400fffffffb0000000a0049006d00610067006501000001fc0000011d0000000000000000fb0000000a0049006d0061006700650100000154000000e90000000000000000fb0000000a0049006d0061006700650100000211000001080000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000041000004f40000006400fffffffb000000100044006900730070006c0061007900730100000041000002d80000000000000000fb0000000a0049006d00610067006501000001db0000013e0000000000000000fb0000000a0049006d0061006700650100000186000001930000000000000000fb0000000a00560069006500770073000000017c0000019d000000b000fffffffb0000000a0049006d00610067006501000001da0000013f0000000000000000fb0000000a0049006d006100670065010000027d0000009c0000000000000000fb0000000a0049006d00610067006501000001d2000001470000000000000000fb0000000a0049006d00610067006501000001af0000016a000000000000000000000383000002a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1305 - X: 61 - Y: 24 diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/package.xml deleted file mode 100644 index af4b617..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/package.xml +++ /dev/null @@ -1,33 +0,0 @@ - - rviz_plugins - - - Additional plugins for rviz - - - 0.1.0 - Shaojie Shen - william.wu - LGPLv3 - http://ros.org/wiki/rviz_plugins - - catkin - - rviz - roscpp - multi_map_server - qtbase5-dev - message_runtime - - rviz - multi_map_server - message_runtime - roscpp - libqt5-core - libqt5-gui - libqt5-widgets - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/plugin_description.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/plugin_description.xml deleted file mode 100644 index 26acf43..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/plugin_description.xml +++ /dev/null @@ -1,42 +0,0 @@ - - - - Tool for setting 3D goal - - - - - - Display of -inf +inf probabilistic occupancy grid map - - - - - - game usage - - - - - - Display of aerial map - - - - - - Display of multiple -inf +inf probabilistic occupancy grid map - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.cpp deleted file mode 100644 index 8ef2441..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.cpp +++ /dev/null @@ -1,573 +0,0 @@ -/* - * Copyright (c) 2008, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include - -#include -#include -#include -#include -#include - -#include - -#include - -#include "rviz/display_context.h" -#include "rviz/frame_manager.h" -#include "rviz/ogre_helpers/grid.h" -#include "rviz/properties/float_property.h" -#include "rviz/properties/int_property.h" -#include "rviz/properties/property.h" -#include "rviz/properties/quaternion_property.h" -#include "rviz/properties/ros_topic_property.h" -#include "rviz/properties/vector_property.h" -#include "rviz/validate_floats.h" - -#include "aerialmap_display.h" - -namespace rviz -{ - -AerialMapDisplay::AerialMapDisplay() - : Display() - , manual_object_(NULL) - //! @bug cannot compile @gcc-5 or later, material_(0) - , loaded_(false) - , resolution_(0.0f) - , width_(0) - , height_(0) - , position_(Ogre::Vector3::ZERO) - , orientation_(Ogre::Quaternion::IDENTITY) - , new_map_(false) -{ - topic_property_ = new RosTopicProperty( - "Topic", "", QString::fromStdString( - ros::message_traits::datatype()), - "nav_msgs::OccupancyGrid topic to subscribe to.", this, - SLOT(updateTopic())); - - alpha_property_ = new FloatProperty( - "Alpha", 0.7, "Amount of transparency to apply to the map.", this, - SLOT(updateAlpha())); - alpha_property_->setMin(0); - alpha_property_->setMax(1); - - draw_under_property_ = - new Property("Draw Behind", false, - "Rendering option, controls whether or not the map is always" - " drawn behind everything else.", - this, SLOT(updateDrawUnder())); - - resolution_property_ = new FloatProperty( - "Resolution", 0, "Resolution of the map. (not editable)", this); - resolution_property_->setReadOnly(true); - - width_property_ = new IntProperty( - "Width", 0, "Width of the map, in meters. (not editable)", this); - width_property_->setReadOnly(true); - - height_property_ = new IntProperty( - "Height", 0, "Height of the map, in meters. (not editable)", this); - height_property_->setReadOnly(true); - - position_property_ = new VectorProperty( - "Position", Ogre::Vector3::ZERO, - "Position of the bottom left corner of the map, in meters. (not editable)", - this); - position_property_->setReadOnly(true); - - orientation_property_ = - new QuaternionProperty("Orientation", Ogre::Quaternion::IDENTITY, - "Orientation of the map. (not editable)", this); - orientation_property_->setReadOnly(true); -} - -AerialMapDisplay::~AerialMapDisplay() -{ - unsubscribe(); - clear(); -} - -void -AerialMapDisplay::onInitialize() -{ - static int count = 0; - std::stringstream ss; - ss << "AerialMapObjectMaterial" << count++; - material_ = Ogre::MaterialManager::getSingleton().create( - ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); - material_->setReceiveShadows(false); - material_->getTechnique(0)->setLightingEnabled(false); - material_->setDepthBias(-16.0f, 0.0f); - material_->setCullingMode(Ogre::CULL_NONE); - material_->setDepthWriteEnabled(false); - - updateAlpha(); -} - -void -AerialMapDisplay::onEnable() -{ - subscribe(); -} - -void -AerialMapDisplay::onDisable() -{ - unsubscribe(); - clear(); -} - -void -AerialMapDisplay::subscribe() -{ - if (!isEnabled()) - { - return; - } - - if (!topic_property_->getTopic().isEmpty()) - { - try - { - map_sub_ = - update_nh_.subscribe(topic_property_->getTopicStd(), 1, - &AerialMapDisplay::incomingAerialMap, this); - setStatus(StatusProperty::Ok, "Topic", "OK"); - } - catch (ros::Exception& e) - { - setStatus(StatusProperty::Error, "Topic", - QString("Error subscribing: ") + e.what()); - } - } -} - -void -AerialMapDisplay::unsubscribe() -{ - map_sub_.shutdown(); -} - -void -AerialMapDisplay::updateAlpha() -{ - float alpha = alpha_property_->getFloat(); - - Ogre::Pass* pass = material_->getTechnique(0)->getPass(0); - Ogre::TextureUnitState* tex_unit = NULL; - if (pass->getNumTextureUnitStates() > 0) - { - tex_unit = pass->getTextureUnitState(0); - } - else - { - tex_unit = pass->createTextureUnitState(); - } - - tex_unit->setAlphaOperation(Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL, - Ogre::LBS_CURRENT, alpha); - - if (alpha < 0.9998) - { - material_->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); - material_->setDepthWriteEnabled(false); - } - else - { - material_->setSceneBlending(Ogre::SBT_REPLACE); - material_->setDepthWriteEnabled(!draw_under_property_->getValue().toBool()); - } -} - -void -AerialMapDisplay::updateDrawUnder() -{ - bool draw_under = draw_under_property_->getValue().toBool(); - - if (alpha_property_->getFloat() >= 0.9998) - { - material_->setDepthWriteEnabled(!draw_under); - } - - if (manual_object_) - { - if (draw_under) - { - manual_object_->setRenderQueueGroup(Ogre::RENDER_QUEUE_4); - } - else - { - manual_object_->setRenderQueueGroup(Ogre::RENDER_QUEUE_MAIN); - } - } -} - -void -AerialMapDisplay::updateTopic() -{ - unsubscribe(); - subscribe(); - clear(); -} - -void -AerialMapDisplay::clear() -{ - setStatus(StatusProperty::Warn, "Message", "No map received"); - - if (!loaded_) - { - return; - } - - scene_manager_->destroyManualObject(manual_object_); - manual_object_ = NULL; - - std::string tex_name = texture_->getName(); - texture_.setNull(); - Ogre::TextureManager::getSingleton().unload(tex_name); - - loaded_ = false; -} -/* -bool validateFloats(const nav_msgs::OccupancyGrid& msg) -{ - bool valid = true; - valid = valid && validateFloats( msg.info.resolution ); - valid = valid && validateFloats( msg.info.origin ); - return valid; -} -*/ -void -AerialMapDisplay::update(float wall_dt, float ros_dt) -{ - { - boost::mutex::scoped_lock lock(mutex_); - - current_map_ = updated_map_; - } - - if (!current_map_ || !new_map_) - { - return; - } - - if (current_map_->data.empty()) - { - return; - } - - new_map_ = false; - /* - if( !validateFloats( *current_map_ )) - { - setStatus( StatusProperty::Error, "Map", "Message contained invalid - floating point values (nans or infs)" ); - return; - } - */ - if (current_map_->info.width * current_map_->info.height == 0) - { - std::stringstream ss; - ss << "AerialMap is zero-sized (" << current_map_->info.width << "x" - << current_map_->info.height << ")"; - setStatus(StatusProperty::Error, "AerialMap", - QString::fromStdString(ss.str())); - return; - } - - clear(); - - setStatus(StatusProperty::Ok, "Message", "AerialMap received"); - - ROS_DEBUG("Received a %d X %d map @ %.3f m/pix\n", current_map_->info.width, - current_map_->info.height, current_map_->info.resolution); - - float resolution = current_map_->info.resolution; - - int width = current_map_->info.width; - int height = current_map_->info.height; - - Ogre::Vector3 position(current_map_->info.origin.position.x, - current_map_->info.origin.position.y, - current_map_->info.origin.position.z); - Ogre::Quaternion orientation(current_map_->info.origin.orientation.w, - current_map_->info.origin.orientation.x, - current_map_->info.origin.orientation.y, - current_map_->info.origin.orientation.z); - frame_ = current_map_->header.frame_id; - if (frame_.empty()) - { - frame_ = "/map"; - } - - // Expand it to be RGB data - unsigned int pixels_size = width * height * 3; - unsigned char* pixels = new unsigned char[pixels_size]; - memset(pixels, 255, pixels_size); - - bool map_status_set = false; - unsigned int num_pixels_to_copy = pixels_size; - if (pixels_size != current_map_->data.size()) - { - std::stringstream ss; - ss << "Data size doesn't match width*height: width = " << width - << ", height = " << height - << ", data size = " << current_map_->data.size(); - setStatus(StatusProperty::Error, "AerialMap", - QString::fromStdString(ss.str())); - map_status_set = true; - - // Keep going, but don't read past the end of the data. - if (current_map_->data.size() < pixels_size) - { - num_pixels_to_copy = current_map_->data.size(); - } - } - - // TODO: a fragment shader could do this on the video card, and - // would allow a non-grayscale color to mark the out-of-range - // values. - for (unsigned int pixel_index = 0; pixel_index < num_pixels_to_copy; - pixel_index++) - { - /* - unsigned char val; - int8_t data = current_map_->data[ pixel_index ]; - if(data > 0) - val = 0; - else if(data < 0) - val = 255; - else - val = 127; - pixels[ pixel_index ] = val; - */ - pixels[pixel_index] = current_map_->data[pixel_index]; - } - - Ogre::DataStreamPtr pixel_stream; - pixel_stream.bind(new Ogre::MemoryDataStream(pixels, pixels_size)); - static int tex_count = 0; - std::stringstream ss; - ss << "AerialMapTexture" << tex_count++; - try - { - texture_ = Ogre::TextureManager::getSingleton().loadRawData( - ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, - pixel_stream, width, height, Ogre::PF_R8G8B8, Ogre::TEX_TYPE_2D, 0); - - if (!map_status_set) - { - setStatus(StatusProperty::Ok, "AerialMap", "AerialMap OK"); - } - } - catch (Ogre::RenderingAPIException&) - { - Ogre::Image image; - pixel_stream->seek(0); - float fwidth = width; - float fheight = height; - if (width > height) - { - float aspect = fheight / fwidth; - fwidth = 2048; - fheight = fwidth * aspect; - } - else - { - float aspect = fwidth / fheight; - fheight = 2048; - fwidth = fheight * aspect; - } - - { - std::stringstream ss; - ss << "AerialMap is larger than your graphics card supports. " - "Downsampled from [" - << width << "x" << height << "] to [" << fwidth << "x" << fheight - << "]"; - setStatus(StatusProperty::Ok, "AerialMap", - QString::fromStdString(ss.str())); - } - - ROS_WARN("Failed to create full-size map texture, likely because your " - "graphics card does not support textures of size > 2048. " - "Downsampling to [%d x %d]...", - (int)fwidth, (int)fheight); - // ROS_INFO("Stream size [%d], width [%f], height [%f], w * h [%f]", - // pixel_stream->size(), width, height, width * height); - image.loadRawData(pixel_stream, width, height, Ogre::PF_R8G8B8); - image.resize(fwidth, fheight, Ogre::Image::FILTER_NEAREST); - ss << "Downsampled"; - texture_ = Ogre::TextureManager::getSingleton().loadImage( - ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, image); - } - - delete[] pixels; - - Ogre::Pass* pass = material_->getTechnique(0)->getPass(0); - Ogre::TextureUnitState* tex_unit = NULL; - if (pass->getNumTextureUnitStates() > 0) - { - tex_unit = pass->getTextureUnitState(0); - } - else - { - tex_unit = pass->createTextureUnitState(); - } - - tex_unit->setTextureName(texture_->getName()); - tex_unit->setTextureFiltering(Ogre::TFO_NONE); - - static int map_count = 0; - std::stringstream ss2; - ss2 << "AerialMapObject" << map_count++; - manual_object_ = scene_manager_->createManualObject(ss2.str()); - scene_node_->attachObject(manual_object_); - - manual_object_->begin(material_->getName(), - Ogre::RenderOperation::OT_TRIANGLE_LIST); - { - // First triangle - { - // Bottom left - manual_object_->position(0.0f, 0.0f, 0.0f); - manual_object_->textureCoord(0.0f, 0.0f); - manual_object_->normal(0.0f, 0.0f, 1.0f); - - // Top right - manual_object_->position(resolution * width, resolution * height, 0.0f); - manual_object_->textureCoord(1.0f, 1.0f); - manual_object_->normal(0.0f, 0.0f, 1.0f); - - // Top left - manual_object_->position(0.0f, resolution * height, 0.0f); - manual_object_->textureCoord(0.0f, 1.0f); - manual_object_->normal(0.0f, 0.0f, 1.0f); - } - - // Second triangle - { - // Bottom left - manual_object_->position(0.0f, 0.0f, 0.0f); - manual_object_->textureCoord(0.0f, 0.0f); - manual_object_->normal(0.0f, 0.0f, 1.0f); - - // Bottom right - manual_object_->position(resolution * width, 0.0f, 0.0f); - manual_object_->textureCoord(1.0f, 0.0f); - manual_object_->normal(0.0f, 0.0f, 1.0f); - - // Top right - manual_object_->position(resolution * width, resolution * height, 0.0f); - manual_object_->textureCoord(1.0f, 1.0f); - manual_object_->normal(0.0f, 0.0f, 1.0f); - } - } - manual_object_->end(); - - if (draw_under_property_->getValue().toBool()) - { - manual_object_->setRenderQueueGroup(Ogre::RENDER_QUEUE_4); - } - - resolution_property_->setValue(resolution); - width_property_->setValue(width); - height_property_->setValue(height); - position_property_->setVector(position); - orientation_property_->setQuaternion(orientation); - - transformAerialMap(); - - loaded_ = true; - - context_->queueRender(); -} - -void -AerialMapDisplay::incomingAerialMap( - const nav_msgs::OccupancyGrid::ConstPtr& msg) -{ - - updated_map_ = msg; - boost::mutex::scoped_lock lock(mutex_); - new_map_ = true; -} - -void -AerialMapDisplay::transformAerialMap() -{ - if (!current_map_) - { - return; - } - - Ogre::Vector3 position; - Ogre::Quaternion orientation; - if (!context_->getFrameManager()->transform( - frame_, ros::Time(), current_map_->info.origin, position, orientation)) - { - ROS_DEBUG("Error transforming map '%s' from frame '%s' to frame '%s'", - qPrintable(getName()), frame_.c_str(), qPrintable(fixed_frame_)); - - setStatus(StatusProperty::Error, "Transform", - "No transform from [" + QString::fromStdString(frame_) + - "] to [" + fixed_frame_ + "]"); - } - else - { - setStatus(StatusProperty::Ok, "Transform", "Transform OK"); - } - - scene_node_->setPosition(position); - scene_node_->setOrientation(orientation); -} - -void -AerialMapDisplay::fixedFrameChanged() -{ - transformAerialMap(); -} - -void -AerialMapDisplay::reset() -{ - Display::reset(); - - clear(); - // Force resubscription so that the map will be re-sent - updateTopic(); -} - -} // namespace rviz - -#include -PLUGINLIB_EXPORT_CLASS(rviz::AerialMapDisplay, rviz::Display) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.h deleted file mode 100644 index 72504f1..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.h +++ /dev/null @@ -1,134 +0,0 @@ -/* - * Copyright (c) 2012, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef AERIAL_MAP_DISPLAY_H -#define AERIAL_MAP_DISPLAY_H - -#include -#include -#include - -#include -#include - -#include - -#include "rviz/display.h" - -namespace Ogre -{ -class ManualObject; -} - -namespace rviz -{ - -class FloatProperty; -class IntProperty; -class Property; -class QuaternionProperty; -class RosTopicProperty; -class VectorProperty; - -/** - * \class AerialMapDisplay - * \brief Displays a map along the XY plane. - */ -class AerialMapDisplay: public Display -{ -Q_OBJECT -public: - AerialMapDisplay(); - virtual ~AerialMapDisplay(); - - // Overrides from Display - virtual void onInitialize(); - virtual void fixedFrameChanged(); - virtual void reset(); - virtual void update( float wall_dt, float ros_dt ); - - float getResolution() { return resolution_; } - int getWidth() { return width_; } - int getHeight() { return height_; } - Ogre::Vector3 getPosition() { return position_; } - Ogre::Quaternion getOrientation() { return orientation_; } - -protected Q_SLOTS: - void updateAlpha(); - void updateTopic(); - void updateDrawUnder(); - - -protected: - // overrides from Display - virtual void onEnable(); - virtual void onDisable(); - - virtual void subscribe(); - virtual void unsubscribe(); - - void incomingAerialMap(const nav_msgs::OccupancyGrid::ConstPtr& msg); - - void clear(); - - void transformAerialMap(); - - Ogre::ManualObject* manual_object_; - Ogre::TexturePtr texture_; - Ogre::MaterialPtr material_; - bool loaded_; - - std::string topic_; - float resolution_; - int width_; - int height_; - Ogre::Vector3 position_; - Ogre::Quaternion orientation_; - std::string frame_; - - ros::Subscriber map_sub_; - - RosTopicProperty* topic_property_; - FloatProperty* resolution_property_; - IntProperty* width_property_; - IntProperty* height_property_; - VectorProperty* position_property_; - QuaternionProperty* orientation_property_; - FloatProperty* alpha_property_; - Property* draw_under_property_; - - nav_msgs::OccupancyGrid::ConstPtr updated_map_; - nav_msgs::OccupancyGrid::ConstPtr current_map_; - boost::mutex mutex_; - bool new_map_; -}; - -} // namespace rviz - - #endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/gamelikeinput.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/gamelikeinput.cpp deleted file mode 100644 index b30730a..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/gamelikeinput.cpp +++ /dev/null @@ -1,433 +0,0 @@ -// cheat the compiler - -#include -#include - -#include "rviz/selection/forwards.h" -#include "rviz/selection/selection_manager.h" - -#define private public -#include "rviz/default_plugin/markers/marker_selection_handler.h" -#include "rviz/viewport_mouse_event.h" -#undef private - -// #include "gamelikeinput.hpp" - -#include "rviz/default_plugin/tools/move_tool.h" -#include "rviz/display_context.h" -#include "rviz/render_panel.h" -#include "rviz/tool_manager.h" - -#include "boost/unordered_map.hpp" - -#include -#include -#include -#include - -#include "rviz/geometry.h" -#include "rviz/load_resource.h" -#include "rviz/ogre_helpers/arrow.h" -#include "rviz/render_panel.h" -#include "rviz/viewport_mouse_event.h" - -#include -#include - -#include "rviz/properties/string_property.h" - -#include "nav_msgs/Path.h" -// #include "quadrotor_msgs/SwarmCommand.h" -#include "std_msgs/Int32MultiArray.h" - -//! @todo rewrite this grabage code - -void -GameLikeInput::updateTopic() -{ - pub_pointlist = - nh_.advertise(topic_property_wp_->getStdString(), 1); - - pub_selection = nh_.advertise( - topic_property_drone_->getStdString(), 1); - - pub_swarm = nh_.advertise( - topic_property_swarm_->getStdString(), 1); - - z_max = property_z_max->getFloat(); - z_min = property_z_min->getFloat(); - y_max = property_y_max->getFloat(); - y_min = property_y_min->getFloat(); - x_max = property_x_max->getFloat(); - x_min = property_x_min->getFloat(); -} - -GameLikeInput::GameLikeInput() - : rviz::SelectionTool() - , move_tool_(new rviz::InteractionTool()) - , selecting_(false) - , sel_start_x_(0) - , sel_start_y_(0) - , moving_(false) -{ - shortcut_key_ = 'z'; - access_all_keys_ = true; - - topic_property_wp_ = - new rviz::StringProperty("TopicPoint", "point_list", - "The topic on which to publish navigation goals.", - getPropertyContainer(), SLOT(updateTopic()), this); - - topic_property_drone_ = - new rviz::StringProperty("TopicSelect", "select_list", - "The topic on which to publish select drone id.", - getPropertyContainer(), SLOT(updateTopic()), this); - - topic_property_swarm_ = new rviz::StringProperty( - "TopicSwarm", "swarm", "The topic on which to publish swarm command.", - getPropertyContainer(), SLOT(updateTopic()), this); - - property_z_max = new rviz::FloatProperty( - "RangeZ_max", 1.7, "", getPropertyContainer(), SLOT(updateTopic()), this); - property_z_min = new rviz::FloatProperty( - "RangeZ_min", 0.8, "", getPropertyContainer(), SLOT(updateTopic()), this); - - property_y_max = new rviz::FloatProperty( - "RangeY_max", 2.5, "", getPropertyContainer(), SLOT(updateTopic()), this); - property_y_min = new rviz::FloatProperty( - "RangeY_min", -2.5, "", getPropertyContainer(), SLOT(updateTopic()), this); - - property_x_max = new rviz::FloatProperty( - "RangeX_max", 4, "", getPropertyContainer(), SLOT(updateTopic()), this); - property_x_min = new rviz::FloatProperty( - "RangeX_min", -4, "", getPropertyContainer(), SLOT(updateTopic()), this); -} - -GameLikeInput::~GameLikeInput() -{ - delete move_tool_; - delete topic_property_wp_; - delete topic_property_drone_; - delete topic_property_swarm_; - - delete property_z_max; - delete property_z_min; - delete property_x_max; - delete property_x_min; - delete property_y_max; - delete property_y_min; -} - -void -GameLikeInput::onInitialize() -{ - this->move_tool_->initialize(context_); - - arrow_ = new rviz::Arrow(scene_manager_, NULL, 2.0f, 0.2f, 0.5f, 0.35f); - arrow_->setColor(0.3f, 0.35f, 0.9f, 1.0f); - arrow_->getSceneNode()->setVisible(false); - - state_ = None; - updateTopic(); -} - -void -GameLikeInput::sendMessage() -{ - std_msgs::Int32MultiArray array; - nav_msgs::Path path; - - array.data.clear(); - - rviz::SelectionManager* sel_manager = context_->getSelectionManager(); - - auto size = std::distance(selection_.begin(), selection_.end()); - - geometry_msgs::PoseStamped pose; - pose.pose.position.x = 0; - pose.pose.position.y = 0; - pose.pose.position.z = 0; - - //! @note makeup selection array - if (!selection_.empty()) - { - for (auto it = selection_.begin(); it != selection_.end(); it++) - { - rviz::Picked p = it->second; - rviz::SelectionHandler* sh = sel_manager->getHandler(p.handle); - rviz::MarkerSelectionHandler* mh = - reinterpret_cast(sh); - - QString cpy = mh->marker_id_; - - //! @note use the mean position of every selected drone as start point - pose.pose.position.x += mh->getPosition().x; - pose.pose.position.y += mh->getPosition().y; - pose.pose.position.z += mh->getPosition().z; - - array.data.push_back(cpy.remove("drone/").toInt()); - } - - pose.pose.position.x /= size; - pose.pose.position.y /= size; - pose.pose.position.z /= size; - - path.poses.push_back(pose); - } - - //! @note go through arrow_array, get the internal parameter of each array - //! makeup each waypoint - - for (int i = 0; i < arrow_array.size(); ++i) - { - rviz::Arrow* p_a = arrow_array[i]; - geometry_msgs::PoseStamped ps; - - ps.pose.position.x = p_a->getPosition().x; - ps.pose.position.y = p_a->getPosition().y; - ps.pose.position.z = z_vector[i]; - - if (ps.pose.position.z > z_max) - ps.pose.position.z = z_max; - if (ps.pose.position.z < z_min) - ps.pose.position.z = z_min; - - if (ps.pose.position.y > y_max) - ps.pose.position.y = y_max; - if (ps.pose.position.y < y_min) - ps.pose.position.y = y_min; - - if (ps.pose.position.x > x_max) - ps.pose.position.x = x_max; - if (ps.pose.position.x < x_min) - ps.pose.position.x = x_min; - - path.poses.push_back(ps); - - delete p_a; - } - z_vector.clear(); - arrow_array.clear(); - arrow_->getSceneNode()->setVisible(false); - - path.header.frame_id = "map"; - path.header.stamp = ros::Time::now(); - - std::sort(array.data.begin(), array.data.end()); - - quadrotor_msgs::SwarmCommand swarm; - swarm.plan = path; - swarm.selection = array.data; - - pub_selection.publish(array); - pub_pointlist.publish(path); - pub_swarm.publish(swarm); -} - -void -GameLikeInput::onPoseSet(double x, double y, double z, double theta) -{ - ROS_WARN("3D Goal Set"); - std::string fixed_frame = context_->getFixedFrame().toStdString(); - tf::Quaternion quat; - quat.setRPY(0.0, 0.0, theta); - tf::Stamped p = tf::Stamped( - tf::Pose(quat, tf::Point(x, y, z)), ros::Time::now(), fixed_frame); - geometry_msgs::PoseStamped goal; - tf::poseStampedTFToMsg(p, goal); - ROS_INFO("Setting goal: Frame:%s, Position(%.3f, %.3f, %.3f), " - "Orientation(%.3f, %.3f, %.3f, %.3f) = Angle: %.3f\n", - fixed_frame.c_str(), goal.pose.position.x, goal.pose.position.y, - goal.pose.position.z, goal.pose.orientation.x, - goal.pose.orientation.y, goal.pose.orientation.z, - goal.pose.orientation.w, theta); -} - -int -GameLikeInput::processMouseEvent(rviz::ViewportMouseEvent& event) -{ - - rviz::SelectionManager* sel_manager = context_->getSelectionManager(); - - int flags = 0; - - // wp vars - static double initz; - static double prevz; - static double prevangle; - const double z_scale = 50; - Ogre::Quaternion orient_x = - Ogre::Quaternion(Ogre::Radian(-Ogre::Math::PI), Ogre::Vector3::UNIT_X); - - if (event.alt()) - { - moving_ = true; - selecting_ = false; - } - else - { - moving_ = false; - - if (event.leftDown()) - { - this->selecting_ = true; - - this->sel_start_x_ = event.x; - this->sel_start_y_ = event.y; - } - } - - if (selecting_) - { - rviz::M_Picked selection; - - sel_manager->highlight(event.viewport, sel_start_x_, sel_start_y_, event.x, - event.y); - - if (event.leftUp()) - { - rviz::SelectionManager::SelectType type = rviz::SelectionManager::Replace; - - if (event.shift()) - { - type = rviz::SelectionManager::Add; - } - else if (event.control()) - { - type = rviz::SelectionManager::Remove; - } - - // boost::recursive_mutex::scoped_lock lock(global_mutex_); - sel_manager->select(event.viewport, this->sel_start_x_, - this->sel_start_y_, event.x, event.y, type); - selection = sel_manager->getSelection(); - - rviz::MarkerSelectionHandler* cmp = new rviz::MarkerSelectionHandler( - nullptr, std::pair(), context_); - - for (auto it = selection.begin(); it != selection.end();) - { - rviz::Picked p = it->second; - rviz::SelectionHandler* sh = sel_manager->getHandler(p.handle); - void (rviz::SelectionHandler::*vptr)(const rviz::Picked& obj, - rviz::Property* parent_property) = - &rviz::SelectionHandler::createProperties; - // black magic, must have warning - bool e = false; - if (reinterpret_cast(sh->*vptr) != - reinterpret_cast(cmp->*vptr)) - e = true; - else - { - rviz::MarkerSelectionHandler* mh = - reinterpret_cast(sh); - if (mh->marker_id_.startsWith("drone")) - e = false; - else - e = true; - } - - if (e) - it = selection.erase(it); - else - it++; - } - delete cmp; - - sel_manager->setSelection(selection); - selection_ = selection; - - selecting_ = false; - } - - flags |= Render; - } - else if (moving_) - { - sel_manager->removeHighlight(); - flags = move_tool_->processMouseEvent(event); - - if (event.type == QEvent::MouseButtonRelease) - { - moving_ = false; - } - } - else - { - - if (event.rightDown()) - { - if (state_ == None) - { - Ogre::Vector3 intersection; - Ogre::Plane ground_plane(Ogre::Vector3::UNIT_Z, 0.0f); - if (rviz::getPointOnPlaneFromWindowXY(event.viewport, ground_plane, - event.x, event.y, intersection)) - { - pos_ = intersection; - arrow_->setPosition(pos_); - arrow_->setOrientation( - Ogre::Quaternion(Ogre::Radian(0.0), Ogre::Vector3::UNIT_Z) * - orient_x); - arrow_->getSceneNode()->setVisible(true); - state_ = Height; - flags |= Render; - } - initz = pos_.z; - prevz = event.y; - } - } - else if (event.type == QEvent::MouseMove && event.right()) - { - if (state_ == Height) - { - double z = event.y; - double dz = z - prevz; - prevz = z; - pos_.z -= dz / z_scale; - arrow_->set(pos_.z, 0.08, 0, 0); - flags |= Render; - } - } - if (event.rightUp()) - { - onPoseSet(pos_.x, pos_.y, pos_.z, prevangle); - - state_ = None; - if (event.shift()) - { - arrow_array.push_back(arrow_); - z_vector.push_back(pos_.z); - arrow_ = new rviz::Arrow(scene_manager_, NULL, 2.0f, 0.2f, 0.5f, 0.35f); - arrow_->setColor(0.3f, 0.35f, 0.9f, 1.0f); - arrow_->getSceneNode()->setVisible(false); - } - else - { - sendMessage(); - } - flags |= Render; - } - - if (!event.shift()) - { - if (state_ == None && arrow_array.size() != 0) - { - sendMessage(); - } - } - - sel_manager->highlight(event.viewport, event.x, event.y, event.x, event.y); - } - - return flags; -} - -int -GameLikeInput::processKeyEvent(QKeyEvent* event, rviz::RenderPanel* panel) -{ - return SelectionTool::processKeyEvent(event, panel); -} - -#include -PLUGINLIB_EXPORT_CLASS(GameLikeInput, rviz::Tool) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/gamelikeinput.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/gamelikeinput.hpp deleted file mode 100644 index 1c8baee..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/gamelikeinput.hpp +++ /dev/null @@ -1,98 +0,0 @@ -#ifndef GAMELIKEINPUT_HPP -#define GAMELIKEINPUT_HPP - -#ifndef Q_MOC_RUN -#include - -#include "rviz/default_plugin/tools/selection_tool.h" -#include "rviz/properties/float_property.h" -#include "rviz/selection/forwards.h" -#include "rviz/selection/selection_manager.h" -#include "rviz/tool.h" - -#include "rviz/default_plugin/tools/interaction_tool.h" - -#include - -#endif - -namespace rviz -{ -class Arrow; -class StringProperty; -} // namespace rviz - -class GameLikeInput : public rviz::SelectionTool -{ - Q_OBJECT - -protected Q_SLOTS: - void updateTopic(); - -public: - GameLikeInput(); - virtual ~GameLikeInput(); - - virtual void onInitialize(); - - virtual int processMouseEvent(rviz::ViewportMouseEvent& event); - virtual int processKeyEvent(QKeyEvent* event, rviz::RenderPanel* panel); - - void sendMessage(); - -protected: - virtual void onPoseSet(double x, double y, double z_vector, double theta); - -private: - rviz::InteractionTool* move_tool_; - - bool selecting_; - int sel_start_x_; - int sel_start_y_; - - rviz::M_Picked selection_; - - bool moving_; - - ros::NodeHandle nh_; - ros::Publisher pub_pointlist; - ros::Publisher pub_selection; - ros::Publisher pub_swarm; - - double z_max; - double z_min; - double x_max; - double x_min; - double y_max; - double y_min; - - rviz::FloatProperty* property_z_max; - rviz::FloatProperty* property_z_min; - rviz::FloatProperty* property_x_max; - rviz::FloatProperty* property_x_min; - rviz::FloatProperty* property_y_max; - rviz::FloatProperty* property_y_min; - - rviz::StringProperty* topic_property_wp_; - rviz::StringProperty* topic_property_drone_; - rviz::StringProperty* topic_property_swarm_; - -private: - rviz::Arrow* arrow_; - std::vector arrow_array; - std::vector z_vector; - - enum State - { - None, - Position, - Height - }; - State state_; - - Ogre::Vector3 pos_; - - // boost::recursive_mutex global_mutex_; -}; - -#endif // GAMELIKEINPUT_HPP diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/goal_tool.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/goal_tool.cpp deleted file mode 100644 index a567658..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/goal_tool.cpp +++ /dev/null @@ -1,81 +0,0 @@ -/* - * Copyright (c) 2008, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include - -#include - -#include "rviz/display_context.h" -#include "rviz/properties/string_property.h" - -#include "goal_tool.h" - -namespace rviz -{ - -Goal3DTool::Goal3DTool() -{ - shortcut_key_ = 'g'; - - topic_property_ = new StringProperty( "Topic", "goal", - "The topic on which to publish navigation goals.", - getPropertyContainer(), SLOT( updateTopic() ), this ); -} - -void Goal3DTool::onInitialize() -{ - Pose3DTool::onInitialize(); - setName( "3D Nav Goal" ); - updateTopic(); -} - -void Goal3DTool::updateTopic() -{ - pub_ = nh_.advertise( topic_property_->getStdString(), 1 ); -} - -void Goal3DTool::onPoseSet(double x, double y, double z, double theta) -{ - ROS_WARN("3D Goal Set"); - std::string fixed_frame = context_->getFixedFrame().toStdString(); - tf::Quaternion quat; - quat.setRPY(0.0, 0.0, theta); - tf::Stamped p = tf::Stamped(tf::Pose(quat, tf::Point(x, y, z)), ros::Time::now(), fixed_frame); - geometry_msgs::PoseStamped goal; - tf::poseStampedTFToMsg(p, goal); - ROS_INFO("Setting goal: Frame:%s, Position(%.3f, %.3f, %.3f), Orientation(%.3f, %.3f, %.3f, %.3f) = Angle: %.3f\n", fixed_frame.c_str(), - goal.pose.position.x, goal.pose.position.y, goal.pose.position.z, - goal.pose.orientation.x, goal.pose.orientation.y, goal.pose.orientation.z, goal.pose.orientation.w, theta); - pub_.publish(goal); -} - -} // end namespace rviz - -#include -PLUGINLIB_EXPORT_CLASS( rviz::Goal3DTool, rviz::Tool ) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/goal_tool.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/goal_tool.h deleted file mode 100644 index dd69e07..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/goal_tool.h +++ /dev/null @@ -1,72 +0,0 @@ -/* - * Copyright (c) 2012, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef RVIZ_GOAL_TOOL_H -#define RVIZ_GOAL_TOOL_H - -#ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829 -# include - -# include - -# include "pose_tool.h" -#endif - -namespace rviz -{ -class Arrow; -class DisplayContext; -class StringProperty; - -class Goal3DTool: public Pose3DTool -{ -Q_OBJECT -public: - Goal3DTool(); - virtual ~Goal3DTool() {} - virtual void onInitialize(); - -protected: - virtual void onPoseSet(double x, double y, double z, double theta); - -private Q_SLOTS: - void updateTopic(); - -private: - ros::NodeHandle nh_; - ros::Publisher pub_; - - StringProperty* topic_property_; -}; - -} - -#endif - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.cpp deleted file mode 100644 index 131b118..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.cpp +++ /dev/null @@ -1,365 +0,0 @@ -/* - * Copyright (c) 2008, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include - -#include -#include -#include -#include -#include - -#include - -#include - -#include "rviz/frame_manager.h" -#include "rviz/ogre_helpers/grid.h" -#include "rviz/properties/float_property.h" -#include "rviz/properties/int_property.h" -#include "rviz/properties/property.h" -#include "rviz/properties/quaternion_property.h" -#include "rviz/properties/ros_topic_property.h" -#include "rviz/properties/vector_property.h" -#include "rviz/validate_floats.h" -#include "rviz/display_context.h" - -#include "multi_probmap_display.h" - -namespace rviz -{ - -MultiProbMapDisplay::MultiProbMapDisplay() - : Display() - , loaded_( false ) - , new_map_(false) -{ - topic_property_ = new RosTopicProperty( "Topic", "", - QString::fromStdString( ros::message_traits::datatype() ), - "multi_map_server::MultiOccupancyGrid topic to subscribe to.", - this, SLOT( updateTopic() )); - - draw_under_property_ = new Property( "Draw Behind", false, - "Rendering option, controls whether or not the map is always" - " drawn behind everything else.", - this, SLOT( updateDrawUnder() )); -} - -MultiProbMapDisplay::~MultiProbMapDisplay() -{ - unsubscribe(); - clear(); -} - -void MultiProbMapDisplay::onInitialize() -{ -} - -void MultiProbMapDisplay::onEnable() -{ - subscribe(); -} - -void MultiProbMapDisplay::onDisable() -{ - unsubscribe(); - clear(); -} - -void MultiProbMapDisplay::subscribe() -{ - if ( !isEnabled() ) - { - return; - } - - if( !topic_property_->getTopic().isEmpty() ) - { - try - { - map_sub_ = update_nh_.subscribe( topic_property_->getTopicStd(), 1, &MultiProbMapDisplay::incomingMap, this ); - setStatus( StatusProperty::Ok, "Topic", "OK" ); - } - catch( ros::Exception& e ) - { - setStatus( StatusProperty::Error, "Topic", QString( "Error subscribing: " ) + e.what() ); - } - } -} - -void MultiProbMapDisplay::unsubscribe() -{ - map_sub_.shutdown(); -} - -void MultiProbMapDisplay::updateDrawUnder() -{ - bool draw_under = draw_under_property_->getValue().toBool(); - - for (unsigned int k = 0; k < material_.size(); k++) - material_[k]->setDepthWriteEnabled( !draw_under ); - - for (unsigned int k = 0; k < manual_object_.size(); k++) - { - if( draw_under ) - manual_object_[k]->setRenderQueueGroup( Ogre::RENDER_QUEUE_4 ); - else - manual_object_[k]->setRenderQueueGroup( Ogre::RENDER_QUEUE_MAIN ); - } -} - -void MultiProbMapDisplay::updateTopic() -{ - unsubscribe(); - subscribe(); - clear(); -} - -void MultiProbMapDisplay::clear() -{ - setStatus( StatusProperty::Warn, "Message", "No map received" ); - - if( !loaded_ ) - { - return; - } - - for (unsigned k = 0; k < manual_object_.size(); k++) - { - scene_manager_->destroyManualObject( manual_object_[k] ); - std::string tex_name = texture_[k]->getName(); - texture_[k].setNull(); - Ogre::TextureManager::getSingleton().unload( tex_name ); - } - manual_object_.clear(); - texture_.clear(); - material_.clear(); - - loaded_ = false; -} - -// *********************************************************************************************************************************** - -void MultiProbMapDisplay::update( float wall_dt, float ros_dt ) -{ - { - boost::mutex::scoped_lock lock(mutex_); - current_map_ = updated_map_; - } - - if (!new_map_) - return; - new_map_ = false; - - clear(); - - //ros::Time t[5]; - //double dt[4] = {0,0,0,0}; - for (unsigned int k = 0; k < current_map_->maps.size(); k++) - { - if (current_map_->maps[k].data.empty()) - continue; - setStatus( StatusProperty::Ok, "Message", "Map received" ); - - // Map info - float resolution = current_map_->maps[k].info.resolution; - int width = current_map_->maps[k].info.width; - int height = current_map_->maps[k].info.height; - - // Load pixel - //t[0] = ros::Time::now(); - unsigned int pixels_size = width * height; - unsigned char* pixels = new unsigned char[pixels_size]; - memset(pixels, 255, pixels_size); - unsigned int num_pixels_to_copy = pixels_size; - if( pixels_size != current_map_->maps[k].data.size() ) - if( current_map_->maps[k].data.size() < pixels_size ) - num_pixels_to_copy = current_map_->maps[k].data.size(); - for( unsigned int pixel_index = 0; pixel_index < num_pixels_to_copy; pixel_index++ ) - { - unsigned char val; - int8_t data = current_map_->maps[k].data[ pixel_index ]; - if(data > 0) - val = 255; - else if(data < 0) - val = 180; - else - val = 0; - pixels[ pixel_index ] = val; - } -/* - int pixels_size = current_map_->maps[k].data.size(); - unsigned char* pixels = new unsigned char[pixels_size]; - memcpy(pixels, ¤t_map_->maps[k].data[0], pixels_size); -*/ - // Set texture - //t[1] = ros::Time::now(); - Ogre::DataStreamPtr pixel_stream; - pixel_stream.bind( new Ogre::MemoryDataStream( pixels, pixels_size )); - static int tex_count = 0; - std::stringstream ss1; - ss1 << "MultiMapTexture" << tex_count++; - Ogre::TexturePtr _texture_; - //t[2] = ros::Time::now(); - _texture_ = Ogre::TextureManager::getSingleton().loadRawData( ss1.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, - pixel_stream, width, height, Ogre::PF_L8, Ogre::TEX_TYPE_2D, 0); - //t[3] = ros::Time::now(); - texture_.push_back(_texture_); - delete [] pixels; - setStatus( StatusProperty::Ok, "Map", "Map OK" ); - //t[4] = ros::Time::now(); - - // Set material - static int material_count = 0; - std::stringstream ss0; - ss0 << "MultiMapObjectMaterial" << material_count++; - Ogre::MaterialPtr _material_; - _material_ = Ogre::MaterialManager::getSingleton().create( ss0.str(), - Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME ); - _material_->setReceiveShadows(false); - _material_->getTechnique(0)->setLightingEnabled(false); - _material_->setDepthBias( -16.0f, 0.0f ); - _material_->setCullingMode( Ogre::CULL_NONE ); - _material_->setDepthWriteEnabled(false); - material_.push_back(_material_); - material_.back()->setSceneBlending( Ogre::SBT_TRANSPARENT_COLOUR ); - material_.back()->setDepthWriteEnabled( false ); - Ogre::Pass* pass = material_.back()->getTechnique(0)->getPass(0); - Ogre::TextureUnitState* tex_unit = NULL; - if (pass->getNumTextureUnitStates() > 0) - tex_unit = pass->getTextureUnitState(0); - else - tex_unit = pass->createTextureUnitState(); - tex_unit->setTextureName(texture_.back()->getName()); - tex_unit->setTextureFiltering( Ogre::TFO_NONE ); - - // Set manual object - static int map_count = 0; - std::stringstream ss2; - ss2 << "MultiMapObject" << map_count++; - Ogre::ManualObject* _manual_object_ = scene_manager_->createManualObject( ss2.str() ); - manual_object_.push_back(_manual_object_); - scene_node_->attachObject( manual_object_.back() ); - float yo = tf::getYaw(current_map_->origins[k].orientation); - float co = cos(yo); - float so = sin(yo); - float dxo = current_map_->origins[k].position.x; - float dyo = current_map_->origins[k].position.y; - float ym = tf::getYaw(current_map_->maps[k].info.origin.orientation); - float dxm = current_map_->maps[k].info.origin.position.x; - float dym = current_map_->maps[k].info.origin.position.y; - float yaw = yo + ym; - float c = cos(yaw); - float s = sin(yaw); - float dx = co * dxm - so * dym + dxo; - float dy = so * dxm + co * dym + dyo; - float x = 0.0; - float y = 0.0; - manual_object_.back()->begin(material_.back()->getName(), Ogre::RenderOperation::OT_TRIANGLE_LIST); - { - // First triangle - { - // Bottom left - x = c * 0.0 - s * 0.0 + dx; - y = s * 0.0 + c * 0.0 + dy; - manual_object_.back()->position( x, y, 0.0f ); - manual_object_.back()->textureCoord(0.0f, 0.0f); - manual_object_.back()->normal( 0.0f, 0.0f, 1.0f ); - - // Top right - x = c * resolution*width - s * resolution*height + dx; - y = s * resolution*width + c * resolution*height + dy; - manual_object_.back()->position( x, y, 0.0f ); - manual_object_.back()->textureCoord(1.0f, 1.0f); - manual_object_.back()->normal( 0.0f, 0.0f, 1.0f ); - - // Top left - x = c * 0.0 - s * resolution*height + dx; - y = s * 0.0 + c * resolution*height + dy; - manual_object_.back()->position( x, y, 0.0f ); - manual_object_.back()->textureCoord(0.0f, 1.0f); - manual_object_.back()->normal( 0.0f, 0.0f, 1.0f ); - } - - // Second triangle - { - // Bottom left - x = c * 0.0 - s * 0.0 + dx; - y = s * 0.0 + c * 0.0 + dy; - manual_object_.back()->position( x, y, 0.0f ); - manual_object_.back()->textureCoord(0.0f, 0.0f); - manual_object_.back()->normal( 0.0f, 0.0f, 1.0f ); - - // Bottom right - x = c * resolution*width - s * 0.0 + dx; - y = s * resolution*width + c * 0.0 + dy; - manual_object_.back()->position( x, y, 0.0f ); - manual_object_.back()->textureCoord(1.0f, 0.0f); - manual_object_.back()->normal( 0.0f, 0.0f, 1.0f ); - - // Top right - x = c * resolution*width - s * resolution*height + dx; - y = s * resolution*width + c * resolution*height + dy; - manual_object_.back()->position( x, y, 0.0f ); - manual_object_.back()->textureCoord(1.0f, 1.0f); - manual_object_.back()->normal( 0.0f, 0.0f, 1.0f ); - } - } - manual_object_.back()->end(); - if( draw_under_property_->getValue().toBool() ) - manual_object_.back()->setRenderQueueGroup(Ogre::RENDER_QUEUE_4); - - //for (int i = 0; i < 4; i++) - // dt[i] += (t[i+1] - t[i]).toSec(); - } - loaded_ = true; - context_->queueRender(); - //ROS_ERROR("RVIZ MAP: %f %f %f %f", dt[0],dt[1],dt[2],dt[3]); -} - -// *********************************************************************************************************************************** - -void MultiProbMapDisplay::incomingMap(const multi_map_server::MultiOccupancyGrid::ConstPtr& msg) -{ - updated_map_ = msg; - boost::mutex::scoped_lock lock(mutex_); - new_map_ = true; -} - -void MultiProbMapDisplay::reset() -{ - Display::reset(); - clear(); - updateTopic(); -} - -} // namespace rviz - -#include -PLUGINLIB_EXPORT_CLASS( rviz::MultiProbMapDisplay, rviz::Display ) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.h deleted file mode 100644 index 7c23b29..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.h +++ /dev/null @@ -1,113 +0,0 @@ -/* - * Copyright (c) 2012, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef MULTI_PROB_MAP_DISPLAY_H -#define MULTI_PROB_MAP_DISPLAY_H - -#include -#include -#include - -#include -#include - -#include -#include - -#include "rviz/display.h" - -namespace Ogre -{ -class ManualObject; -} - -namespace rviz -{ - -class FloatProperty; -class IntProperty; -class Property; -class QuaternionProperty; -class RosTopicProperty; -class VectorProperty; - -/** - * \class MultiProbMapDisplay - * \brief Displays a map along the XY plane. - */ -class MultiProbMapDisplay : public Display -{ - Q_OBJECT -public: - MultiProbMapDisplay(); - virtual ~MultiProbMapDisplay(); - - // Overrides from Display - virtual void onInitialize(); - virtual void reset(); - virtual void update(float wall_dt, float ros_dt); - -protected Q_SLOTS: - void updateTopic(); - void updateDrawUnder(); - -protected: - // overrides from Display - virtual void onEnable(); - virtual void onDisable(); - - virtual void subscribe(); - virtual void unsubscribe(); - - void incomingMap(const multi_map_server::MultiOccupancyGrid::ConstPtr& msg); - - void clear(); - - std::vector manual_object_; - std::vector texture_; - std::vector material_; - - bool loaded_; - - std::string topic_; - - ros::Subscriber map_sub_; - - RosTopicProperty* topic_property_; - Property* draw_under_property_; - - multi_map_server::MultiOccupancyGrid::ConstPtr updated_map_; - multi_map_server::MultiOccupancyGrid::ConstPtr current_map_; - boost::mutex mutex_; - bool new_map_; -}; - -} // namespace rviz - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/pose_tool.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/pose_tool.cpp deleted file mode 100644 index e7dd561..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/pose_tool.cpp +++ /dev/null @@ -1,170 +0,0 @@ -/* - * Copyright (c) 2008, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include -#include -#include -#include - -#include "rviz/geometry.h" -#include "rviz/load_resource.h" -#include "rviz/ogre_helpers/arrow.h" -#include "rviz/render_panel.h" -#include "rviz/viewport_mouse_event.h" - -#include "pose_tool.h" - -namespace rviz -{ - -Pose3DTool::Pose3DTool() - : Tool() - , arrow_(NULL) -{ -} - -Pose3DTool::~Pose3DTool() -{ - delete arrow_; -} - -void -Pose3DTool::onInitialize() -{ - arrow_ = new Arrow(scene_manager_, NULL, 2.0f, 0.2f, 0.5f, 0.35f); - arrow_->setColor(0.0f, 1.0f, 0.0f, 1.0f); - arrow_->getSceneNode()->setVisible(false); -} - -void -Pose3DTool::activate() -{ - setStatus("Click and drag mouse to set position/orientation."); - state_ = Position; -} - -void -Pose3DTool::deactivate() -{ - arrow_->getSceneNode()->setVisible(false); -} - -int -Pose3DTool::processMouseEvent(ViewportMouseEvent& event) -{ - int flags = 0; - static Ogre::Vector3 ang_pos; - static double initz; - static double prevz; - static double prevangle; - const double z_scale = 50; - const double z_interval = 0.5; - Ogre::Quaternion orient_x = - Ogre::Quaternion(Ogre::Radian(Ogre::Math::HALF_PI), Ogre::Vector3::UNIT_Z); - - if (event.leftDown()) - { - ROS_ASSERT(state_ == Position); - Ogre::Vector3 intersection; - Ogre::Plane ground_plane(Ogre::Vector3::UNIT_Z, 0.0f); - if (getPointOnPlaneFromWindowXY(event.viewport, ground_plane, event.x, - event.y, intersection)) - { - pos_ = intersection; - arrow_->setPosition(pos_); - state_ = Orientation; - flags |= Render; - } - } - else if (event.type == QEvent::MouseMove && event.left()) - { - if (state_ == Orientation) - { - // compute angle in x-y plane - Ogre::Vector3 cur_pos; - Ogre::Plane ground_plane(Ogre::Vector3::UNIT_Z, 0.0f); - if (getPointOnPlaneFromWindowXY(event.viewport, ground_plane, event.x, - event.y, cur_pos)) - { - double angle = atan2(cur_pos.y - pos_.y, cur_pos.x - pos_.x); - arrow_->getSceneNode()->setVisible(true); - arrow_->setOrientation(Ogre::Quaternion(orient_x)); - if (event.right()) - state_ = Height; - initz = pos_.z; - prevz = event.y; - prevangle = angle; - flags |= Render; - } - } - if (state_ == Height) - { - double z = event.y; - double dz = z - prevz; - prevz = z; - pos_.z -= dz / z_scale; - arrow_->setPosition(pos_); - // Create a list of arrows - for (int k = 0; k < arrow_array.size(); k++) - delete arrow_array[k]; - arrow_array.clear(); - int cnt = ceil(fabs(initz - pos_.z) / z_interval); - for (int k = 0; k < cnt; k++) - { - Arrow* arrow__; - arrow__ = new Arrow(scene_manager_, NULL, 0.5f, 0.1f, 0.0f, 0.1f); - arrow__->setColor(0.0f, 1.0f, 0.0f, 1.0f); - arrow__->getSceneNode()->setVisible(true); - Ogre::Vector3 arr_pos = pos_; - arr_pos.z = initz - ((initz - pos_.z > 0) ? 1 : -1) * k * z_interval; - arrow__->setPosition(arr_pos); - arrow__->setOrientation( - Ogre::Quaternion(Ogre::Radian(prevangle), Ogre::Vector3::UNIT_Z) * - orient_x); - arrow_array.push_back(arrow__); - } - flags |= Render; - } - } - else if (event.leftUp()) - { - if (state_ == Orientation || state_ == Height) - { - // Create a list of arrows - for (int k = 0; k < arrow_array.size(); k++) - delete arrow_array[k]; - arrow_array.clear(); - onPoseSet(pos_.x, pos_.y, pos_.z, prevangle); - flags |= (Finished | Render); - } - } - - return flags; -} -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/pose_tool.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/pose_tool.h deleted file mode 100644 index ff9f08d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/pose_tool.h +++ /dev/null @@ -1,77 +0,0 @@ -/* - * Copyright (c) 2008, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef RVIZ_POSE_TOOL_H -#define RVIZ_POSE_TOOL_H - -#include - -#include - -#include - -#include "rviz/tool.h" - -namespace rviz -{ -class Arrow; -class DisplayContext; - -class Pose3DTool : public Tool -{ -public: - Pose3DTool(); - virtual ~Pose3DTool(); - - virtual void onInitialize(); - - virtual void activate(); - virtual void deactivate(); - - virtual int processMouseEvent(ViewportMouseEvent& event); - -protected: - virtual void onPoseSet(double x, double y, double z, double theta) = 0; - - Arrow* arrow_; - std::vector arrow_array; - - enum State - { - Position, - Orientation, - Height - }; - State state_; - - Ogre::Vector3 pos_; -}; -} - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/probmap_display.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/probmap_display.cpp deleted file mode 100644 index 77f41db..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/probmap_display.cpp +++ /dev/null @@ -1,566 +0,0 @@ -/* - * Copyright (c) 2008, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include - -#include -#include -#include -#include -#include - -#include - -#include - -#include "rviz/display_context.h" -#include "rviz/frame_manager.h" -#include "rviz/ogre_helpers/grid.h" -#include "rviz/properties/float_property.h" -#include "rviz/properties/int_property.h" -#include "rviz/properties/property.h" -#include "rviz/properties/quaternion_property.h" -#include "rviz/properties/ros_topic_property.h" -#include "rviz/properties/vector_property.h" -#include "rviz/validate_floats.h" - -#include "probmap_display.h" - -namespace rviz -{ - -ProbMapDisplay::ProbMapDisplay() - : Display() - , manual_object_(NULL) - //! @bug cannot compile @gcc-5 or later, material_(0) - , loaded_(false) - , resolution_(0.0f) - , width_(0) - , height_(0) - , position_(Ogre::Vector3::ZERO) - , orientation_(Ogre::Quaternion::IDENTITY) - , new_map_(false) -{ - topic_property_ = new RosTopicProperty( - "Topic", "", QString::fromStdString( - ros::message_traits::datatype()), - "nav_msgs::OccupancyGrid topic to subscribe to.", this, - SLOT(updateTopic())); - - alpha_property_ = new FloatProperty( - "Alpha", 0.7, "Amount of transparency to apply to the map.", this, - SLOT(updateAlpha())); - alpha_property_->setMin(0); - alpha_property_->setMax(1); - - draw_under_property_ = - new Property("Draw Behind", false, - "Rendering option, controls whether or not the map is always" - " drawn behind everything else.", - this, SLOT(updateDrawUnder())); - - resolution_property_ = new FloatProperty( - "Resolution", 0, "Resolution of the map. (not editable)", this); - resolution_property_->setReadOnly(true); - - width_property_ = new IntProperty( - "Width", 0, "Width of the map, in meters. (not editable)", this); - width_property_->setReadOnly(true); - - height_property_ = new IntProperty( - "Height", 0, "Height of the map, in meters. (not editable)", this); - height_property_->setReadOnly(true); - - position_property_ = new VectorProperty( - "Position", Ogre::Vector3::ZERO, - "Position of the bottom left corner of the map, in meters. (not editable)", - this); - position_property_->setReadOnly(true); - - orientation_property_ = - new QuaternionProperty("Orientation", Ogre::Quaternion::IDENTITY, - "Orientation of the map. (not editable)", this); - orientation_property_->setReadOnly(true); -} - -ProbMapDisplay::~ProbMapDisplay() -{ - unsubscribe(); - clear(); -} - -void -ProbMapDisplay::onInitialize() -{ - static int count = 0; - std::stringstream ss; - ss << "MapObjectMaterial" << count++; - material_ = Ogre::MaterialManager::getSingleton().create( - ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); - material_->setReceiveShadows(false); - material_->getTechnique(0)->setLightingEnabled(false); - material_->setDepthBias(-16.0f, 0.0f); - material_->setCullingMode(Ogre::CULL_NONE); - material_->setDepthWriteEnabled(false); - - updateAlpha(); -} - -void -ProbMapDisplay::onEnable() -{ - subscribe(); -} - -void -ProbMapDisplay::onDisable() -{ - unsubscribe(); - clear(); -} - -void -ProbMapDisplay::subscribe() -{ - if (!isEnabled()) - { - return; - } - - if (!topic_property_->getTopic().isEmpty()) - { - try - { - map_sub_ = update_nh_.subscribe(topic_property_->getTopicStd(), 1, - &ProbMapDisplay::incomingMap, this); - setStatus(StatusProperty::Ok, "Topic", "OK"); - } - catch (ros::Exception& e) - { - setStatus(StatusProperty::Error, "Topic", - QString("Error subscribing: ") + e.what()); - } - } -} - -void -ProbMapDisplay::unsubscribe() -{ - map_sub_.shutdown(); -} - -void -ProbMapDisplay::updateAlpha() -{ - float alpha = alpha_property_->getFloat(); - - Ogre::Pass* pass = material_->getTechnique(0)->getPass(0); - Ogre::TextureUnitState* tex_unit = NULL; - if (pass->getNumTextureUnitStates() > 0) - { - tex_unit = pass->getTextureUnitState(0); - } - else - { - tex_unit = pass->createTextureUnitState(); - } - - tex_unit->setAlphaOperation(Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL, - Ogre::LBS_CURRENT, alpha); - - if (alpha < 0.9998) - { - material_->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); - material_->setDepthWriteEnabled(false); - } - else - { - material_->setSceneBlending(Ogre::SBT_REPLACE); - material_->setDepthWriteEnabled(!draw_under_property_->getValue().toBool()); - } -} - -void -ProbMapDisplay::updateDrawUnder() -{ - bool draw_under = draw_under_property_->getValue().toBool(); - - if (alpha_property_->getFloat() >= 0.9998) - { - material_->setDepthWriteEnabled(!draw_under); - } - - if (manual_object_) - { - if (draw_under) - { - manual_object_->setRenderQueueGroup(Ogre::RENDER_QUEUE_4); - } - else - { - manual_object_->setRenderQueueGroup(Ogre::RENDER_QUEUE_MAIN); - } - } -} - -void -ProbMapDisplay::updateTopic() -{ - unsubscribe(); - subscribe(); - clear(); -} - -void -ProbMapDisplay::clear() -{ - setStatus(StatusProperty::Warn, "Message", "No map received"); - - if (!loaded_) - { - return; - } - - scene_manager_->destroyManualObject(manual_object_); - manual_object_ = NULL; - - std::string tex_name = texture_->getName(); - texture_.setNull(); - Ogre::TextureManager::getSingleton().unload(tex_name); - - loaded_ = false; -} - -bool -validateFloats(const nav_msgs::OccupancyGrid& msg) -{ - bool valid = true; - valid = valid && validateFloats(msg.info.resolution); - valid = valid && validateFloats(msg.info.origin); - return valid; -} - -void -ProbMapDisplay::update(float wall_dt, float ros_dt) -{ - { - boost::mutex::scoped_lock lock(mutex_); - - current_map_ = updated_map_; - } - - if (!current_map_ || !new_map_) - { - return; - } - - if (current_map_->data.empty()) - { - return; - } - - new_map_ = false; - - if (!validateFloats(*current_map_)) - { - setStatus(StatusProperty::Error, "Map", - "Message contained invalid floating point values (nans or infs)"); - return; - } - - if (current_map_->info.width * current_map_->info.height == 0) - { - std::stringstream ss; - ss << "Map is zero-sized (" << current_map_->info.width << "x" - << current_map_->info.height << ")"; - setStatus(StatusProperty::Error, "Map", QString::fromStdString(ss.str())); - return; - } - - clear(); - - setStatus(StatusProperty::Ok, "Message", "Map received"); - - ROS_DEBUG("Received a %d X %d map @ %.3f m/pix\n", current_map_->info.width, - current_map_->info.height, current_map_->info.resolution); - - float resolution = current_map_->info.resolution; - - int width = current_map_->info.width; - int height = current_map_->info.height; - - Ogre::Vector3 position(current_map_->info.origin.position.x, - current_map_->info.origin.position.y, - current_map_->info.origin.position.z); - Ogre::Quaternion orientation(current_map_->info.origin.orientation.w, - current_map_->info.origin.orientation.x, - current_map_->info.origin.orientation.y, - current_map_->info.origin.orientation.z); - frame_ = current_map_->header.frame_id; - if (frame_.empty()) - { - frame_ = "/map"; - } - - // Expand it to be RGB data - unsigned int pixels_size = width * height; - unsigned char* pixels = new unsigned char[pixels_size]; - memset(pixels, 255, pixels_size); - - bool map_status_set = false; - unsigned int num_pixels_to_copy = pixels_size; - if (pixels_size != current_map_->data.size()) - { - std::stringstream ss; - ss << "Data size doesn't match width*height: width = " << width - << ", height = " << height - << ", data size = " << current_map_->data.size(); - setStatus(StatusProperty::Error, "Map", QString::fromStdString(ss.str())); - map_status_set = true; - - // Keep going, but don't read past the end of the data. - if (current_map_->data.size() < pixels_size) - { - num_pixels_to_copy = current_map_->data.size(); - } - } - - // TODO: a fragment shader could do this on the video card, and - // would allow a non-grayscale color to mark the out-of-range - // values. - for (unsigned int pixel_index = 0; pixel_index < num_pixels_to_copy; - pixel_index++) - { - unsigned char val; - int8_t data = current_map_->data[pixel_index]; - if (data > 0) - val = 0; - else if (data < 0) - val = 255; - else - val = 127; - pixels[pixel_index] = val; - } - - Ogre::DataStreamPtr pixel_stream; - pixel_stream.bind(new Ogre::MemoryDataStream(pixels, pixels_size)); - static int tex_count = 0; - std::stringstream ss; - ss << "MapTexture" << tex_count++; - try - { - texture_ = Ogre::TextureManager::getSingleton().loadRawData( - ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, - pixel_stream, width, height, Ogre::PF_L8, Ogre::TEX_TYPE_2D, 0); - - if (!map_status_set) - { - setStatus(StatusProperty::Ok, "Map", "Map OK"); - } - } - catch (Ogre::RenderingAPIException&) - { - Ogre::Image image; - pixel_stream->seek(0); - float fwidth = width; - float fheight = height; - if (width > height) - { - float aspect = fheight / fwidth; - fwidth = 2048; - fheight = fwidth * aspect; - } - else - { - float aspect = fwidth / fheight; - fheight = 2048; - fwidth = fheight * aspect; - } - - { - std::stringstream ss; - ss - << "Map is larger than your graphics card supports. Downsampled from [" - << width << "x" << height << "] to [" << fwidth << "x" << fheight - << "]"; - setStatus(StatusProperty::Ok, "Map", QString::fromStdString(ss.str())); - } - - ROS_WARN("Failed to create full-size map texture, likely because your " - "graphics card does not support textures of size > 2048. " - "Downsampling to [%d x %d]...", - (int)fwidth, (int)fheight); - // ROS_INFO("Stream size [%d], width [%f], height [%f], w * h [%f]", - // pixel_stream->size(), width, height, width * height); - image.loadRawData(pixel_stream, width, height, Ogre::PF_L8); - image.resize(fwidth, fheight, Ogre::Image::FILTER_NEAREST); - ss << "Downsampled"; - texture_ = Ogre::TextureManager::getSingleton().loadImage( - ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, image); - } - - delete[] pixels; - - Ogre::Pass* pass = material_->getTechnique(0)->getPass(0); - Ogre::TextureUnitState* tex_unit = NULL; - if (pass->getNumTextureUnitStates() > 0) - { - tex_unit = pass->getTextureUnitState(0); - } - else - { - tex_unit = pass->createTextureUnitState(); - } - - tex_unit->setTextureName(texture_->getName()); - tex_unit->setTextureFiltering(Ogre::TFO_NONE); - - static int map_count = 0; - std::stringstream ss2; - ss2 << "MapObject" << map_count++; - manual_object_ = scene_manager_->createManualObject(ss2.str()); - scene_node_->attachObject(manual_object_); - - manual_object_->begin(material_->getName(), - Ogre::RenderOperation::OT_TRIANGLE_LIST); - { - // First triangle - { - // Bottom left - manual_object_->position(0.0f, 0.0f, 0.0f); - manual_object_->textureCoord(0.0f, 0.0f); - manual_object_->normal(0.0f, 0.0f, 1.0f); - - // Top right - manual_object_->position(resolution * width, resolution * height, 0.0f); - manual_object_->textureCoord(1.0f, 1.0f); - manual_object_->normal(0.0f, 0.0f, 1.0f); - - // Top left - manual_object_->position(0.0f, resolution * height, 0.0f); - manual_object_->textureCoord(0.0f, 1.0f); - manual_object_->normal(0.0f, 0.0f, 1.0f); - } - - // Second triangle - { - // Bottom left - manual_object_->position(0.0f, 0.0f, 0.0f); - manual_object_->textureCoord(0.0f, 0.0f); - manual_object_->normal(0.0f, 0.0f, 1.0f); - - // Bottom right - manual_object_->position(resolution * width, 0.0f, 0.0f); - manual_object_->textureCoord(1.0f, 0.0f); - manual_object_->normal(0.0f, 0.0f, 1.0f); - - // Top right - manual_object_->position(resolution * width, resolution * height, 0.0f); - manual_object_->textureCoord(1.0f, 1.0f); - manual_object_->normal(0.0f, 0.0f, 1.0f); - } - } - manual_object_->end(); - - if (draw_under_property_->getValue().toBool()) - { - manual_object_->setRenderQueueGroup(Ogre::RENDER_QUEUE_4); - } - - resolution_property_->setValue(resolution); - width_property_->setValue(width); - height_property_->setValue(height); - position_property_->setVector(position); - orientation_property_->setQuaternion(orientation); - - transformMap(); - - loaded_ = true; - - context_->queueRender(); -} - -void -ProbMapDisplay::incomingMap(const nav_msgs::OccupancyGrid::ConstPtr& msg) -{ - - updated_map_ = msg; - boost::mutex::scoped_lock lock(mutex_); - new_map_ = true; -} - -void -ProbMapDisplay::transformMap() -{ - if (!current_map_) - { - return; - } - - Ogre::Vector3 position; - Ogre::Quaternion orientation; - if (!context_->getFrameManager()->transform( - frame_, ros::Time(), current_map_->info.origin, position, orientation)) - { - ROS_DEBUG("Error transforming map '%s' from frame '%s' to frame '%s'", - qPrintable(getName()), frame_.c_str(), qPrintable(fixed_frame_)); - - setStatus(StatusProperty::Error, "Transform", - "No transform from [" + QString::fromStdString(frame_) + - "] to [" + fixed_frame_ + "]"); - } - else - { - setStatus(StatusProperty::Ok, "Transform", "Transform OK"); - } - - scene_node_->setPosition(position); - scene_node_->setOrientation(orientation); -} - -void -ProbMapDisplay::fixedFrameChanged() -{ - transformMap(); -} - -void -ProbMapDisplay::reset() -{ - Display::reset(); - - clear(); - // Force resubscription so that the map will be re-sent - updateTopic(); -} - -} // namespace rviz - -#include -PLUGINLIB_EXPORT_CLASS(rviz::ProbMapDisplay, rviz::Display) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/probmap_display.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/probmap_display.h deleted file mode 100644 index 332def2..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/rviz_plugins/src/probmap_display.h +++ /dev/null @@ -1,134 +0,0 @@ -/* - * Copyright (c) 2012, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef PROB_MAP_DISPLAY_H -#define PROB_MAP_DISPLAY_H - -#include -#include -#include - -#include -#include - -#include - -#include "rviz/display.h" - -namespace Ogre -{ -class ManualObject; -} - -namespace rviz -{ - -class FloatProperty; -class IntProperty; -class Property; -class QuaternionProperty; -class RosTopicProperty; -class VectorProperty; - -/** - * \class ProbMapDisplay - * \brief Displays a map along the XY plane. - */ -class ProbMapDisplay: public Display -{ -Q_OBJECT -public: - ProbMapDisplay(); - virtual ~ProbMapDisplay(); - - // Overrides from Display - virtual void onInitialize(); - virtual void fixedFrameChanged(); - virtual void reset(); - virtual void update( float wall_dt, float ros_dt ); - - float getResolution() { return resolution_; } - int getWidth() { return width_; } - int getHeight() { return height_; } - Ogre::Vector3 getPosition() { return position_; } - Ogre::Quaternion getOrientation() { return orientation_; } - -protected Q_SLOTS: - void updateAlpha(); - void updateTopic(); - void updateDrawUnder(); - - -protected: - // overrides from Display - virtual void onEnable(); - virtual void onDisable(); - - virtual void subscribe(); - virtual void unsubscribe(); - - void incomingMap(const nav_msgs::OccupancyGrid::ConstPtr& msg); - - void clear(); - - void transformMap(); - - Ogre::ManualObject* manual_object_; - Ogre::TexturePtr texture_; - Ogre::MaterialPtr material_; - bool loaded_; - - std::string topic_; - float resolution_; - int width_; - int height_; - Ogre::Vector3 position_; - Ogre::Quaternion orientation_; - std::string frame_; - - ros::Subscriber map_sub_; - - RosTopicProperty* topic_property_; - FloatProperty* resolution_property_; - IntProperty* width_property_; - IntProperty* height_property_; - VectorProperty* position_property_; - QuaternionProperty* orientation_property_; - FloatProperty* alpha_property_; - Property* draw_under_property_; - - nav_msgs::OccupancyGrid::ConstPtr updated_map_; - nav_msgs::OccupancyGrid::ConstPtr current_map_; - boost::mutex mutex_; - bool new_map_; -}; - -} // namespace rviz - - #endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/CMakeLists.txt deleted file mode 100644 index 6a90552..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/CMakeLists.txt +++ /dev/null @@ -1,100 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(uav_utils) - -## Turn on verbose output -set(CMAKE_VERBOSE_MAKEFILE "false") - -## Enable C++11 -include(CheckCXXCompilerFlag) -CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) -CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) -if(COMPILER_SUPPORTS_CXX11) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") -elseif(COMPILER_SUPPORTS_CXX0X) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") -else() - message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") -endif() - -## Add some compile flags -set(ADDITIONAL_CXX_FLAG "-Wall -O3 -g") -set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${ADDITIONAL_CXX_FLAG}") - -## Find catkin macros and libraries -find_package(catkin REQUIRED COMPONENTS - roscpp - rospy - cmake_utils -) - - -find_package(Eigen REQUIRED) # try to find manually installed eigen (Usually in /usr/local with provided FindEigen3.cmake) - -################################### -## catkin specific configuration ## -################################### -catkin_package( - INCLUDE_DIRS include - # LIBRARIES uav_utils - CATKIN_DEPENDS roscpp rospy - # DEPENDS system_lib -) - -########### -## Build ## -########### - - -include_directories( - include - ${EIGEN_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} -) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS geometry_utils geometry_utils_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.h" - PATTERN ".svn" EXCLUDE -) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -catkin_add_gtest(${PROJECT_NAME}-test src/${PROJECT_NAME}_test.cpp) -if(TARGET ${PROJECT_NAME}-test) - target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/include/uav_utils/converters.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/include/uav_utils/converters.h deleted file mode 100644 index 9932731..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/include/uav_utils/converters.h +++ /dev/null @@ -1,95 +0,0 @@ -#ifndef __UAVUTILS_CONVERTERS_H -#define __UAVUTILS_CONVERTERS_H - -#include -#include -#include -#include - -#include -#include -#include - -namespace uav_utils { - -inline void extract_odometry(nav_msgs::OdometryConstPtr msg, Eigen::Vector3d& p, - Eigen::Vector3d& v, Eigen::Quaterniond& q) -{ - p(0) = msg->pose.pose.position.x; - p(1) = msg->pose.pose.position.y; - p(2) = msg->pose.pose.position.z; - - v(0) = msg->twist.twist.linear.x; - v(1) = msg->twist.twist.linear.y; - v(2) = msg->twist.twist.linear.z; - - q.w() = msg->pose.pose.orientation.w; - q.x() = msg->pose.pose.orientation.x; - q.y() = msg->pose.pose.orientation.y; - q.z() = msg->pose.pose.orientation.z; -} - -inline void extract_odometry(nav_msgs::OdometryConstPtr msg, Eigen::Vector3d& p, - Eigen::Vector3d& v, Eigen::Quaterniond& q, Eigen::Vector3d& w) -{ - extract_odometry(msg, p, v, q); - - w(0) = msg->twist.twist.angular.x; - w(1) = msg->twist.twist.angular.y; - w(2) = msg->twist.twist.angular.z; -} - - -template -Eigen::Matrix from_vector3_msg(const geometry_msgs::Vector3& msg) { - return Eigen::Matrix(msg.x, msg.y, msg.z); -} - -template -geometry_msgs::Vector3 to_vector3_msg(const Eigen::DenseBase& v) { - EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived); - EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 1, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - - geometry_msgs::Vector3 msg; - msg.x = v.x(); - msg.y = v.y(); - msg.z = v.z(); - return msg; -} - -template -Eigen::Matrix from_point_msg(const geometry_msgs::Point& msg) { - return Eigen::Matrix(msg.x, msg.y, msg.z); -} - -template -geometry_msgs::Point to_point_msg(const Eigen::DenseBase& v) { - EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived); - EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 1, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - - geometry_msgs::Point msg; - msg.x = v.x(); - msg.y = v.y(); - msg.z = v.z(); - return msg; -} - -template -Eigen::Quaternion from_quaternion_msg(const geometry_msgs::Quaternion& msg) { - return Eigen::Quaternion(msg.w, msg.x, msg.y, msg.z); -} - -template -geometry_msgs::Quaternion to_quaternion_msg(const Eigen::Quaternion& q) { - geometry_msgs::Quaternion msg; - msg.x = q.x(); - msg.y = q.y(); - msg.z = q.z(); - msg.w = q.w(); - return msg; -} -} - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/include/uav_utils/geometry_utils.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/include/uav_utils/geometry_utils.h deleted file mode 100644 index c3babb1..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/include/uav_utils/geometry_utils.h +++ /dev/null @@ -1,248 +0,0 @@ -#ifndef __GEOMETRY_UTILS_H -#define __GEOMETRY_UTILS_H - -#include - -/* clang-format off */ -namespace uav_utils { - -template -Scalar_t toRad(const Scalar_t& x) { - return x / 180.0 * M_PI; -} - -template -Scalar_t toDeg(const Scalar_t& x) { - return x * 180.0 / M_PI; -} - -template -Eigen::Matrix rotx(Scalar_t t) { - Eigen::Matrix R; - R(0, 0) = 1.0; - R(0, 1) = 0.0; - R(0, 2) = 0.0; - R(1, 0) = 0.0; - R(1, 1) = std::cos(t); - R(1, 2) = -std::sin(t); - R(2, 0) = 0.0; - R(2, 1) = std::sin(t); - R(2, 2) = std::cos(t); - - return R; -} - -template -Eigen::Matrix roty(Scalar_t t) { - Eigen::Matrix R; - R(0, 0) = std::cos(t); - R(0, 1) = 0.0; - R(0, 2) = std::sin(t); - R(1, 0) = 0.0; - R(1, 1) = 1.0; - R(1, 2) = 0; - R(2, 0) = -std::sin(t); - R(2, 1) = 0.0; - R(2, 2) = std::cos(t); - - return R; -} - -template -Eigen::Matrix rotz(Scalar_t t) { - Eigen::Matrix R; - R(0, 0) = std::cos(t); - R(0, 1) = -std::sin(t); - R(0, 2) = 0.0; - R(1, 0) = std::sin(t); - R(1, 1) = std::cos(t); - R(1, 2) = 0.0; - R(2, 0) = 0.0; - R(2, 1) = 0.0; - R(2, 2) = 1.0; - - return R; -} - -template -Eigen::Matrix ypr_to_R(const Eigen::DenseBase& ypr) { - EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived); - EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 1, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - - typename Derived::Scalar c, s; - - Eigen::Matrix Rz = Eigen::Matrix::Zero(); - typename Derived::Scalar y = ypr(0); - c = cos(y); - s = sin(y); - Rz(0, 0) = c; - Rz(1, 0) = s; - Rz(0, 1) = -s; - Rz(1, 1) = c; - Rz(2, 2) = 1; - - Eigen::Matrix Ry = Eigen::Matrix::Zero(); - typename Derived::Scalar p = ypr(1); - c = cos(p); - s = sin(p); - Ry(0, 0) = c; - Ry(2, 0) = -s; - Ry(0, 2) = s; - Ry(2, 2) = c; - Ry(1, 1) = 1; - - Eigen::Matrix Rx = Eigen::Matrix::Zero(); - typename Derived::Scalar r = ypr(2); - c = cos(r); - s = sin(r); - Rx(1, 1) = c; - Rx(2, 1) = s; - Rx(1, 2) = -s; - Rx(2, 2) = c; - Rx(0, 0) = 1; - - Eigen::Matrix R = Rz * Ry * Rx; - return R; -} - -template -Eigen::Matrix R_to_ypr(const Eigen::DenseBase& R) { - EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived); - EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - - Eigen::Matrix n = R.col(0); - Eigen::Matrix o = R.col(1); - Eigen::Matrix a = R.col(2); - - Eigen::Matrix ypr(3); - typename Derived::Scalar y = atan2(n(1), n(0)); - typename Derived::Scalar p = atan2(-n(2), n(0) * cos(y) + n(1) * sin(y)); - typename Derived::Scalar r = - atan2(a(0) * sin(y) - a(1) * cos(y), -o(0) * sin(y) + o(1) * cos(y)); - ypr(0) = y; - ypr(1) = p; - ypr(2) = r; - - return ypr; -} - -template -Eigen::Quaternion ypr_to_quaternion(const Eigen::DenseBase& ypr) { - EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived); - EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 1, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - - const typename Derived::Scalar cy = cos(ypr(0) / 2.0); - const typename Derived::Scalar sy = sin(ypr(0) / 2.0); - const typename Derived::Scalar cp = cos(ypr(1) / 2.0); - const typename Derived::Scalar sp = sin(ypr(1) / 2.0); - const typename Derived::Scalar cr = cos(ypr(2) / 2.0); - const typename Derived::Scalar sr = sin(ypr(2) / 2.0); - - Eigen::Quaternion q; - - q.w() = cr * cp * cy + sr * sp * sy; - q.x() = sr * cp * cy - cr * sp * sy; - q.y() = cr * sp * cy + sr * cp * sy; - q.z() = cr * cp * sy - sr * sp * cy; - - return q; -} - -template -Eigen::Matrix quaternion_to_ypr(const Eigen::Quaternion& q_) { - Eigen::Quaternion q = q_.normalized(); - - Eigen::Matrix ypr; - ypr(2) = atan2(2 * (q.w() * q.x() + q.y() * q.z()), 1 - 2 * (q.x() * q.x() + q.y() * q.y())); - ypr(1) = asin(2 * (q.w() * q.y() - q.z() * q.x())); - ypr(0) = atan2(2 * (q.w() * q.z() + q.x() * q.y()), 1 - 2 * (q.y() * q.y() + q.z() * q.z())); - - return ypr; -} - -template -Scalar_t get_yaw_from_quaternion(const Eigen::Quaternion& q) { - return quaternion_to_ypr(q)(0); -} - -template -Eigen::Quaternion yaw_to_quaternion(Scalar_t yaw) { - return Eigen::Quaternion(rotz(yaw)); -} - -template -Scalar_t normalize_angle(Scalar_t a) { - int cnt = 0; - while (true) { - cnt++; - - if (a < -M_PI) { - a += M_PI * 2.0; - } else if (a > M_PI) { - a -= M_PI * 2.0; - } - - if (-M_PI <= a && a <= M_PI) { - break; - }; - - assert(cnt < 10 && "[uav_utils/geometry_msgs] INVALID INPUT ANGLE"); - } - - return a; -} - -template -Scalar_t angle_add(Scalar_t a, Scalar_t b) { - Scalar_t c = a + b; - c = normalize_angle(c); - assert(-M_PI <= c && c <= M_PI); - return c; -} - -template -Scalar_t yaw_add(Scalar_t a, Scalar_t b) { - return angle_add(a, b); -} - -template -Eigen::Matrix get_skew_symmetric(const Eigen::DenseBase& v) { - EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived); - EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 1, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - - Eigen::Matrix M; - M.setZero(); - M(0, 1) = -v(2); - M(0, 2) = v(1); - M(1, 0) = v(2); - M(1, 2) = -v(0); - M(2, 0) = -v(1); - M(2, 1) = v(0); - return M; -} - -template -Eigen::Matrix from_skew_symmetric(const Eigen::DenseBase& M) { - EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived); - EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - - Eigen::Matrix v; - v(0) = M(2, 1); - v(1) = -M(2, 0); - v(2) = M(1, 0); - - assert(v.isApprox(Eigen::Matrix(-M(1, 2), M(0, 2), -M(0, 1)))); - - return v; -} - - -} // end of namespace uav_utils -/* clang-format on */ - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/include/uav_utils/utils.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/include/uav_utils/utils.h deleted file mode 100644 index 0ce4c28..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/include/uav_utils/utils.h +++ /dev/null @@ -1,59 +0,0 @@ -#ifndef __UAV_UTILS_H -#define __UAV_UTILS_H - -#include - -#include -#include - -namespace uav_utils -{ - -/* judge if value belongs to [low,high] */ -template -bool -in_range(T value, const T2& low, const T2& high) -{ - ROS_ASSERT_MSG(low < high, "%f < %f?", low, high); - return (low <= value) && (value <= high); -} - -/* judge if value belongs to [-limit, limit] */ -template -bool -in_range(T value, const T2& limit) -{ - ROS_ASSERT_MSG(limit > 0, "%f > 0?", limit); - return in_range(value, -limit, limit); -} - -template -void -limit_range(T& value, const T2& low, const T2& high) -{ - ROS_ASSERT_MSG(low < high, "%f < %f?", low, high); - if (value < low) - { - value = low; - } - - if (value > high) - { - value = high; - } - - return; -} - -template -void -limit_range(T& value, const T2& limit) -{ - ROS_ASSERT_MSG(limit > 0, "%f > 0?", limit); - limit_range(value, -limit, limit); -} - -typedef std::stringstream DebugSS_t; -} // end of namespace uav_utils - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/package.xml deleted file mode 100644 index db864b7..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/package.xml +++ /dev/null @@ -1,58 +0,0 @@ - - - uav_utils - 0.0.0 - The uav_utils package - - - - - LIU Tianbo - - - - - - LGPLv3 - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - rospy - cmake_modules - cmake_utils - roscpp - rospy - cmake_modules - cmake_utils - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/scripts/odom_to_euler.py b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/scripts/odom_to_euler.py deleted file mode 100644 index 92ac879..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/scripts/odom_to_euler.py +++ /dev/null @@ -1,69 +0,0 @@ -#!/usr/bin/env python - -import rospy -import numpy as np -import tf -from tf import transformations as tfs -from nav_msgs.msg import Odometry -from sensor_msgs.msg import Imu -from geometry_msgs.msg import Vector3Stamped -from sensor_msgs.msg import Joy - -pub = None -pub1 = None - -def callback(odom_msg): - q = np.array([odom_msg.pose.pose.orientation.x, - odom_msg.pose.pose.orientation.y, - odom_msg.pose.pose.orientation.z, - odom_msg.pose.pose.orientation.w]) - - e = tfs.euler_from_quaternion(q, 'rzyx') - - euler_msg = Vector3Stamped() - euler_msg.header = odom_msg.header - euler_msg.vector.z = e[0]*180.0/3.14159 - euler_msg.vector.y = e[1]*180.0/3.14159 - euler_msg.vector.x = e[2]*180.0/3.14159 - - pub.publish(euler_msg) - -def imu_callback(imu_msg): - q = np.array([imu_msg.orientation.x, - imu_msg.orientation.y, - imu_msg.orientation.z, - imu_msg.orientation.w]) - - e = tfs.euler_from_quaternion(q, 'rzyx') - - euler_msg = Vector3Stamped() - euler_msg.header = imu_msg.header - euler_msg.vector.z = e[0]*180.0/3.14159 - euler_msg.vector.y = e[1]*180.0/3.14159 - euler_msg.vector.x = e[2]*180.0/3.14159 - - pub1.publish(euler_msg) - -def joy_callback(joy_msg): - out_msg = Vector3Stamped() - out_msg.header = joy_msg.header - out_msg.vector.z = -joy_msg.axes[3] - out_msg.vector.y = joy_msg.axes[1] - out_msg.vector.x = joy_msg.axes[0] - - pub2.publish(out_msg) - - -if __name__ == "__main__": - rospy.init_node("odom_to_euler") - - pub = rospy.Publisher("~euler", Vector3Stamped, queue_size=10) - sub = rospy.Subscriber("~odom", Odometry, callback) - - pub1 = rospy.Publisher("~imueuler", Vector3Stamped, queue_size=10) - sub1 = rospy.Subscriber("~imu", Imu, imu_callback) - - pub2 = rospy.Publisher("~ctrlout", Vector3Stamped, queue_size=10) - sub2 = rospy.Subscriber("~ctrlin", Joy, joy_callback) - - rospy.spin() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/scripts/send_odom.py b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/scripts/send_odom.py deleted file mode 100644 index a08b586..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/scripts/send_odom.py +++ /dev/null @@ -1,42 +0,0 @@ -#!/usr/bin/env python - -import rospy -import numpy as np -import tf -from tf import transformations as tfs -from nav_msgs.msg import Odometry - -if __name__ == "__main__": - rospy.init_node("odom_sender") - - msg = Odometry() - - msg.header.stamp = rospy.Time.now()-rospy.Duration(0.2) - msg.header.frame_id = "world" - - q = tfs.quaternion_from_euler(0,0,0,"rzyx") - - msg.pose.pose.position.x = 0 - msg.pose.pose.position.y = 0 - msg.pose.pose.position.z = 0 - msg.twist.twist.linear.x = 0 - msg.twist.twist.linear.y = 0 - msg.twist.twist.linear.z = 0 - msg.pose.pose.orientation.x = q[0] - msg.pose.pose.orientation.y = q[1] - msg.pose.pose.orientation.z = q[2] - msg.pose.pose.orientation.w = q[3] - - print(msg) - - pub = rospy.Publisher("odom", Odometry, queue_size=10) - - counter = 0 - r = rospy.Rate(1) - - while not rospy.is_shutdown(): - counter += 1 - msg.header.stamp = rospy.Time.now()-rospy.Duration(0.2) - pub.publish(msg) - rospy.loginfo("Send %3d msg(s)."%counter) - r.sleep() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/scripts/tf_assist.py b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/scripts/tf_assist.py deleted file mode 100644 index 259e8a1..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/scripts/tf_assist.py +++ /dev/null @@ -1,162 +0,0 @@ -#!/usr/bin/env python - -import rospy -import numpy as np -import tf -from tf import transformations as tfs -from math import pi -from nav_msgs.msg import Odometry -from nav_msgs.msg import Path -from geometry_msgs.msg import PoseStamped -from sensor_msgs.msg import Imu -from sensor_msgs.msg import Joy - - -imu_pub = None -odom_pub = None -br = None - - -class OdometryConverter(object): - - def __init__(self, frame_id_in_, frame_id_out_, broadcast_tf_, body_frame_id_, intermediate_frame_id_, world_frame_id_): - self.frame_id_in = frame_id_in_ - self.frame_id_out = frame_id_out_ - self.broadcast_tf = broadcast_tf_ - self.body_frame_id = body_frame_id_ - self.intermediate_frame_id = intermediate_frame_id_ - self.world_frame_id = world_frame_id_ - self.in_odom_sub = None - self.out_odom_pub = None - self.out_path_pub = None - self.path_pub_timer = None - self.tf_pub_flag = True - if self.broadcast_tf: - rospy.loginfo('ROSTopic: [%s]->[%s] TF: [%s]-[%s]-[%s]', - self.frame_id_in, self.frame_id_out, self.body_frame_id, self.intermediate_frame_id, self.world_frame_id) - else: - rospy.loginfo('ROSTopic: [%s]->[%s] No TF', - self.frame_id_in, self.frame_id_out) - - self.path = [] - - def in_odom_callback(self, in_odom_msg): - q = np.array([in_odom_msg.pose.pose.orientation.x, - in_odom_msg.pose.pose.orientation.y, - in_odom_msg.pose.pose.orientation.z, - in_odom_msg.pose.pose.orientation.w]) - p = np.array([in_odom_msg.pose.pose.position.x, - in_odom_msg.pose.pose.position.y, - in_odom_msg.pose.pose.position.z]) - - e = tfs.euler_from_quaternion(q, 'rzyx') - wqb = tfs.quaternion_from_euler(e[0], e[1], e[2], 'rzyx') - wqc = tfs.quaternion_from_euler(e[0], 0.0, 0.0, 'rzyx') - - #### odom #### - odom_msg = in_odom_msg - assert(in_odom_msg.header.frame_id == self.frame_id_in) - odom_msg.header.frame_id = self.frame_id_out - odom_msg.child_frame_id = "" - self.out_odom_pub.publish(odom_msg) - - #### tf #### - if self.broadcast_tf and self.tf_pub_flag: - self.tf_pub_flag = False - if not self.frame_id_in == self.frame_id_out: - br.sendTransform((0.0, 0.0, 0.0), - tfs.quaternion_from_euler(0.0, 0.0, 0.0, 'rzyx'), - odom_msg.header.stamp, - self.frame_id_in, - self.frame_id_out) - - if not self.world_frame_id == self.frame_id_out: - br.sendTransform((0.0, 0.0, 0.0), - tfs.quaternion_from_euler(0.0, 0.0, 0.0, 'rzyx'), - odom_msg.header.stamp, - self.world_frame_id, - self.frame_id_out) - - br.sendTransform((p[0], p[1], p[2]), - wqb, - odom_msg.header.stamp, - self.body_frame_id, - self.world_frame_id) - - br.sendTransform(((p[0], p[1], p[2])), - wqc, - odom_msg.header.stamp, - self.intermediate_frame_id, - self.world_frame_id) - #### path #### - pose = PoseStamped() - pose.header = odom_msg.header - pose.pose.position.x = p[0] - pose.pose.position.y = p[1] - pose.pose.position.z = p[2] - pose.pose.orientation.x = q[0] - pose.pose.orientation.y = q[1] - pose.pose.orientation.z = q[2] - pose.pose.orientation.w = q[3] - - self.path.append(pose) - - def path_pub_callback(self, event): - if self.path: - path = Path() - path.header = self.path[-1].header - path.poses = self.path[-30000::1] - self.out_path_pub.publish(path) - - def tf_pub_callback(self, event): - self.tf_pub_flag = True - - -if __name__ == "__main__": - rospy.init_node('tf_assist') - - converters = [] - index = 0 - while True: - prefix = "~converter%d/" % index - try: - frame_id_in = rospy.get_param('%sframe_id_in' % prefix) - frame_id_out = rospy.get_param('%sframe_id_out' % prefix) - broadcast_tf = rospy.get_param('%sbroadcast_tf' % prefix, False) - body_frame_id = rospy.get_param('%sbody_frame_id' % prefix, 'body') - intermediate_frame_id = rospy.get_param( - '%sintermediate_frame_id' % prefix, 'intermediate') - world_frame_id = rospy.get_param( - '%sworld_frame_id' % prefix, 'world') - - converter = OdometryConverter( - frame_id_in, frame_id_out, broadcast_tf, body_frame_id, intermediate_frame_id, world_frame_id) - converter.in_odom_sub = rospy.Subscriber( - '%sin_odom' % prefix, Odometry, converter.in_odom_callback, tcp_nodelay=True) - converter.out_odom_pub = rospy.Publisher( - '%sout_odom' % prefix, Odometry, queue_size=10, tcp_nodelay=True) - converter.out_path_pub = rospy.Publisher( - '%sout_path' % prefix, Path, queue_size=10) - - converter.tf_pub_timer = rospy.Timer( - rospy.Duration(0.1), converter.tf_pub_callback) - - converter.path_pub_timer = rospy.Timer( - rospy.Duration(0.5), converter.path_pub_callback) - - index += 1 - except KeyError, e: - if index == 0: - raise(KeyError(e)) - else: - if index == 1: - rospy.loginfo( - 'prefix:"%s" not found. Generate %d converter.' % (prefix, index)) - else: - rospy.loginfo( - 'prefix:"%s" not found. Generate %d converters' % (prefix, index)) - break - - br = tf.TransformBroadcaster() - - rospy.spin() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/scripts/topic_statistics.py b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/scripts/topic_statistics.py deleted file mode 100644 index c69ffb6..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/scripts/topic_statistics.py +++ /dev/null @@ -1,15 +0,0 @@ -#!/usr/bin/env python - -import argparse as ap -import argcomplete - -def main(**args): - pass - -if __name__ == '__main__': - parser = ap.ArgumentParser() - parser.add_argument('positional', choices=['spam', 'eggs']) - parser.add_argument('--optional', choices=['foo1', 'foo2', 'bar']) - argcomplete.autocomplete(parser) - args = parser.parse_args() - main(**vars(args)) \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/src/uav_utils_test.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/src/uav_utils_test.cpp deleted file mode 100644 index 60da5af..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/src/uav_utils_test.cpp +++ /dev/null @@ -1,122 +0,0 @@ -#include -#include - -using namespace uav_utils; -using namespace Eigen; - -#define DOUBLE_EPS 1.0e-15 -#define FLOAT_EPS 1.0e-6 - -TEST(GeometryUtilsDouble, Rotation) { - Vector3d v(0.1, 0.2, 0.3); - ASSERT_TRUE(v.isApprox(R_to_ypr(ypr_to_R(v)),DOUBLE_EPS)); - ASSERT_TRUE(v.isApprox(quaternion_to_ypr(ypr_to_quaternion(v)),DOUBLE_EPS)); - ASSERT_TRUE(v.isApprox(R_to_ypr(rotz(v(0)) * roty(v(1)) * rotx(v(2))),DOUBLE_EPS)); - - double yaw = 30.0; - ASSERT_DOUBLE_EQ(30.0, toDeg(get_yaw_from_quaternion(yaw_to_quaternion(toRad(yaw))))); -} - -TEST(GeometryUtilsFloat, Rotation) { - Vector3f v(0.1, 0.2, 0.3); - ASSERT_TRUE(v.isApprox(R_to_ypr(ypr_to_R(v)),FLOAT_EPS)); - ASSERT_TRUE(v.isApprox(quaternion_to_ypr(ypr_to_quaternion(v)),FLOAT_EPS)); - ASSERT_TRUE(v.isApprox(R_to_ypr(rotz(v(0)) * roty(v(1)) * rotx(v(2))),FLOAT_EPS)); - - float yaw = 30.0; - ASSERT_FLOAT_EQ(30.0, toDeg(get_yaw_from_quaternion(yaw_to_quaternion(toRad(yaw))))); -} - -TEST(GeometryUtilsDouble, Skew) { - double v1 = 0.1; - double v2 = 0.2; - double v3 = 0.3; - Vector3d v(v1, v2, v3); - Matrix3d M; - M << .0, -v3, v2, - v3, .0, -v1, - -v2, v1, .0; - - ASSERT_TRUE(M.isApprox(get_skew_symmetric(v), DOUBLE_EPS)); - ASSERT_TRUE(v.isApprox(from_skew_symmetric(M), DOUBLE_EPS)); -} - -TEST(GeometryUtilsFloat, Skew) { - float v1 = 0.1; - float v2 = 0.2; - float v3 = 0.3; - Vector3f v(v1, v2, v3); - Matrix3f M; - M << .0, -v3, v2, - v3, .0, -v1, - -v2, v1, .0; - - ASSERT_TRUE(M.isApprox(get_skew_symmetric(v), FLOAT_EPS)); - ASSERT_TRUE(v.isApprox(from_skew_symmetric(M), FLOAT_EPS)); -} - -TEST(GeometryUtilsDouble, Angle) { - double a = toRad(179.0); - double b = toRad(2.0); - ASSERT_DOUBLE_EQ(-179.0, toDeg(angle_add(a, b))); - ASSERT_DOUBLE_EQ(-179.0, toDeg(yaw_add(a, b))); - ASSERT_DOUBLE_EQ(179.0, toDeg(angle_add(-a, -b))); - ASSERT_DOUBLE_EQ(179.0, toDeg(yaw_add(-a, -b))); - ASSERT_DOUBLE_EQ(177.0, toDeg(angle_add(a, -b))); - ASSERT_DOUBLE_EQ(177.0, toDeg(yaw_add(a, -b))); - ASSERT_NEAR(toRad(-2.0), normalize_angle(toRad(358.0)), DOUBLE_EPS); -} - -TEST(GeometryUtilsFloat, Angle) { - float a = toRad(179.0); - float b = toRad(2.0); - ASSERT_FLOAT_EQ(-179.0, toDeg(angle_add(a, b))); - ASSERT_FLOAT_EQ(-179.0, toDeg(yaw_add(a, b))); - ASSERT_FLOAT_EQ(179.0, toDeg(angle_add(-a, -b))); - ASSERT_FLOAT_EQ(179.0, toDeg(yaw_add(-a, -b))); - ASSERT_FLOAT_EQ(177.0, toDeg(angle_add(a, -b))); - ASSERT_FLOAT_EQ(177.0, toDeg(yaw_add(a, -b))); - ASSERT_NEAR(-2.0, toDeg(normalize_angle(toRad(358.0))),FLOAT_EPS); -} - -TEST(ConverterDouble, Equality) { - nav_msgs::OdometryPtr pOdom(new nav_msgs::Odometry()); - - pOdom->pose.pose.position.x = 1.0; - pOdom->pose.pose.position.y = 2.0; - pOdom->pose.pose.position.z = 3.0; - - pOdom->pose.pose.orientation.w = 0.5; - pOdom->pose.pose.orientation.x = -0.5; - pOdom->pose.pose.orientation.y = 0.5; - pOdom->pose.pose.orientation.z = -0.5; - - pOdom->twist.twist.linear.x = -1.0; - pOdom->twist.twist.linear.y = -2.0; - pOdom->twist.twist.linear.z = -3.0; - - pOdom->twist.twist.angular.x = -0.1; - pOdom->twist.twist.angular.y = -0.2; - pOdom->twist.twist.angular.z = -0.3; - - Eigen::Vector3d p, v, w; - Eigen::Quaterniond q; - - nav_msgs::Odometry odom_ = *pOdom; - - extract_odometry(pOdom, p, v, q, w); - - ASSERT_TRUE(v.isApprox(from_vector3_msg(pOdom->twist.twist.linear))); - ASSERT_TRUE(w.isApprox(from_vector3_msg(pOdom->twist.twist.angular))); - ASSERT_TRUE(p.isApprox(from_point_msg(pOdom->pose.pose.position))); - ASSERT_TRUE(q.isApprox(from_quaternion_msg(pOdom->pose.pose.orientation))); - - ASSERT_TRUE(v.isApprox(from_vector3_msg(to_vector3_msg(v)))); - ASSERT_TRUE(p.isApprox(from_point_msg(to_point_msg(p)))); - ASSERT_TRUE(q.isApprox(from_quaternion_msg(to_quaternion_msg(q)))); -} - -int main(int argc, char* argv[]) { - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/waypoint_generator/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/waypoint_generator/CMakeLists.txt deleted file mode 100644 index eb4e752..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/waypoint_generator/CMakeLists.txt +++ /dev/null @@ -1,35 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(waypoint_generator) - -set(CMAKE_VERBOSE_MAKEFILE "false") -include(CheckCXXCompilerFlag) -CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) -CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) -if(COMPILER_SUPPORTS_CXX11) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") -elseif(COMPILER_SUPPORTS_CXX0X) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") -else() - message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") -endif() - -set(ADDITIONAL_CXX_FLAG "-Wall -O3 -march=native") -set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${ADDITIONAL_CXX_FLAG}") - -find_package(catkin REQUIRED COMPONENTS - roscpp - tf - nav_msgs -) -catkin_package() - -include_directories(include) -include_directories( - ${catkin_INCLUDE_DIRS} -) - -add_executable(waypoint_generator src/waypoint_generator.cpp) - -target_link_libraries(waypoint_generator - ${catkin_LIBRARIES} -) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/waypoint_generator/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/waypoint_generator/package.xml deleted file mode 100644 index 2c6078d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/waypoint_generator/package.xml +++ /dev/null @@ -1,25 +0,0 @@ - - 0.0.0 - waypoint_generator - - - waypoint_generator - - - Shaojie Shen - BSD - http://ros.org/wiki/waypoint_generator - - catkin - - roscpp - tf - nav_msgs - - roscpp - tf - nav_msgs - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/waypoint_generator/src/sample_waypoints.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/waypoint_generator/src/sample_waypoints.h deleted file mode 100644 index 8daad3c..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/waypoint_generator/src/sample_waypoints.h +++ /dev/null @@ -1,213 +0,0 @@ -#ifndef SAMPLE_WAYPOINTS_H -#define SAMPLE_WAYPOINTS_H - -#include -#include -#include - -nav_msgs::Path point() -{ - // Circle parameters - nav_msgs::Path waypoints; - geometry_msgs::PoseStamped pt; - pt.pose.orientation = tf::createQuaternionMsgFromYaw(0.0); - - double h = 1.0; - double scale = 7.0; - - pt.pose.position.y = scale * 0.0; - pt.pose.position.x = scale * 2.0; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - - pt.pose.position.y = scale * 0.0; - pt.pose.position.x = scale * 4.0; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - - pt.pose.position.y = scale * 0.25; - pt.pose.position.x = scale * 5.0; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - - pt.pose.position.y = scale * 0.5; - pt.pose.position.x = scale * 5.3; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - - pt.pose.position.y = scale * 0.75; - pt.pose.position.x = scale * 5.0; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - - pt.pose.position.y = scale * 1.0; - pt.pose.position.x = scale * 4.0; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - - pt.pose.position.y = scale * 1.0; - pt.pose.position.x = scale * 2.0; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - - pt.pose.position.y = scale * 1.0; - pt.pose.position.x = scale * 0.0; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - // Return - return waypoints; -} - -// Circle trajectory -nav_msgs::Path circle() -{ - double h = 1.0; - double scale = 5.0; - nav_msgs::Path waypoints; - geometry_msgs::PoseStamped pt; - pt.pose.orientation = tf::createQuaternionMsgFromYaw(0.0); - - pt.pose.position.y = -1.2 * scale; - pt.pose.position.x = 2.5 * scale; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - - pt.pose.position.y = -2.4 * scale; - pt.pose.position.x = 5.0 * scale; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - pt.pose.position.y = 0.0 * scale; - pt.pose.position.x = 5.0 * scale; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - - pt.pose.position.y = -1.2 * scale; - pt.pose.position.x = 2.5 * scale; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - - pt.pose.position.y = -2.4 * scale; - pt.pose.position.x = 0. * scale; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - pt.pose.position.y = 0.0 * scale; - pt.pose.position.x = 0.0 * scale; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - - pt.pose.position.y = -1.2 * scale; - pt.pose.position.x = 2.5 * scale; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - - pt.pose.position.y = -2.4 * scale; - pt.pose.position.x = 5.0 * scale; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - pt.pose.position.y = 0.0 * scale; - pt.pose.position.x = 5.0 * scale; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - - pt.pose.position.y = -1.2 * scale; - pt.pose.position.x = 2.5 * scale; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - - pt.pose.position.y = -2.4 * scale; - pt.pose.position.x = 0. * scale; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - pt.pose.position.y = 0.0 * scale; - pt.pose.position.x = 0.0 * scale; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - - // Return - return waypoints; -} - -// Figure 8 trajectory -nav_msgs::Path eight() -{ - // Circle parameters - double offset_x = 0.0; - double offset_y = 0.0; - double r = 10.0; - double h = 2.0; - nav_msgs::Path waypoints; - geometry_msgs::PoseStamped pt; - pt.pose.orientation = tf::createQuaternionMsgFromYaw(0.0); - - for(int i=0; i< 1; ++i) - { - // First loop - pt.pose.position.x = r + offset_x; - pt.pose.position.y = -r + offset_y; - pt.pose.position.z = h/2; - waypoints.poses.push_back(pt); - pt.pose.position.x = r*2 + offset_x * 2; - pt.pose.position.y = 0 ; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - pt.pose.position.x = r*3 + offset_x * 3; - pt.pose.position.y = r ; - pt.pose.position.z = h/2; - waypoints.poses.push_back(pt); - pt.pose.position.x = r*4 + offset_x * 4; - pt.pose.position.y = 0 ; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - pt.pose.position.x = r*3 + offset_x * 3; - pt.pose.position.y = -r ; - pt.pose.position.z = h/2; - waypoints.poses.push_back(pt); - pt.pose.position.x = r*2 + offset_x * 2; - pt.pose.position.y = 0 ; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - pt.pose.position.x = r + offset_x * 2; - pt.pose.position.y = r ; - pt.pose.position.z = h/2; - waypoints.poses.push_back(pt); - pt.pose.position.x = 0 + offset_x; - pt.pose.position.y = 0; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - // Second loop - pt.pose.position.x = r + offset_x; - pt.pose.position.y = -r; - pt.pose.position.z = h / 2 * 3; - waypoints.poses.push_back(pt); - pt.pose.position.x = r*2 + offset_x * 2; - pt.pose.position.y = 0; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - pt.pose.position.x = r*3 + offset_x * 3; - pt.pose.position.y = r; - pt.pose.position.z = h / 2 * 3; - waypoints.poses.push_back(pt); - pt.pose.position.x = r*4 + offset_x * 4; - pt.pose.position.y = 0; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - pt.pose.position.x = r*3 + offset_x * 3; - pt.pose.position.y = -r; - pt.pose.position.z = h / 2 * 3; - waypoints.poses.push_back(pt); - pt.pose.position.x = r*2 + offset_x * 2; - pt.pose.position.y = 0; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - pt.pose.position.x = r + offset_x; - pt.pose.position.y = r + offset_y; - pt.pose.position.z = h / 2 * 3; - waypoints.poses.push_back(pt); - pt.pose.position.x = 0; - pt.pose.position.y = 0; - pt.pose.position.z = h; - waypoints.poses.push_back(pt); - } - return waypoints; -} -#endif \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/waypoint_generator/src/waypoint_generator.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/waypoint_generator/src/waypoint_generator.cpp deleted file mode 100644 index 1eb2d04..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/Utils/waypoint_generator/src/waypoint_generator.cpp +++ /dev/null @@ -1,258 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include "sample_waypoints.h" -#include -#include -#include -#include - -using namespace std; -using bfmt = boost::format; - -ros::Publisher pub1; -ros::Publisher pub2; -ros::Publisher pub3; -string waypoint_type = string("manual"); -bool is_odom_ready; -nav_msgs::Odometry odom; -nav_msgs::Path waypoints; - -// series waypoint needed -std::deque waypointSegments; -ros::Time trigged_time; - -void load_seg(ros::NodeHandle& nh, int segid, const ros::Time& time_base) { - std::string seg_str = boost::str(bfmt("seg%d/") % segid); - double yaw; - double time_of_start = 0.0; - ROS_INFO("Getting segment %d", segid); - ROS_ASSERT(nh.getParam(seg_str + "yaw", yaw)); - ROS_ASSERT_MSG((yaw > -3.1499999) && (yaw < 3.14999999), "yaw=%.3f", yaw); - ROS_ASSERT(nh.getParam(seg_str + "time_of_start", time_of_start)); - ROS_ASSERT(time_of_start >= 0.0); - - std::vector ptx; - std::vector pty; - std::vector ptz; - - ROS_ASSERT(nh.getParam(seg_str + "x", ptx)); - ROS_ASSERT(nh.getParam(seg_str + "y", pty)); - ROS_ASSERT(nh.getParam(seg_str + "z", ptz)); - - ROS_ASSERT(ptx.size()); - ROS_ASSERT(ptx.size() == pty.size() && ptx.size() == ptz.size()); - - nav_msgs::Path path_msg; - - path_msg.header.stamp = time_base + ros::Duration(time_of_start); - - double baseyaw = tf::getYaw(odom.pose.pose.orientation); - - for (size_t k = 0; k < ptx.size(); ++k) { - geometry_msgs::PoseStamped pt; - pt.pose.orientation = tf::createQuaternionMsgFromYaw(baseyaw + yaw); - Eigen::Vector2d dp(ptx.at(k), pty.at(k)); - Eigen::Vector2d rdp; - rdp.x() = std::cos(-baseyaw-yaw)*dp.x() + std::sin(-baseyaw-yaw)*dp.y(); - rdp.y() =-std::sin(-baseyaw-yaw)*dp.x() + std::cos(-baseyaw-yaw)*dp.y(); - pt.pose.position.x = rdp.x() + odom.pose.pose.position.x; - pt.pose.position.y = rdp.y() + odom.pose.pose.position.y; - pt.pose.position.z = ptz.at(k) + odom.pose.pose.position.z; - path_msg.poses.push_back(pt); - } - - waypointSegments.push_back(path_msg); -} - -void load_waypoints(ros::NodeHandle& nh, const ros::Time& time_base) { - int seg_cnt = 0; - waypointSegments.clear(); - ROS_ASSERT(nh.getParam("segment_cnt", seg_cnt)); - for (int i = 0; i < seg_cnt; ++i) { - load_seg(nh, i, time_base); - if (i > 0) { - ROS_ASSERT(waypointSegments[i - 1].header.stamp < waypointSegments[i].header.stamp); - } - } - ROS_INFO("Overall load %zu segments", waypointSegments.size()); -} - -void publish_waypoints() { - waypoints.header.frame_id = std::string("world"); - waypoints.header.stamp = ros::Time::now(); - pub1.publish(waypoints); - geometry_msgs::PoseStamped init_pose; - init_pose.header = odom.header; - init_pose.pose = odom.pose.pose; - waypoints.poses.insert(waypoints.poses.begin(), init_pose); - // pub2.publish(waypoints); - waypoints.poses.clear(); -} - -void publish_waypoints_vis() { - nav_msgs::Path wp_vis = waypoints; - geometry_msgs::PoseArray poseArray; - poseArray.header.frame_id = std::string("world"); - poseArray.header.stamp = ros::Time::now(); - - { - geometry_msgs::Pose init_pose; - init_pose = odom.pose.pose; - poseArray.poses.push_back(init_pose); - } - - for (auto it = waypoints.poses.begin(); it != waypoints.poses.end(); ++it) { - geometry_msgs::Pose p; - p = it->pose; - poseArray.poses.push_back(p); - } - pub2.publish(poseArray); -} - -void odom_callback(const nav_msgs::Odometry::ConstPtr& msg) { - is_odom_ready = true; - odom = *msg; - - if (waypointSegments.size()) { - ros::Time expected_time = waypointSegments.front().header.stamp; - if (odom.header.stamp >= expected_time) { - waypoints = waypointSegments.front(); - - std::stringstream ss; - ss << bfmt("Series send %.3f from start:\n") % trigged_time.toSec(); - for (auto& pose_stamped : waypoints.poses) { - ss << bfmt("P[%.2f, %.2f, %.2f] q(%.2f,%.2f,%.2f,%.2f)") % - pose_stamped.pose.position.x % pose_stamped.pose.position.y % - pose_stamped.pose.position.z % pose_stamped.pose.orientation.w % - pose_stamped.pose.orientation.x % pose_stamped.pose.orientation.y % - pose_stamped.pose.orientation.z << std::endl; - } - ROS_INFO_STREAM(ss.str()); - - publish_waypoints_vis(); - publish_waypoints(); - - waypointSegments.pop_front(); - } - } -} - -void goal_callback(const geometry_msgs::PoseStamped::ConstPtr& msg) { -/* if (!is_odom_ready) { - ROS_ERROR("[waypoint_generator] No odom!"); - return; - }*/ - - trigged_time = ros::Time::now(); //odom.header.stamp; - //ROS_ASSERT(trigged_time > ros::Time(0)); - - ros::NodeHandle n("~"); - n.param("waypoint_type", waypoint_type, string("manual")); - - if (waypoint_type == string("circle")) { - waypoints = circle(); - publish_waypoints_vis(); - publish_waypoints(); - } else if (waypoint_type == string("eight")) { - waypoints = eight(); - publish_waypoints_vis(); - publish_waypoints(); - } else if (waypoint_type == string("points")) { - waypoints = point(); - publish_waypoints_vis(); - publish_waypoints(); - } else if (waypoint_type == string("series")) { - load_waypoints(n, trigged_time); - } else if (waypoint_type == string("manual-lonely-waypoint")) { - if (msg->pose.position.z > -0.1) { - // if height > 0, it's a valid goal; - geometry_msgs::PoseStamped pt = *msg; - waypoints.poses.clear(); - waypoints.poses.push_back(pt); - publish_waypoints_vis(); - publish_waypoints(); - } else { - ROS_WARN("[waypoint_generator] invalid goal in manual-lonely-waypoint mode."); - } - } else { - if (msg->pose.position.z > 0) { - // if height > 0, it's a normal goal; - geometry_msgs::PoseStamped pt = *msg; - if (waypoint_type == string("noyaw")) { - double yaw = tf::getYaw(odom.pose.pose.orientation); - pt.pose.orientation = tf::createQuaternionMsgFromYaw(yaw); - } - waypoints.poses.push_back(pt); - publish_waypoints_vis(); - } else if (msg->pose.position.z > -1.0) { - // if 0 > height > -1.0, remove last goal; - if (waypoints.poses.size() >= 1) { - waypoints.poses.erase(std::prev(waypoints.poses.end())); - } - publish_waypoints_vis(); - } else { - // if -1.0 > height, end of input - if (waypoints.poses.size() >= 1) { - publish_waypoints_vis(); - publish_waypoints(); - } - } - } -} - -void traj_start_trigger_callback(const geometry_msgs::PoseStamped& msg) { - if (!is_odom_ready) { - ROS_ERROR("[waypoint_generator] No odom!"); - return; - } - - ROS_WARN("[waypoint_generator] Trigger!"); - trigged_time = odom.header.stamp; - ROS_ASSERT(trigged_time > ros::Time(0)); - - ros::NodeHandle n("~"); - n.param("waypoint_type", waypoint_type, string("manual")); - - ROS_ERROR_STREAM("Pattern " << waypoint_type << " generated!"); - if (waypoint_type == string("free")) { - waypoints = point(); - publish_waypoints_vis(); - publish_waypoints(); - } else if (waypoint_type == string("circle")) { - waypoints = circle(); - publish_waypoints_vis(); - publish_waypoints(); - } else if (waypoint_type == string("eight")) { - waypoints = eight(); - publish_waypoints_vis(); - publish_waypoints(); - } else if (waypoint_type == string("point")) { - waypoints = point(); - publish_waypoints_vis(); - publish_waypoints(); - } else if (waypoint_type == string("series")) { - load_waypoints(n, trigged_time); - } -} - -int main(int argc, char** argv) { - ros::init(argc, argv, "waypoint_generator"); - ros::NodeHandle n("~"); - n.param("waypoint_type", waypoint_type, string("manual")); - ros::Subscriber sub1 = n.subscribe("odom", 10, odom_callback); - ros::Subscriber sub2 = n.subscribe("goal", 10, goal_callback); - ros::Subscriber sub3 = n.subscribe("traj_start_trigger", 10, traj_start_trigger_callback); - pub1 = n.advertise("waypoints", 50); - pub2 = n.advertise("waypoints_vis", 10); - - trigged_time = ros::Time(0); - - ros::spin(); - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/fake_drone/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/fake_drone/CMakeLists.txt deleted file mode 100644 index 3ab9704..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/fake_drone/CMakeLists.txt +++ /dev/null @@ -1,28 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(poscmd_2_odom) - -set(CMAKE_BUILD_TYPE "Release") -#set(CMAKE_CXX_FLAGS "-std=c++11") -ADD_COMPILE_OPTIONS(-std=c++11 ) -ADD_COMPILE_OPTIONS(-std=c++14 ) -set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") - -find_package(catkin REQUIRED COMPONENTS - roscpp - rospy - nav_msgs - quadrotor_msgs -) -find_package(Eigen3 REQUIRED) - -catkin_package() - -include_directories( -# include - ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIR} -) - -add_executable (poscmd_2_odom src/poscmd_2_odom.cpp ) -target_link_libraries(poscmd_2_odom - ${catkin_LIBRARIES}) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/fake_drone/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/fake_drone/package.xml deleted file mode 100644 index 145cd10..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/fake_drone/package.xml +++ /dev/null @@ -1,68 +0,0 @@ - - - poscmd_2_odom - 0.0.0 - The poscmd_2_odom package - - - - - todo - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - nav_msgs - quadrotor_msgs - roscpp - nav_msgs - quadrotor_msgs - roscpp - nav_msgs - quadrotor_msgs - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/fake_drone/src/poscmd_2_odom.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/fake_drone/src/poscmd_2_odom.cpp deleted file mode 100644 index 104433d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/fake_drone/src/poscmd_2_odom.cpp +++ /dev/null @@ -1,104 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include "quadrotor_msgs/PositionCommand.h" - -ros::Subscriber _cmd_sub; -ros::Publisher _odom_pub; - -quadrotor_msgs::PositionCommand _cmd; -double _init_x, _init_y, _init_z; - -bool rcv_cmd = false; -void rcvPosCmdCallBack(const quadrotor_msgs::PositionCommand cmd) -{ - rcv_cmd = true; - _cmd = cmd; -} - -void pubOdom() -{ - nav_msgs::Odometry odom; - odom.header.stamp = ros::Time::now(); - odom.header.frame_id = "world"; - - if(rcv_cmd) - { - odom.pose.pose.position.x = _cmd.position.x; - odom.pose.pose.position.y = _cmd.position.y; - odom.pose.pose.position.z = _cmd.position.z; - - Eigen::Vector3d alpha = Eigen::Vector3d(_cmd.acceleration.x, _cmd.acceleration.y, _cmd.acceleration.z) + 9.8*Eigen::Vector3d(0,0,1); - Eigen::Vector3d xC(cos(_cmd.yaw), sin(_cmd.yaw), 0); - Eigen::Vector3d yC(-sin(_cmd.yaw), cos(_cmd.yaw), 0); - Eigen::Vector3d xB = (yC.cross(alpha)).normalized(); - Eigen::Vector3d yB = (alpha.cross(xB)).normalized(); - Eigen::Vector3d zB = xB.cross(yB); - Eigen::Matrix3d R; - R.col(0) = xB; - R.col(1) = yB; - R.col(2) = zB; - Eigen::Quaterniond q(R); - odom.pose.pose.orientation.w = q.w(); - odom.pose.pose.orientation.x = q.x(); - odom.pose.pose.orientation.y = q.y(); - odom.pose.pose.orientation.z = q.z(); - - odom.twist.twist.linear.x = _cmd.velocity.x; - odom.twist.twist.linear.y = _cmd.velocity.y; - odom.twist.twist.linear.z = _cmd.velocity.z; - - odom.twist.twist.angular.x = _cmd.acceleration.x; - odom.twist.twist.angular.y = _cmd.acceleration.y; - odom.twist.twist.angular.z = _cmd.acceleration.z; - } - else - { - odom.pose.pose.position.x = _init_x; - odom.pose.pose.position.y = _init_y; - odom.pose.pose.position.z = _init_z; - - odom.pose.pose.orientation.w = 1; - odom.pose.pose.orientation.x = 0; - odom.pose.pose.orientation.y = 0; - odom.pose.pose.orientation.z = 0; - - odom.twist.twist.linear.x = 0.0; - odom.twist.twist.linear.y = 0.0; - odom.twist.twist.linear.z = 0.0; - - odom.twist.twist.angular.x = 0.0; - odom.twist.twist.angular.y = 0.0; - odom.twist.twist.angular.z = 0.0; - } - - _odom_pub.publish(odom); -} - -int main (int argc, char** argv) -{ - ros::init (argc, argv, "odom_generator"); - ros::NodeHandle nh( "~" ); - - nh.param("init_x", _init_x, 0.0); - nh.param("init_y", _init_y, 0.0); - nh.param("init_z", _init_z, 0.0); - - _cmd_sub = nh.subscribe( "command", 1, rcvPosCmdCallBack ); - _odom_pub = nh.advertise("odometry", 1); - - ros::Rate rate(100); - bool status = ros::ok(); - while(status) - { - pubOdom(); - ros::spinOnce(); - status = ros::ok(); - rate.sleep(); - } - - return 0; -} \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/CMakeLists.txt deleted file mode 100644 index 13c9911..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/CMakeLists.txt +++ /dev/null @@ -1,92 +0,0 @@ -PROJECT(local_sensing_node) -CMAKE_MINIMUM_REQUIRED(VERSION 2.8.3) -SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo -#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") -ADD_COMPILE_OPTIONS(-std=c++11 ) -ADD_COMPILE_OPTIONS(-std=c++14 ) - -#set(ENABLE_CUDA false) -set(ENABLE_CUDA false) - -if(ENABLE_CUDA) - find_package(CUDA REQUIRED) - SET(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-O3 -use_fast_math) - set(CUDA_NVCC_FLAGS -# -gencode arch=compute_20,code=sm_20; -# -gencode arch=compute_20,code=sm_21; -# -gencode arch=compute_30,code=sm_30; -# -gencode arch=compute_35,code=sm_35; -# -gencode arch=compute_50,code=sm_50; -# -gencode arch=compute_52,code=sm_52; -# -gencode arch=compute_60,code=sm_60; -# -gencode arch=compute_61,code=sm_61; - -gencode arch=compute_75,code=sm_75; - ) - - SET(CUDA_PROPAGATE_HOST_FLAGS OFF) - - find_package(OpenCV REQUIRED) - find_package(Eigen3 REQUIRED) - find_package(Boost REQUIRED COMPONENTS system filesystem) - - find_package(catkin REQUIRED COMPONENTS - roscpp roslib cmake_modules cv_bridge image_transport pcl_ros sensor_msgs geometry_msgs nav_msgs quadrotor_msgs dynamic_reconfigure) - generate_dynamic_reconfigure_options( - cfg/local_sensing_node.cfg - ) - catkin_package( - DEPENDS OpenCV Eigen Boost - CATKIN_DEPENDS roscpp roslib image_transport pcl_ros - #INCLUDE_DIRS include - LIBRARIES depth_render_cuda - ) - - include_directories( - SYSTEM - #include - ${catkin_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} - ${Eigen_INCLUDE_DIRS} - ${Boost_INCLUDE_DIRS} - ) - - CUDA_ADD_LIBRARY( depth_render_cuda - src/depth_render.cu - ) - - add_executable( - pcl_render_node - src/pcl_render_node.cpp - ) - target_link_libraries( pcl_render_node - depth_render_cuda - ${OpenCV_LIBS} - ${Boost_LIBRARIES} - ${catkin_LIBRARIES} - ) -else(ENABLE_CUDA) - find_package(Eigen3 REQUIRED) - find_package(catkin REQUIRED COMPONENTS - roscpp roslib cmake_modules pcl_ros sensor_msgs geometry_msgs nav_msgs quadrotor_msgs) - - catkin_package( - DEPENDS Eigen - CATKIN_DEPENDS roscpp roslib pcl_ros - ) - - include_directories( - SYSTEM - ${catkin_INCLUDE_DIRS} - ${Eigen_INCLUDE_DIRS}. - ) - - add_executable( - pcl_render_node - src/pointcloud_render_node.cpp - ) - - target_link_libraries( pcl_render_node - ${catkin_LIBRARIES} - ${PCL_LIBRARIES} - ) -endif(ENABLE_CUDA) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/CMakeModules/FindCUDA.cmake b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/CMakeModules/FindCUDA.cmake deleted file mode 100644 index 8afb632..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/CMakeModules/FindCUDA.cmake +++ /dev/null @@ -1,1311 +0,0 @@ -# - Tools for building CUDA C files: libraries and build dependencies. -# This script locates the NVIDIA CUDA C tools. It should work on linux, windows, -# and mac and should be reasonably up to date with CUDA C releases. -# -# This script makes use of the standard find_package arguments of , -# REQUIRED and QUIET. CUDA_FOUND will report if an acceptable version of CUDA -# was found. -# -# The script will prompt the user to specify CUDA_TOOLKIT_ROOT_DIR if the prefix -# cannot be determined by the location of nvcc in the system path and REQUIRED -# is specified to find_package(). To use a different installed version of the -# toolkit set the environment variable CUDA_BIN_PATH before running cmake -# (e.g. CUDA_BIN_PATH=/usr/local/cuda1.0 instead of the default /usr/local/cuda) -# or set CUDA_TOOLKIT_ROOT_DIR after configuring. If you change the value of -# CUDA_TOOLKIT_ROOT_DIR, various components that depend on the path will be -# relocated. -# -# It might be necessary to set CUDA_TOOLKIT_ROOT_DIR manually on certain -# platforms, or to use a cuda runtime not installed in the default location. In -# newer versions of the toolkit the cuda library is included with the graphics -# driver- be sure that the driver version matches what is needed by the cuda -# runtime version. -# -# The following variables affect the behavior of the macros in the script (in -# alphebetical order). Note that any of these flags can be changed multiple -# times in the same directory before calling CUDA_ADD_EXECUTABLE, -# CUDA_ADD_LIBRARY, CUDA_COMPILE, CUDA_COMPILE_PTX or CUDA_WRAP_SRCS. -# -# CUDA_64_BIT_DEVICE_CODE (Default matches host bit size) -# -- Set to ON to compile for 64 bit device code, OFF for 32 bit device code. -# Note that making this different from the host code when generating object -# or C files from CUDA code just won't work, because size_t gets defined by -# nvcc in the generated source. If you compile to PTX and then load the -# file yourself, you can mix bit sizes between device and host. -# -# CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE (Default ON) -# -- Set to ON if you want the custom build rule to be attached to the source -# file in Visual Studio. Turn OFF if you add the same cuda file to multiple -# targets. -# -# This allows the user to build the target from the CUDA file; however, bad -# things can happen if the CUDA source file is added to multiple targets. -# When performing parallel builds it is possible for the custom build -# command to be run more than once and in parallel causing cryptic build -# errors. VS runs the rules for every source file in the target, and a -# source can have only one rule no matter how many projects it is added to. -# When the rule is run from multiple targets race conditions can occur on -# the generated file. Eventually everything will get built, but if the user -# is unaware of this behavior, there may be confusion. It would be nice if -# this script could detect the reuse of source files across multiple targets -# and turn the option off for the user, but no good solution could be found. -# -# CUDA_BUILD_CUBIN (Default OFF) -# -- Set to ON to enable and extra compilation pass with the -cubin option in -# Device mode. The output is parsed and register, shared memory usage is -# printed during build. -# -# CUDA_BUILD_EMULATION (Default OFF for device mode) -# -- Set to ON for Emulation mode. -D_DEVICEEMU is defined for CUDA C files -# when CUDA_BUILD_EMULATION is TRUE. -# -# CUDA_GENERATED_OUTPUT_DIR (Default CMAKE_CURRENT_BINARY_DIR) -# -- Set to the path you wish to have the generated files placed. If it is -# blank output files will be placed in CMAKE_CURRENT_BINARY_DIR. -# Intermediate files will always be placed in -# CMAKE_CURRENT_BINARY_DIR/CMakeFiles. -# -# CUDA_HOST_COMPILATION_CPP (Default ON) -# -- Set to OFF for C compilation of host code. -# -# CUDA_NVCC_FLAGS -# CUDA_NVCC_FLAGS_ -# -- Additional NVCC command line arguments. NOTE: multiple arguments must be -# semi-colon delimited (e.g. --compiler-options;-Wall) -# -# CUDA_PROPAGATE_HOST_FLAGS (Default ON) -# -- Set to ON to propagate CMAKE_{C,CXX}_FLAGS and their configuration -# dependent counterparts (e.g. CMAKE_C_FLAGS_DEBUG) automatically to the -# host compiler through nvcc's -Xcompiler flag. This helps make the -# generated host code match the rest of the system better. Sometimes -# certain flags give nvcc problems, and this will help you turn the flag -# propagation off. This does not affect the flags supplied directly to nvcc -# via CUDA_NVCC_FLAGS or through the OPTION flags specified through -# CUDA_ADD_LIBRARY, CUDA_ADD_EXECUTABLE, or CUDA_WRAP_SRCS. Flags used for -# shared library compilation are not affected by this flag. -# -# CUDA_VERBOSE_BUILD (Default OFF) -# -- Set to ON to see all the commands used when building the CUDA file. When -# using a Makefile generator the value defaults to VERBOSE (run make -# VERBOSE=1 to see output), although setting CUDA_VERBOSE_BUILD to ON will -# always print the output. -# -# The script creates the following macros (in alphebetical order): -# -# CUDA_ADD_CUFFT_TO_TARGET( cuda_target ) -# -- Adds the cufft library to the target (can be any target). Handles whether -# you are in emulation mode or not. -# -# CUDA_ADD_CUBLAS_TO_TARGET( cuda_target ) -# -- Adds the cublas library to the target (can be any target). Handles -# whether you are in emulation mode or not. -# -# CUDA_ADD_EXECUTABLE( cuda_target file0 file1 ... -# [WIN32] [MACOSX_BUNDLE] [EXCLUDE_FROM_ALL] [OPTIONS ...] ) -# -- Creates an executable "cuda_target" which is made up of the files -# specified. All of the non CUDA C files are compiled using the standard -# build rules specified by CMAKE and the cuda files are compiled to object -# files using nvcc and the host compiler. In addition CUDA_INCLUDE_DIRS is -# added automatically to include_directories(). Some standard CMake target -# calls can be used on the target after calling this macro -# (e.g. set_target_properties and target_link_libraries), but setting -# properties that adjust compilation flags will not affect code compiled by -# nvcc. Such flags should be modified before calling CUDA_ADD_EXECUTABLE, -# CUDA_ADD_LIBRARY or CUDA_WRAP_SRCS. -# -# CUDA_ADD_LIBRARY( cuda_target file0 file1 ... -# [STATIC | SHARED | MODULE] [EXCLUDE_FROM_ALL] [OPTIONS ...] ) -# -- Same as CUDA_ADD_EXECUTABLE except that a library is created. -# -# CUDA_BUILD_CLEAN_TARGET() -# -- Creates a convience target that deletes all the dependency files -# generated. You should make clean after running this target to ensure the -# dependency files get regenerated. -# -# CUDA_COMPILE( generated_files file0 file1 ... [STATIC | SHARED | MODULE] -# [OPTIONS ...] ) -# -- Returns a list of generated files from the input source files to be used -# with ADD_LIBRARY or ADD_EXECUTABLE. -# -# CUDA_COMPILE_PTX( generated_files file0 file1 ... [OPTIONS ...] ) -# -- Returns a list of PTX files generated from the input source files. -# -# CUDA_INCLUDE_DIRECTORIES( path0 path1 ... ) -# -- Sets the directories that should be passed to nvcc -# (e.g. nvcc -Ipath0 -Ipath1 ... ). These paths usually contain other .cu -# files. -# -# CUDA_WRAP_SRCS ( cuda_target format generated_files file0 file1 ... -# [STATIC | SHARED | MODULE] [OPTIONS ...] ) -# -- This is where all the magic happens. CUDA_ADD_EXECUTABLE, -# CUDA_ADD_LIBRARY, CUDA_COMPILE, and CUDA_COMPILE_PTX all call this -# function under the hood. -# -# Given the list of files (file0 file1 ... fileN) this macro generates -# custom commands that generate either PTX or linkable objects (use "PTX" or -# "OBJ" for the format argument to switch). Files that don't end with .cu -# or have the HEADER_FILE_ONLY property are ignored. -# -# The arguments passed in after OPTIONS are extra command line options to -# give to nvcc. You can also specify per configuration options by -# specifying the name of the configuration followed by the options. General -# options must preceed configuration specific options. Not all -# configurations need to be specified, only the ones provided will be used. -# -# OPTIONS -DFLAG=2 "-DFLAG_OTHER=space in flag" -# DEBUG -g -# RELEASE --use_fast_math -# RELWITHDEBINFO --use_fast_math;-g -# MINSIZEREL --use_fast_math -# -# For certain configurations (namely VS generating object files with -# CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE set to ON), no generated file will -# be produced for the given cuda file. This is because when you add the -# cuda file to Visual Studio it knows that this file produces an object file -# and will link in the resulting object file automatically. -# -# This script will also generate a separate cmake script that is used at -# build time to invoke nvcc. This is for several reasons. -# -# 1. nvcc can return negative numbers as return values which confuses -# Visual Studio into thinking that the command succeeded. The script now -# checks the error codes and produces errors when there was a problem. -# -# 2. nvcc has been known to not delete incomplete results when it -# encounters problems. This confuses build systems into thinking the -# target was generated when in fact an unusable file exists. The script -# now deletes the output files if there was an error. -# -# 3. By putting all the options that affect the build into a file and then -# make the build rule dependent on the file, the output files will be -# regenerated when the options change. -# -# This script also looks at optional arguments STATIC, SHARED, or MODULE to -# determine when to target the object compilation for a shared library. -# BUILD_SHARED_LIBS is ignored in CUDA_WRAP_SRCS, but it is respected in -# CUDA_ADD_LIBRARY. On some systems special flags are added for building -# objects intended for shared libraries. A preprocessor macro, -# _EXPORTS is defined when a shared library compilation is -# detected. -# -# Flags passed into add_definitions with -D or /D are passed along to nvcc. -# -# The script defines the following variables: -# -# CUDA_VERSION_MAJOR -- The major version of cuda as reported by nvcc. -# CUDA_VERSION_MINOR -- The minor version. -# CUDA_VERSION -# CUDA_VERSION_STRING -- CUDA_VERSION_MAJOR.CUDA_VERSION_MINOR -# -# CUDA_TOOLKIT_ROOT_DIR -- Path to the CUDA Toolkit (defined if not set). -# CUDA_SDK_ROOT_DIR -- Path to the CUDA SDK. Use this to find files in the -# SDK. This script will not directly support finding -# specific libraries or headers, as that isn't -# supported by NVIDIA. If you want to change -# libraries when the path changes see the -# FindCUDA.cmake script for an example of how to clear -# these variables. There are also examples of how to -# use the CUDA_SDK_ROOT_DIR to locate headers or -# libraries, if you so choose (at your own risk). -# CUDA_INCLUDE_DIRS -- Include directory for cuda headers. Added automatically -# for CUDA_ADD_EXECUTABLE and CUDA_ADD_LIBRARY. -# CUDA_LIBRARIES -- Cuda RT library. -# CUDA_CUFFT_LIBRARIES -- Device or emulation library for the Cuda FFT -# implementation (alternative to: -# CUDA_ADD_CUFFT_TO_TARGET macro) -# CUDA_CUBLAS_LIBRARIES -- Device or emulation library for the Cuda BLAS -# implementation (alterative to: -# CUDA_ADD_CUBLAS_TO_TARGET macro). -# -# -# James Bigler, NVIDIA Corp (nvidia.com - jbigler) -# Abe Stephens, SCI Institute -- http://www.sci.utah.edu/~abe/FindCuda.html -# -# Copyright (c) 2008 - 2009 NVIDIA Corporation. All rights reserved. -# -# Copyright (c) 2007-2009 -# Scientific Computing and Imaging Institute, University of Utah -# -# This code is licensed under the MIT License. See the FindCUDA.cmake script -# for the text of the license. - -# The MIT License -# -# License for the specific language governing rights and limitations under -# Permission is hereby granted, free of charge, to any person obtaining a -# copy of this software and associated documentation files (the "Software"), -# to deal in the Software without restriction, including without limitation -# the rights to use, copy, modify, merge, publish, distribute, sublicense, -# and/or sell copies of the Software, and to permit persons to whom the -# Software is furnished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included -# in all copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS -# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL -# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING -# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER -# DEALINGS IN THE SOFTWARE. -# -############################################################################### - -# FindCUDA.cmake - -# We need to have at least this version to support the VERSION_LESS argument to 'if' (2.6.2) and unset (2.6.3) -cmake_policy(PUSH) -cmake_minimum_required(VERSION 2.6.3) -cmake_policy(POP) - -# This macro helps us find the location of helper files we will need the full path to -macro(CUDA_FIND_HELPER_FILE _name _extension) - set(_full_name "${_name}.${_extension}") - # CMAKE_CURRENT_LIST_FILE contains the full path to the file currently being - # processed. Using this variable, we can pull out the current path, and - # provide a way to get access to the other files we need local to here. - get_filename_component(CMAKE_CURRENT_LIST_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH) - find_file(CUDA_${_name} ${_full_name} PATHS ${CMAKE_CURRENT_LIST_DIR}/FindCUDA NO_DEFAULT_PATH) - if(NOT CUDA_${_name}) - set(error_message "${_full_name} not found in CMAKE_MODULE_PATH") - if(CUDA_FIND_REQUIRED) - message(FATAL_ERROR "${error_message}") - else(CUDA_FIND_REQUIRED) - if(NOT CUDA_FIND_QUIETLY) - message(STATUS "${error_message}") - endif(NOT CUDA_FIND_QUIETLY) - endif(CUDA_FIND_REQUIRED) - endif(NOT CUDA_${_name}) - # Set this variable as internal, so the user isn't bugged with it. - set(CUDA_${_name} ${CUDA_${_name}} CACHE INTERNAL "Location of ${_full_name}" FORCE) -endmacro(CUDA_FIND_HELPER_FILE) - -##################################################################### -## CUDA_INCLUDE_NVCC_DEPENDENCIES -## - -# So we want to try and include the dependency file if it exists. If -# it doesn't exist then we need to create an empty one, so we can -# include it. - -# If it does exist, then we need to check to see if all the files it -# depends on exist. If they don't then we should clear the dependency -# file and regenerate it later. This covers the case where a header -# file has disappeared or moved. - -macro(CUDA_INCLUDE_NVCC_DEPENDENCIES dependency_file) - set(CUDA_NVCC_DEPEND) - set(CUDA_NVCC_DEPEND_REGENERATE FALSE) - - - # Include the dependency file. Create it first if it doesn't exist . The - # INCLUDE puts a dependency that will force CMake to rerun and bring in the - # new info when it changes. DO NOT REMOVE THIS (as I did and spent a few - # hours figuring out why it didn't work. - if(NOT EXISTS ${dependency_file}) - file(WRITE ${dependency_file} "#FindCUDA.cmake generated file. Do not edit.\n") - endif() - # Always include this file to force CMake to run again next - # invocation and rebuild the dependencies. - #message("including dependency_file = ${dependency_file}") - include(${dependency_file}) - - # Now we need to verify the existence of all the included files - # here. If they aren't there we need to just blank this variable and - # make the file regenerate again. -# if(DEFINED CUDA_NVCC_DEPEND) -# message("CUDA_NVCC_DEPEND set") -# else() -# message("CUDA_NVCC_DEPEND NOT set") -# endif() - if(CUDA_NVCC_DEPEND) - #message("CUDA_NVCC_DEPEND true") - foreach(f ${CUDA_NVCC_DEPEND}) - #message("searching for ${f}") - if(NOT EXISTS ${f}) - #message("file ${f} not found") - set(CUDA_NVCC_DEPEND_REGENERATE TRUE) - endif() - endforeach(f) - else(CUDA_NVCC_DEPEND) - #message("CUDA_NVCC_DEPEND false") - # No dependencies, so regenerate the file. - set(CUDA_NVCC_DEPEND_REGENERATE TRUE) - endif(CUDA_NVCC_DEPEND) - - #message("CUDA_NVCC_DEPEND_REGENERATE = ${CUDA_NVCC_DEPEND_REGENERATE}") - # No incoming dependencies, so we need to generate them. Make the - # output depend on the dependency file itself, which should cause the - # rule to re-run. - if(CUDA_NVCC_DEPEND_REGENERATE) - file(WRITE ${dependency_file} "#FindCUDA.cmake generated file. Do not edit.\n") - endif(CUDA_NVCC_DEPEND_REGENERATE) - -endmacro(CUDA_INCLUDE_NVCC_DEPENDENCIES) - -############################################################################### -############################################################################### -# Setup variables' defaults -############################################################################### -############################################################################### - -# Allow the user to specify if the device code is supposed to be 32 or 64 bit. -if(CMAKE_SIZEOF_VOID_P EQUAL 8) - set(CUDA_64_BIT_DEVICE_CODE_DEFAULT ON) -else() - set(CUDA_64_BIT_DEVICE_CODE_DEFAULT OFF) -endif() -option(CUDA_64_BIT_DEVICE_CODE "Compile device code in 64 bit mode" ${CUDA_64_BIT_DEVICE_CODE_DEFAULT}) - -# Attach the build rule to the source file in VS. This option -option(CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE "Attach the build rule to the CUDA source file. Enable only when the CUDA source file is added to at most one target." ON) - -# Prints out extra information about the cuda file during compilation -option(CUDA_BUILD_CUBIN "Generate and parse .cubin files in Device mode." OFF) - -# Set whether we are using emulation or device mode. -option(CUDA_BUILD_EMULATION "Build in Emulation mode" OFF) - -# Where to put the generated output. -set(CUDA_GENERATED_OUTPUT_DIR "" CACHE PATH "Directory to put all the output files. If blank it will default to the CMAKE_CURRENT_BINARY_DIR") - -# Parse HOST_COMPILATION mode. -option(CUDA_HOST_COMPILATION_CPP "Generated file extension" ON) - -# Extra user settable flags -set(CUDA_NVCC_FLAGS "" CACHE STRING "Semi-colon delimit multiple arguments.") - -# Propagate the host flags to the host compiler via -Xcompiler -option(CUDA_PROPAGATE_HOST_FLAGS "Propage C/CXX_FLAGS and friends to the host compiler via -Xcompile" ON) - -# Specifies whether the commands used when compiling the .cu file will be printed out. -option(CUDA_VERBOSE_BUILD "Print out the commands run while compiling the CUDA source file. With the Makefile generator this defaults to VERBOSE variable specified on the command line, but can be forced on with this option." OFF) - -mark_as_advanced( - CUDA_64_BIT_DEVICE_CODE - CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE - CUDA_GENERATED_OUTPUT_DIR - CUDA_HOST_COMPILATION_CPP - CUDA_NVCC_FLAGS - CUDA_PROPAGATE_HOST_FLAGS - ) - -# Makefile and similar generators don't define CMAKE_CONFIGURATION_TYPES, so we -# need to add another entry for the CMAKE_BUILD_TYPE. We also need to add the -# standerd set of 4 build types (Debug, MinSizeRel, Release, and RelWithDebInfo) -# for completeness. We need run this loop in order to accomodate the addition -# of extra configuration types. Duplicate entries will be removed by -# REMOVE_DUPLICATES. -set(CUDA_configuration_types ${CMAKE_CONFIGURATION_TYPES} ${CMAKE_BUILD_TYPE} Debug MinSizeRel Release RelWithDebInfo) -list(REMOVE_DUPLICATES CUDA_configuration_types) -foreach(config ${CUDA_configuration_types}) - string(TOUPPER ${config} config_upper) - set(CUDA_NVCC_FLAGS_${config_upper} "" CACHE STRING "Semi-colon delimit multiple arguments.") - mark_as_advanced(CUDA_NVCC_FLAGS_${config_upper}) -endforeach() - -############################################################################### -############################################################################### -# Locate CUDA, Set Build Type, etc. -############################################################################### -############################################################################### - -# Check to see if the CUDA_TOOLKIT_ROOT_DIR and CUDA_SDK_ROOT_DIR have changed, -# if they have then clear the cache variables, so that will be detected again. -if(NOT "${CUDA_TOOLKIT_ROOT_DIR}" STREQUAL "${CUDA_TOOLKIT_ROOT_DIR_INTERNAL}") - unset(CUDA_NVCC_EXECUTABLE CACHE) - unset(CUDA_VERSION CACHE) - unset(CUDA_TOOLKIT_INCLUDE CACHE) - unset(CUDA_CUDART_LIBRARY CACHE) - if(CUDA_VERSION VERSION_EQUAL "3.0") - # This only existed in the 3.0 version of the CUDA toolkit - unset(CUDA_CUDARTEMU_LIBRARY CACHE) - endif() - unset(CUDA_CUDA_LIBRARY CACHE) - unset(CUDA_cublas_LIBRARY CACHE) - unset(CUDA_cublasemu_LIBRARY CACHE) - unset(CUDA_cufft_LIBRARY CACHE) - unset(CUDA_cufftemu_LIBRARY CACHE) -endif() - -if(NOT "${CUDA_SDK_ROOT_DIR}" STREQUAL "${CUDA_SDK_ROOT_DIR_INTERNAL}") - # No specific variables to catch. Use this kind of code before calling - # find_package(CUDA) to clean up any variables that may depend on this path. - - # unset(MY_SPECIAL_CUDA_SDK_INCLUDE_DIR CACHE) - # unset(MY_SPECIAL_CUDA_SDK_LIBRARY CACHE) -endif() - -# Search for the cuda distribution. -if(NOT CUDA_TOOLKIT_ROOT_DIR) - - # Search in the CUDA_BIN_PATH first. - find_path(CUDA_TOOLKIT_ROOT_DIR - NAMES nvcc nvcc.exe - PATHS ENV CUDA_BIN_PATH - DOC "Toolkit location." - NO_DEFAULT_PATH - ) - # Now search default paths - find_path(CUDA_TOOLKIT_ROOT_DIR - NAMES nvcc nvcc.exe - PATHS /usr/local/bin - /usr/local/cuda/bin - DOC "Toolkit location." - ) - - if (CUDA_TOOLKIT_ROOT_DIR) - string(REGEX REPLACE "[/\\\\]?bin[64]*[/\\\\]?$" "" CUDA_TOOLKIT_ROOT_DIR ${CUDA_TOOLKIT_ROOT_DIR}) - # We need to force this back into the cache. - set(CUDA_TOOLKIT_ROOT_DIR ${CUDA_TOOLKIT_ROOT_DIR} CACHE PATH "Toolkit location." FORCE) - endif(CUDA_TOOLKIT_ROOT_DIR) - if (NOT EXISTS ${CUDA_TOOLKIT_ROOT_DIR}) - if(CUDA_FIND_REQUIRED) - message(FATAL_ERROR "Specify CUDA_TOOLKIT_ROOT_DIR") - elseif(NOT CUDA_FIND_QUIETLY) - message("CUDA_TOOLKIT_ROOT_DIR not found or specified") - endif() - endif (NOT EXISTS ${CUDA_TOOLKIT_ROOT_DIR}) -endif (NOT CUDA_TOOLKIT_ROOT_DIR) - -# CUDA_NVCC_EXECUTABLE -find_program(CUDA_NVCC_EXECUTABLE - NAMES nvcc - PATHS "${CUDA_TOOLKIT_ROOT_DIR}/bin" - "${CUDA_TOOLKIT_ROOT_DIR}/bin64" - ENV CUDA_BIN_PATH - NO_DEFAULT_PATH - ) -# Search default search paths, after we search our own set of paths. -find_program(CUDA_NVCC_EXECUTABLE nvcc) -mark_as_advanced(CUDA_NVCC_EXECUTABLE) - -if(CUDA_NVCC_EXECUTABLE AND NOT CUDA_VERSION) - # Compute the version. - execute_process (COMMAND ${CUDA_NVCC_EXECUTABLE} "--version" OUTPUT_VARIABLE NVCC_OUT) - string(REGEX REPLACE ".*release ([0-9]+)\\.([0-9]+).*" "\\1" CUDA_VERSION_MAJOR ${NVCC_OUT}) - string(REGEX REPLACE ".*release ([0-9]+)\\.([0-9]+).*" "\\2" CUDA_VERSION_MINOR ${NVCC_OUT}) - set(CUDA_VERSION "${CUDA_VERSION_MAJOR}.${CUDA_VERSION_MINOR}" CACHE STRING "Version of CUDA as computed from nvcc.") - mark_as_advanced(CUDA_VERSION) -else() - # Need to set these based off of the cached value - string(REGEX REPLACE "([0-9]+)\\.([0-9]+).*" "\\1" CUDA_VERSION_MAJOR "${CUDA_VERSION}") - string(REGEX REPLACE "([0-9]+)\\.([0-9]+).*" "\\2" CUDA_VERSION_MINOR "${CUDA_VERSION}") -endif() - -# Always set this convenience variable -set(CUDA_VERSION_STRING "${CUDA_VERSION}") - -# Here we need to determine if the version we found is acceptable. We will -# assume that is unless CUDA_FIND_VERSION_EXACT or CUDA_FIND_VERSION is -# specified. The presence of either of these options checks the version -# string and signals if the version is acceptable or not. -set(_cuda_version_acceptable TRUE) -# -if(CUDA_FIND_VERSION_EXACT AND NOT CUDA_VERSION VERSION_EQUAL CUDA_FIND_VERSION) - set(_cuda_version_acceptable FALSE) -endif() -# -if(CUDA_FIND_VERSION AND CUDA_VERSION VERSION_LESS CUDA_FIND_VERSION) - set(_cuda_version_acceptable FALSE) -endif() -# -if(NOT _cuda_version_acceptable) - set(_cuda_error_message "Requested CUDA version ${CUDA_FIND_VERSION}, but found unacceptable version ${CUDA_VERSION}") - if(CUDA_FIND_REQUIRED) - message("${_cuda_error_message}") - elseif(NOT CUDA_FIND_QUIETLY) - message("${_cuda_error_message}") - endif() -endif() - -# CUDA_TOOLKIT_INCLUDE -find_path(CUDA_TOOLKIT_INCLUDE - device_functions.h # Header included in toolkit - PATHS "${CUDA_TOOLKIT_ROOT_DIR}/include" - ENV CUDA_INC_PATH - NO_DEFAULT_PATH - ) -# Search default search paths, after we search our own set of paths. -find_path(CUDA_TOOLKIT_INCLUDE device_functions.h) -mark_as_advanced(CUDA_TOOLKIT_INCLUDE) - -# Set the user list of include dir to nothing to initialize it. -set (CUDA_NVCC_INCLUDE_ARGS_USER "") -set (CUDA_INCLUDE_DIRS ${CUDA_TOOLKIT_INCLUDE}) - -macro(FIND_LIBRARY_LOCAL_FIRST _var _names _doc) - if(CMAKE_SIZEOF_VOID_P EQUAL 8) - # CUDA 3.2+ on Windows moved the library directoryies, so we need the new - # and old paths. - set(_cuda_64bit_lib_dir - "${CUDA_TOOLKIT_ROOT_DIR}/lib/x64" - "${CUDA_TOOLKIT_ROOT_DIR}/lib64" - ) - endif() - # CUDA 3.2+ on Windows moved the library directories, so we need to new - # (lib/Win32) and the old path (lib). - find_library(${_var} - NAMES ${_names} - PATHS ${_cuda_64bit_lib_dir} - "${CUDA_TOOLKIT_ROOT_DIR}/lib/Win32" - "${CUDA_TOOLKIT_ROOT_DIR}/lib" - ENV CUDA_LIB_PATH - DOC ${_doc} - NO_DEFAULT_PATH - ) - # Search default search paths, after we search our own set of paths. - find_library(${_var} NAMES ${_names} DOC ${_doc}) -endmacro() - -# CUDA_LIBRARIES -find_library_local_first(CUDA_CUDART_LIBRARY cudart "\"cudart\" library") -if(CUDA_VERSION VERSION_EQUAL "3.0") - # The cudartemu library only existed for the 3.0 version of CUDA. - find_library_local_first(CUDA_CUDARTEMU_LIBRARY cudartemu "\"cudartemu\" library") - mark_as_advanced( - CUDA_CUDARTEMU_LIBRARY - ) -endif() -# If we are using emulation mode and we found the cudartemu library then use -# that one instead of cudart. -if(CUDA_BUILD_EMULATION AND CUDA_CUDARTEMU_LIBRARY) - set(CUDA_LIBRARIES ${CUDA_CUDARTEMU_LIBRARY}) -else() -set(CUDA_LIBRARIES ${CUDA_CUDART_LIBRARY}) -endif() -if(APPLE) - # We need to add the path to cudart to the linker using rpath, since the - # library name for the cuda libraries is prepended with @rpath. - if(CUDA_BUILD_EMULATION AND CUDA_CUDARTEMU_LIBRARY) - get_filename_component(_cuda_path_to_cudart "${CUDA_CUDARTEMU_LIBRARY}" PATH) - else() - get_filename_component(_cuda_path_to_cudart "${CUDA_CUDART_LIBRARY}" PATH) - endif() - if(_cuda_path_to_cudart) - list(APPEND CUDA_LIBRARIES -Wl,-rpath "-Wl,${_cuda_path_to_cudart}") - endif() -endif() - -# 1.1 toolkit on linux doesn't appear to have a separate library on -# some platforms. -find_library_local_first(CUDA_CUDA_LIBRARY cuda "\"cuda\" library (older versions only).") - -# Add cuda library to the link line only if it is found. -if (CUDA_CUDA_LIBRARY) - set(CUDA_LIBRARIES ${CUDA_LIBRARIES} ${CUDA_CUDA_LIBRARY}) -endif(CUDA_CUDA_LIBRARY) - -mark_as_advanced( - CUDA_CUDA_LIBRARY - CUDA_CUDART_LIBRARY - ) - -####################### -# Look for some of the toolkit helper libraries -macro(FIND_CUDA_HELPER_LIBS _name) - find_library_local_first(CUDA_${_name}_LIBRARY ${_name} "\"${_name}\" library") - mark_as_advanced(CUDA_${_name}_LIBRARY) -endmacro(FIND_CUDA_HELPER_LIBS) - -####################### -# Disable emulation for v3.1 onward -if(CUDA_VERSION VERSION_GREATER "3.0") - if(CUDA_BUILD_EMULATION) - message(FATAL_ERROR "CUDA_BUILD_EMULATION is not supported in version 3.1 and onwards. You must disable it to proceed. You have version ${CUDA_VERSION}.") - endif() -endif() - -# Search for cufft and cublas libraries. -if(CUDA_VERSION VERSION_LESS "3.1") - # Emulation libraries aren't available in version 3.1 onward. -find_cuda_helper_libs(cufftemu) -find_cuda_helper_libs(cublasemu) -endif() -find_cuda_helper_libs(cufft) -find_cuda_helper_libs(cublas) - -if (CUDA_BUILD_EMULATION) - set(CUDA_CUFFT_LIBRARIES ${CUDA_cufftemu_LIBRARY}) - set(CUDA_CUBLAS_LIBRARIES ${CUDA_cublasemu_LIBRARY}) -else() - set(CUDA_CUFFT_LIBRARIES ${CUDA_cufft_LIBRARY}) - set(CUDA_CUBLAS_LIBRARIES ${CUDA_cublas_LIBRARY}) -endif() - -######################## -# Look for the SDK stuff. As of CUDA 3.0 NVSDKCUDA_ROOT has been replaced with -# NVSDKCOMPUTE_ROOT with the old CUDA C contents moved into the C subdirectory -find_path(CUDA_SDK_ROOT_DIR common/inc/cutil.h - "$ENV{HOME}/NVIDIA_GPU_Computing_SDK/C" - "$ENV{NVSDKCOMPUTE_ROOT}/C" - "$ENV{NVSDKCUDA_ROOT}" - "[HKEY_LOCAL_MACHINE\\SOFTWARE\\NVIDIA Corporation\\Installed Products\\NVIDIA SDK 10\\Compute;InstallDir]" - "/Developer/GPU\ Computing/C" - ) - -# Keep the CUDA_SDK_ROOT_DIR first in order to be able to override the -# environment variables. -set(CUDA_SDK_SEARCH_PATH - "${CUDA_SDK_ROOT_DIR}" - "${CUDA_TOOLKIT_ROOT_DIR}/local/NVSDK0.2" - "${CUDA_TOOLKIT_ROOT_DIR}/NVSDK0.2" - "${CUDA_TOOLKIT_ROOT_DIR}/NV_CUDA_SDK" - "$ENV{HOME}/NVIDIA_CUDA_SDK" - "$ENV{HOME}/NVIDIA_CUDA_SDK_MACOSX" - "$ENV{HOME}/NVIDIA_GPU_Computing_SDK/C" - "/Developer/CUDA" - ) - -# Example of how to find an include file from the CUDA_SDK_ROOT_DIR - -# find_path(CUDA_CUT_INCLUDE_DIR -# cutil.h -# PATHS ${CUDA_SDK_SEARCH_PATH} -# PATH_SUFFIXES "common/inc" -# DOC "Location of cutil.h" -# NO_DEFAULT_PATH -# ) -# # Now search system paths -# find_path(CUDA_CUT_INCLUDE_DIR cutil.h DOC "Location of cutil.h") - -# mark_as_advanced(CUDA_CUT_INCLUDE_DIR) - - -# Example of how to find a library in the CUDA_SDK_ROOT_DIR - -# # cutil library is called cutil64 for 64 bit builds on windows. We don't want -# # to get these confused, so we are setting the name based on the word size of -# # the build. - -# if(CMAKE_SIZEOF_VOID_P EQUAL 8) -# set(cuda_cutil_name cutil64) -# else(CMAKE_SIZEOF_VOID_P EQUAL 8) -# set(cuda_cutil_name cutil32) -# endif(CMAKE_SIZEOF_VOID_P EQUAL 8) - -# find_library(CUDA_CUT_LIBRARY -# NAMES cutil ${cuda_cutil_name} -# PATHS ${CUDA_SDK_SEARCH_PATH} -# # The new version of the sdk shows up in common/lib, but the old one is in lib -# PATH_SUFFIXES "common/lib" "lib" -# DOC "Location of cutil library" -# NO_DEFAULT_PATH -# ) -# # Now search system paths -# find_library(CUDA_CUT_LIBRARY NAMES cutil ${cuda_cutil_name} DOC "Location of cutil library") -# mark_as_advanced(CUDA_CUT_LIBRARY) -# set(CUDA_CUT_LIBRARIES ${CUDA_CUT_LIBRARY}) - - - -############################# -# Check for required components -set(CUDA_FOUND TRUE) - -set(CUDA_TOOLKIT_ROOT_DIR_INTERNAL "${CUDA_TOOLKIT_ROOT_DIR}" CACHE INTERNAL - "This is the value of the last time CUDA_TOOLKIT_ROOT_DIR was set successfully." FORCE) -set(CUDA_SDK_ROOT_DIR_INTERNAL "${CUDA_SDK_ROOT_DIR}" CACHE INTERNAL - "This is the value of the last time CUDA_SDK_ROOT_DIR was set successfully." FORCE) - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(CUDA DEFAULT_MSG - CUDA_TOOLKIT_ROOT_DIR - CUDA_NVCC_EXECUTABLE - CUDA_INCLUDE_DIRS - CUDA_CUDART_LIBRARY - _cuda_version_acceptable - ) - - - -############################################################################### -############################################################################### -# Macros -############################################################################### -############################################################################### - -############################################################################### -# Add include directories to pass to the nvcc command. -macro(CUDA_INCLUDE_DIRECTORIES) - foreach(dir ${ARGN}) - list(APPEND CUDA_NVCC_INCLUDE_ARGS_USER "-I${dir}") - endforeach(dir ${ARGN}) -endmacro(CUDA_INCLUDE_DIRECTORIES) - - -############################################################################## -cuda_find_helper_file(parse_cubin cmake) -cuda_find_helper_file(make2cmake cmake) -cuda_find_helper_file(run_nvcc cmake) - -############################################################################## -# Separate the OPTIONS out from the sources -# -macro(CUDA_GET_SOURCES_AND_OPTIONS _sources _cmake_options _options) - set( ${_sources} ) - set( ${_cmake_options} ) - set( ${_options} ) - set( _found_options FALSE ) - foreach(arg ${ARGN}) - if(arg STREQUAL "OPTIONS") - set( _found_options TRUE ) - elseif( - arg STREQUAL "WIN32" OR - arg STREQUAL "MACOSX_BUNDLE" OR - arg STREQUAL "EXCLUDE_FROM_ALL" OR - arg STREQUAL "STATIC" OR - arg STREQUAL "SHARED" OR - arg STREQUAL "MODULE" - ) - list(APPEND ${_cmake_options} "${arg}") - else() - if ( _found_options ) - list(APPEND ${_options} "${arg}") - else() - # Assume this is a file - list(APPEND ${_sources} "${arg}") - endif() - endif() - endforeach() -endmacro() - -############################################################################## -# Parse the OPTIONS from ARGN and set the variables prefixed by _option_prefix -# -macro(CUDA_PARSE_NVCC_OPTIONS _option_prefix) - set( _found_config ) - foreach(arg ${ARGN}) - # Determine if we are dealing with a perconfiguration flag - foreach(config ${CUDA_configuration_types}) - string(TOUPPER ${config} config_upper) - if (arg STREQUAL "${config_upper}") - set( _found_config _${arg}) - # Set arg to nothing to keep it from being processed further - set( arg ) - endif() - endforeach() - - if ( arg ) - list(APPEND ${_option_prefix}${_found_config} "${arg}") - endif() - endforeach() -endmacro() - -############################################################################## -# Helper to add the include directory for CUDA only once -function(CUDA_ADD_CUDA_INCLUDE_ONCE) - get_directory_property(_include_directories INCLUDE_DIRECTORIES) - set(_add TRUE) - if(_include_directories) - foreach(dir ${_include_directories}) - if("${dir}" STREQUAL "${CUDA_INCLUDE_DIRS}") - set(_add FALSE) - endif() - endforeach() - endif() - if(_add) - include_directories(${CUDA_INCLUDE_DIRS}) - endif() -endfunction() - -function(CUDA_BUILD_SHARED_LIBRARY shared_flag) - set(cmake_args ${ARGN}) - # If SHARED, MODULE, or STATIC aren't already in the list of arguments, then - # add SHARED or STATIC based on the value of BUILD_SHARED_LIBS. - list(FIND cmake_args SHARED _cuda_found_SHARED) - list(FIND cmake_args MODULE _cuda_found_MODULE) - list(FIND cmake_args STATIC _cuda_found_STATIC) - if( _cuda_found_SHARED GREATER -1 OR - _cuda_found_MODULE GREATER -1 OR - _cuda_found_STATIC GREATER -1) - set(_cuda_build_shared_libs) - else() - if (BUILD_SHARED_LIBS) - set(_cuda_build_shared_libs SHARED) - else() - set(_cuda_build_shared_libs STATIC) - endif() - endif() - set(${shared_flag} ${_cuda_build_shared_libs} PARENT_SCOPE) -endfunction() - -############################################################################## -# This helper macro populates the following variables and setups up custom -# commands and targets to invoke the nvcc compiler to generate C or PTX source -# dependent upon the format parameter. The compiler is invoked once with -M -# to generate a dependency file and a second time with -cuda or -ptx to generate -# a .cpp or .ptx file. -# INPUT: -# cuda_target - Target name -# format - PTX or OBJ -# FILE1 .. FILEN - The remaining arguments are the sources to be wrapped. -# OPTIONS - Extra options to NVCC -# OUTPUT: -# generated_files - List of generated files -############################################################################## -############################################################################## - -macro(CUDA_WRAP_SRCS cuda_target format generated_files) - - if( ${format} MATCHES "PTX" ) - set( compile_to_ptx ON ) - elseif( ${format} MATCHES "OBJ") - set( compile_to_ptx OFF ) - else() - message( FATAL_ERROR "Invalid format flag passed to CUDA_WRAP_SRCS: '${format}'. Use OBJ or PTX.") - endif() - - # Set up all the command line flags here, so that they can be overriden on a per target basis. - - set(nvcc_flags "") - - # Emulation if the card isn't present. - if (CUDA_BUILD_EMULATION) - # Emulation. - set(nvcc_flags ${nvcc_flags} --device-emulation -D_DEVICEEMU -g) - else(CUDA_BUILD_EMULATION) - # Device mode. No flags necessary. - endif(CUDA_BUILD_EMULATION) - - if(CUDA_HOST_COMPILATION_CPP) - set(CUDA_C_OR_CXX CXX) - else(CUDA_HOST_COMPILATION_CPP) - if(CUDA_VERSION VERSION_LESS "3.0") - set(nvcc_flags ${nvcc_flags} --host-compilation C) - else() - message(WARNING "--host-compilation flag is deprecated in CUDA version >= 3.0. Removing --host-compilation C flag" ) - endif() - set(CUDA_C_OR_CXX C) - endif(CUDA_HOST_COMPILATION_CPP) - - set(generated_extension ${CMAKE_${CUDA_C_OR_CXX}_OUTPUT_EXTENSION}) - - if(CUDA_64_BIT_DEVICE_CODE) - set(nvcc_flags ${nvcc_flags} -m64) - else() - set(nvcc_flags ${nvcc_flags} -m32) - endif() - - # This needs to be passed in at this stage, because VS needs to fill out the - # value of VCInstallDir from within VS. - if(CMAKE_GENERATOR MATCHES "Visual Studio") - if( CMAKE_SIZEOF_VOID_P EQUAL 8 ) - # Add nvcc flag for 64b Windows - set(ccbin_flags -D "\"CCBIN:PATH=$(VCInstallDir)bin\"" ) - endif() - endif() - - # Figure out which configure we will use and pass that in as an argument to - # the script. We need to defer the decision until compilation time, because - # for VS projects we won't know if we are making a debug or release build - # until build time. - if(CMAKE_GENERATOR MATCHES "Visual Studio") - set( CUDA_build_configuration "$(ConfigurationName)" ) - else() - set( CUDA_build_configuration "${CMAKE_BUILD_TYPE}") - endif() - - # Initialize our list of includes with the user ones followed by the CUDA system ones. - set(CUDA_NVCC_INCLUDE_ARGS ${CUDA_NVCC_INCLUDE_ARGS_USER} "-I${CUDA_INCLUDE_DIRS}") - # Get the include directories for this directory and use them for our nvcc command. - get_directory_property(CUDA_NVCC_INCLUDE_DIRECTORIES INCLUDE_DIRECTORIES) - if(CUDA_NVCC_INCLUDE_DIRECTORIES) - foreach(dir ${CUDA_NVCC_INCLUDE_DIRECTORIES}) - list(APPEND CUDA_NVCC_INCLUDE_ARGS "-I${dir}") - endforeach() - endif() - - # Reset these variables - set(CUDA_WRAP_OPTION_NVCC_FLAGS) - foreach(config ${CUDA_configuration_types}) - string(TOUPPER ${config} config_upper) - set(CUDA_WRAP_OPTION_NVCC_FLAGS_${config_upper}) - endforeach() - - CUDA_GET_SOURCES_AND_OPTIONS(_cuda_wrap_sources _cuda_wrap_cmake_options _cuda_wrap_options ${ARGN}) - CUDA_PARSE_NVCC_OPTIONS(CUDA_WRAP_OPTION_NVCC_FLAGS ${_cuda_wrap_options}) - - # Figure out if we are building a shared library. BUILD_SHARED_LIBS is - # respected in CUDA_ADD_LIBRARY. - set(_cuda_build_shared_libs FALSE) - # SHARED, MODULE - list(FIND _cuda_wrap_cmake_options SHARED _cuda_found_SHARED) - list(FIND _cuda_wrap_cmake_options MODULE _cuda_found_MODULE) - if(_cuda_found_SHARED GREATER -1 OR _cuda_found_MODULE GREATER -1) - set(_cuda_build_shared_libs TRUE) - endif() - # STATIC - list(FIND _cuda_wrap_cmake_options STATIC _cuda_found_STATIC) - if(_cuda_found_STATIC GREATER -1) - set(_cuda_build_shared_libs FALSE) - endif() - - # CUDA_HOST_FLAGS - if(_cuda_build_shared_libs) - # If we are setting up code for a shared library, then we need to add extra flags for - # compiling objects for shared libraries. - set(CUDA_HOST_SHARED_FLAGS ${CMAKE_SHARED_LIBRARY_${CUDA_C_OR_CXX}_FLAGS}) - else() - set(CUDA_HOST_SHARED_FLAGS) - endif() - # Only add the CMAKE_{C,CXX}_FLAGS if we are propagating host flags. We - # always need to set the SHARED_FLAGS, though. - if(CUDA_PROPAGATE_HOST_FLAGS) - set(CUDA_HOST_FLAGS "set(CMAKE_HOST_FLAGS ${CMAKE_${CUDA_C_OR_CXX}_FLAGS} ${CUDA_HOST_SHARED_FLAGS})") - else() - set(CUDA_HOST_FLAGS "set(CMAKE_HOST_FLAGS ${CUDA_HOST_SHARED_FLAGS})") - endif() - - set(CUDA_NVCC_FLAGS_CONFIG "# Build specific configuration flags") - # Loop over all the configuration types to generate appropriate flags for run_nvcc.cmake - foreach(config ${CUDA_configuration_types}) - string(TOUPPER ${config} config_upper) - # CMAKE_FLAGS are strings and not lists. By not putting quotes around CMAKE_FLAGS - # we convert the strings to lists (like we want). - - if(CUDA_PROPAGATE_HOST_FLAGS) - # nvcc chokes on -g3 in versions previous to 3.0, so replace it with -g - if(CMAKE_COMPILER_IS_GNUCC AND CUDA_VERSION VERSION_LESS "3.0") - string(REPLACE "-g3" "-g" _cuda_C_FLAGS "${CMAKE_${CUDA_C_OR_CXX}_FLAGS_${config_upper}}") - else() - set(_cuda_C_FLAGS "${CMAKE_${CUDA_C_OR_CXX}_FLAGS_${config_upper}}") - endif() - - set(CUDA_HOST_FLAGS "${CUDA_HOST_FLAGS}\nset(CMAKE_HOST_FLAGS_${config_upper} ${_cuda_C_FLAGS})") - endif() - - # Note that if we ever want CUDA_NVCC_FLAGS_ to be string (instead of a list - # like it is currently), we can remove the quotes around the - # ${CUDA_NVCC_FLAGS_${config_upper}} variable like the CMAKE_HOST_FLAGS_ variable. - set(CUDA_NVCC_FLAGS_CONFIG "${CUDA_NVCC_FLAGS_CONFIG}\nset(CUDA_NVCC_FLAGS_${config_upper} \"${CUDA_NVCC_FLAGS_${config_upper}};;${CUDA_WRAP_OPTION_NVCC_FLAGS_${config_upper}}\")") - endforeach() - - if(compile_to_ptx) - # Don't use any of the host compilation flags for PTX targets. - set(CUDA_HOST_FLAGS) - set(CUDA_NVCC_FLAGS_CONFIG) - endif() - - # Get the list of definitions from the directory property - get_directory_property(CUDA_NVCC_DEFINITIONS COMPILE_DEFINITIONS) - if(CUDA_NVCC_DEFINITIONS) - foreach(_definition ${CUDA_NVCC_DEFINITIONS}) - list(APPEND nvcc_flags "-D${_definition}") - endforeach() - endif() - - if(_cuda_build_shared_libs) - list(APPEND nvcc_flags "-D${cuda_target}_EXPORTS") - endif() - - # Determine output directory - if(CUDA_GENERATED_OUTPUT_DIR) - set(cuda_compile_output_dir "${CUDA_GENERATED_OUTPUT_DIR}") - else() - set(cuda_compile_output_dir "${CMAKE_CURRENT_BINARY_DIR}") - endif() - - # Reset the output variable - set(_cuda_wrap_generated_files "") - - # Iterate over the macro arguments and create custom - # commands for all the .cu files. - foreach(file ${ARGN}) - # Ignore any file marked as a HEADER_FILE_ONLY - get_source_file_property(_is_header ${file} HEADER_FILE_ONLY) - if(${file} MATCHES ".*\\.cu$" AND NOT _is_header) - - # Add a custom target to generate a c or ptx file. ###################### - - get_filename_component( basename ${file} NAME ) - if( compile_to_ptx ) - set(generated_file_path "${cuda_compile_output_dir}") - set(generated_file_basename "${cuda_target}_generated_${basename}.ptx") - set(format_flag "-ptx") - file(MAKE_DIRECTORY "${cuda_compile_output_dir}") - else( compile_to_ptx ) - set(generated_file_path "${cuda_compile_output_dir}/${CMAKE_CFG_INTDIR}") - set(generated_file_basename "${cuda_target}_generated_${basename}${generated_extension}") - set(format_flag "-c") - endif( compile_to_ptx ) - - # Set all of our file names. Make sure that whatever filenames that have - # generated_file_path in them get passed in through as a command line - # argument, so that the ${CMAKE_CFG_INTDIR} gets expanded at run time - # instead of configure time. - set(generated_file "${generated_file_path}/${generated_file_basename}") - set(cmake_dependency_file "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/${generated_file_basename}.depend") - set(NVCC_generated_dependency_file "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/${generated_file_basename}.NVCC-depend") - set(generated_cubin_file "${generated_file_path}/${generated_file_basename}.cubin.txt") - set(custom_target_script "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/${generated_file_basename}.cmake") - - # Setup properties for obj files: - if( NOT compile_to_ptx ) - set_source_files_properties("${generated_file}" - PROPERTIES - EXTERNAL_OBJECT true # This is an object file not to be compiled, but only be linked. - ) - endif() - - # Don't add CMAKE_CURRENT_SOURCE_DIR if the path is already an absolute path. - get_filename_component(file_path "${file}" PATH) - if(IS_ABSOLUTE "${file_path}") - set(source_file "${file}") - else() - set(source_file "${CMAKE_CURRENT_SOURCE_DIR}/${file}") - endif() - - # Bring in the dependencies. Creates a variable CUDA_NVCC_DEPEND ####### - cuda_include_nvcc_dependencies(${cmake_dependency_file}) - - # Convience string for output ########################################### - if(CUDA_BUILD_EMULATION) - set(cuda_build_type "Emulation") - else(CUDA_BUILD_EMULATION) - set(cuda_build_type "Device") - endif(CUDA_BUILD_EMULATION) - - # Build the NVCC made dependency file ################################### - set(build_cubin OFF) - if ( NOT CUDA_BUILD_EMULATION AND CUDA_BUILD_CUBIN ) - if ( NOT compile_to_ptx ) - set ( build_cubin ON ) - endif( NOT compile_to_ptx ) - endif( NOT CUDA_BUILD_EMULATION AND CUDA_BUILD_CUBIN ) - - # Configure the build script - configure_file("${CUDA_run_nvcc}" "${custom_target_script}" @ONLY) - - # So if a user specifies the same cuda file as input more than once, you - # can have bad things happen with dependencies. Here we check an option - # to see if this is the behavior they want. - if(CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE) - set(main_dep MAIN_DEPENDENCY ${source_file}) - else() - set(main_dep DEPENDS ${source_file}) - endif() - - if(CUDA_VERBOSE_BUILD) - set(verbose_output ON) - elseif(CMAKE_GENERATOR MATCHES "Makefiles") - set(verbose_output "$(VERBOSE)") - else() - set(verbose_output OFF) - endif() - - # Create up the comment string - file(RELATIVE_PATH generated_file_relative_path "${CMAKE_BINARY_DIR}" "${generated_file}") - if(compile_to_ptx) - set(cuda_build_comment_string "Building NVCC ptx file ${generated_file_relative_path}") - else() - set(cuda_build_comment_string "Building NVCC (${cuda_build_type}) object ${generated_file_relative_path}") - endif() - - # Build the generated file and dependency file ########################## - add_custom_command( - OUTPUT ${generated_file} - # These output files depend on the source_file and the contents of cmake_dependency_file - ${main_dep} - DEPENDS ${CUDA_NVCC_DEPEND} - DEPENDS ${custom_target_script} - # Make sure the output directory exists before trying to write to it. - COMMAND ${CMAKE_COMMAND} -E make_directory "${generated_file_path}" - COMMAND ${CMAKE_COMMAND} ARGS - -D verbose:BOOL=${verbose_output} - ${ccbin_flags} - -D build_configuration:STRING=${CUDA_build_configuration} - -D "generated_file:STRING=${generated_file}" - -D "generated_cubin_file:STRING=${generated_cubin_file}" - -P "${custom_target_script}" - COMMENT "${cuda_build_comment_string}" - ) - - # Make sure the build system knows the file is generated. - set_source_files_properties(${generated_file} PROPERTIES GENERATED TRUE) - - # Don't add the object file to the list of generated files if we are using - # visual studio and we are attaching the build rule to the cuda file. VS - # will add our object file to the linker automatically for us. - set(cuda_add_generated_file TRUE) - - if(NOT compile_to_ptx AND CMAKE_GENERATOR MATCHES "Visual Studio" AND CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE) - # Visual Studio 8 crashes when you close the solution when you don't add the object file. - if(NOT CMAKE_GENERATOR MATCHES "Visual Studio 8") - #message("Not adding ${generated_file}") - set(cuda_add_generated_file FALSE) - endif() - endif() - - if(cuda_add_generated_file) - list(APPEND _cuda_wrap_generated_files ${generated_file}) - endif() - - # Add the other files that we want cmake to clean on a cleanup ########## - list(APPEND CUDA_ADDITIONAL_CLEAN_FILES "${cmake_dependency_file}") - list(REMOVE_DUPLICATES CUDA_ADDITIONAL_CLEAN_FILES) - set(CUDA_ADDITIONAL_CLEAN_FILES ${CUDA_ADDITIONAL_CLEAN_FILES} CACHE INTERNAL "List of intermediate files that are part of the cuda dependency scanning.") - - endif(${file} MATCHES ".*\\.cu$" AND NOT _is_header) - endforeach(file) - - # Set the return parameter - set(${generated_files} ${_cuda_wrap_generated_files}) -endmacro(CUDA_WRAP_SRCS) - - -############################################################################### -############################################################################### -# ADD LIBRARY -############################################################################### -############################################################################### -macro(CUDA_ADD_LIBRARY cuda_target) - - CUDA_ADD_CUDA_INCLUDE_ONCE() - - # Separate the sources from the options - CUDA_GET_SOURCES_AND_OPTIONS(_sources _cmake_options _options ${ARGN}) - CUDA_BUILD_SHARED_LIBRARY(_cuda_shared_flag ${ARGN}) - # Create custom commands and targets for each file. - CUDA_WRAP_SRCS( ${cuda_target} OBJ _generated_files ${_sources} - ${_cmake_options} ${_cuda_shared_flag} - OPTIONS ${_options} ) - - # Add the library. - add_library(${cuda_target} ${_cmake_options} - ${_generated_files} - ${_sources} - ) - - target_link_libraries(${cuda_target} - ${CUDA_LIBRARIES} - ) - - # We need to set the linker language based on what the expected generated file - # would be. CUDA_C_OR_CXX is computed based on CUDA_HOST_COMPILATION_CPP. - set_target_properties(${cuda_target} - PROPERTIES - LINKER_LANGUAGE ${CUDA_C_OR_CXX} - ) - -endmacro(CUDA_ADD_LIBRARY cuda_target) - - -############################################################################### -############################################################################### -# ADD EXECUTABLE -############################################################################### -############################################################################### -macro(CUDA_ADD_EXECUTABLE cuda_target) - - CUDA_ADD_CUDA_INCLUDE_ONCE() - - # Separate the sources from the options - CUDA_GET_SOURCES_AND_OPTIONS(_sources _cmake_options _options ${ARGN}) - # Create custom commands and targets for each file. - CUDA_WRAP_SRCS( ${cuda_target} OBJ _generated_files ${_sources} OPTIONS ${_options} ) - - # Add the library. - add_executable(${cuda_target} ${_cmake_options} - ${_generated_files} - ${_sources} - ) - - target_link_libraries(${cuda_target} - ${CUDA_LIBRARIES} - ) - - # We need to set the linker language based on what the expected generated file - # would be. CUDA_C_OR_CXX is computed based on CUDA_HOST_COMPILATION_CPP. - set_target_properties(${cuda_target} - PROPERTIES - LINKER_LANGUAGE ${CUDA_C_OR_CXX} - ) - -endmacro(CUDA_ADD_EXECUTABLE cuda_target) - - -############################################################################### -############################################################################### -# CUDA COMPILE -############################################################################### -############################################################################### -macro(CUDA_COMPILE generated_files) - - # Separate the sources from the options - CUDA_GET_SOURCES_AND_OPTIONS(_sources _cmake_options _options ${ARGN}) - # Create custom commands and targets for each file. - CUDA_WRAP_SRCS( cuda_compile OBJ _generated_files ${_sources} ${_cmake_options} - OPTIONS ${_options} ) - - set( ${generated_files} ${_generated_files}) - -endmacro(CUDA_COMPILE) - - -############################################################################### -############################################################################### -# CUDA COMPILE PTX -############################################################################### -############################################################################### -macro(CUDA_COMPILE_PTX generated_files) - - # Separate the sources from the options - CUDA_GET_SOURCES_AND_OPTIONS(_sources _cmake_options _options ${ARGN}) - # Create custom commands and targets for each file. - CUDA_WRAP_SRCS( cuda_compile_ptx PTX _generated_files ${_sources} ${_cmake_options} - OPTIONS ${_options} ) - - set( ${generated_files} ${_generated_files}) - -endmacro(CUDA_COMPILE_PTX) - -############################################################################### -############################################################################### -# CUDA ADD CUFFT TO TARGET -############################################################################### -############################################################################### -macro(CUDA_ADD_CUFFT_TO_TARGET target) - if (CUDA_BUILD_EMULATION) - target_link_libraries(${target} ${CUDA_cufftemu_LIBRARY}) - else() - target_link_libraries(${target} ${CUDA_cufft_LIBRARY}) - endif() -endmacro() - -############################################################################### -############################################################################### -# CUDA ADD CUBLAS TO TARGET -############################################################################### -############################################################################### -macro(CUDA_ADD_CUBLAS_TO_TARGET target) - if (CUDA_BUILD_EMULATION) - target_link_libraries(${target} ${CUDA_cublasemu_LIBRARY}) - else() - target_link_libraries(${target} ${CUDA_cublas_LIBRARY}) - endif() -endmacro() - -############################################################################### -############################################################################### -# CUDA BUILD CLEAN TARGET -############################################################################### -############################################################################### -macro(CUDA_BUILD_CLEAN_TARGET) - # Call this after you add all your CUDA targets, and you will get a convience - # target. You should also make clean after running this target to get the - # build system to generate all the code again. - - set(cuda_clean_target_name clean_cuda_depends) - if (CMAKE_GENERATOR MATCHES "Visual Studio") - string(TOUPPER ${cuda_clean_target_name} cuda_clean_target_name) - endif() - add_custom_target(${cuda_clean_target_name} - COMMAND ${CMAKE_COMMAND} -E remove ${CUDA_ADDITIONAL_CLEAN_FILES}) - - # Clear out the variable, so the next time we configure it will be empty. - # This is useful so that the files won't persist in the list after targets - # have been removed. - set(CUDA_ADDITIONAL_CLEAN_FILES "" CACHE INTERNAL "List of intermediate files that are part of the cuda dependency scanning.") -endmacro(CUDA_BUILD_CLEAN_TARGET) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/CMakeModules/FindCUDA/make2cmake.cmake b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/CMakeModules/FindCUDA/make2cmake.cmake deleted file mode 100644 index 7fce167..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/CMakeModules/FindCUDA/make2cmake.cmake +++ /dev/null @@ -1,79 +0,0 @@ -# James Bigler, NVIDIA Corp (nvidia.com - jbigler) -# Abe Stephens, SCI Institute -- http://www.sci.utah.edu/~abe/FindCuda.html -# -# Copyright (c) 2008 - 2009 NVIDIA Corporation. All rights reserved. -# -# Copyright (c) 2007-2009 -# Scientific Computing and Imaging Institute, University of Utah -# -# This code is licensed under the MIT License. See the FindCUDA.cmake script -# for the text of the license. - -# The MIT License -# -# License for the specific language governing rights and limitations under -# Permission is hereby granted, free of charge, to any person obtaining a -# copy of this software and associated documentation files (the "Software"), -# to deal in the Software without restriction, including without limitation -# the rights to use, copy, modify, merge, publish, distribute, sublicense, -# and/or sell copies of the Software, and to permit persons to whom the -# Software is furnished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included -# in all copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS -# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL -# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING -# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER -# DEALINGS IN THE SOFTWARE. -# - -####################################################################### -# This converts a file written in makefile syntax into one that can be included -# by CMake. - -file(READ ${input_file} depend_text) - -if (${depend_text} MATCHES ".+") - - # message("FOUND DEPENDS") - - # Remember, four backslashes is escaped to one backslash in the string. - string(REGEX REPLACE "\\\\ " " " depend_text ${depend_text}) - - # This works for the nvcc -M generated dependency files. - string(REGEX REPLACE "^.* : " "" depend_text ${depend_text}) - string(REGEX REPLACE "[ \\\\]*\n" ";" depend_text ${depend_text}) - - set(dependency_list "") - - foreach(file ${depend_text}) - - string(REGEX REPLACE "^ +" "" file ${file}) - - if(NOT IS_DIRECTORY ${file}) - # If softlinks start to matter, we should change this to REALPATH. For now we need - # to flatten paths, because nvcc can generate stuff like /bin/../include instead of - # just /include. - get_filename_component(file_absolute "${file}" ABSOLUTE) - list(APPEND dependency_list "${file_absolute}") - endif(NOT IS_DIRECTORY ${file}) - - endforeach(file) - -else() - # message("FOUND NO DEPENDS") -endif() - -# Remove the duplicate entries and sort them. -list(REMOVE_DUPLICATES dependency_list) -list(SORT dependency_list) - -foreach(file ${dependency_list}) - set(cuda_nvcc_depend "${cuda_nvcc_depend} \"${file}\"\n") -endforeach() - -file(WRITE ${output_file} "# Generated by: make2cmake.cmake\nSET(CUDA_NVCC_DEPEND\n ${cuda_nvcc_depend})\n\n") diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/CMakeModules/FindCUDA/parse_cubin.cmake b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/CMakeModules/FindCUDA/parse_cubin.cmake deleted file mode 100644 index 2518c68..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/CMakeModules/FindCUDA/parse_cubin.cmake +++ /dev/null @@ -1,112 +0,0 @@ -# James Bigler, NVIDIA Corp (nvidia.com - jbigler) -# Abe Stephens, SCI Institute -- http://www.sci.utah.edu/~abe/FindCuda.html -# -# Copyright (c) 2008 - 2009 NVIDIA Corporation. All rights reserved. -# -# Copyright (c) 2007-2009 -# Scientific Computing and Imaging Institute, University of Utah -# -# This code is licensed under the MIT License. See the FindCUDA.cmake script -# for the text of the license. - -# The MIT License -# -# License for the specific language governing rights and limitations under -# Permission is hereby granted, free of charge, to any person obtaining a -# copy of this software and associated documentation files (the "Software"), -# to deal in the Software without restriction, including without limitation -# the rights to use, copy, modify, merge, publish, distribute, sublicense, -# and/or sell copies of the Software, and to permit persons to whom the -# Software is furnished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included -# in all copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS -# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL -# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING -# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER -# DEALINGS IN THE SOFTWARE. -# - -####################################################################### -# Parses a .cubin file produced by nvcc and reports statistics about the file. - - -file(READ ${input_file} file_text) - -if (${file_text} MATCHES ".+") - - # Remember, four backslashes is escaped to one backslash in the string. - string(REGEX REPLACE ";" "\\\\;" file_text ${file_text}) - string(REGEX REPLACE "\ncode" ";code" file_text ${file_text}) - - list(LENGTH file_text len) - - foreach(line ${file_text}) - - # Only look at "code { }" blocks. - if(line MATCHES "^code") - - # Break into individual lines. - string(REGEX REPLACE "\n" ";" line ${line}) - - foreach(entry ${line}) - - # Extract kernel names. - if (${entry} MATCHES "[^g]name = ([^ ]+)") - string(REGEX REPLACE ".* = ([^ ]+)" "\\1" entry ${entry}) - - # Check to see if the kernel name starts with "_" - set(skip FALSE) - # if (${entry} MATCHES "^_") - # Skip the rest of this block. - # message("Skipping ${entry}") - # set(skip TRUE) - # else (${entry} MATCHES "^_") - message("Kernel: ${entry}") - # endif (${entry} MATCHES "^_") - - endif(${entry} MATCHES "[^g]name = ([^ ]+)") - - # Skip the rest of the block if necessary - if(NOT skip) - - # Registers - if (${entry} MATCHES "reg([ ]+)=([ ]+)([^ ]+)") - string(REGEX REPLACE ".*([ ]+)=([ ]+)([^ ]+)" "\\3" entry ${entry}) - message("Registers: ${entry}") - endif() - - # Local memory - if (${entry} MATCHES "lmem([ ]+)=([ ]+)([^ ]+)") - string(REGEX REPLACE ".*([ ]+)=([ ]+)([^ ]+)" "\\3" entry ${entry}) - message("Local: ${entry}") - endif() - - # Shared memory - if (${entry} MATCHES "smem([ ]+)=([ ]+)([^ ]+)") - string(REGEX REPLACE ".*([ ]+)=([ ]+)([^ ]+)" "\\3" entry ${entry}) - message("Shared: ${entry}") - endif() - - if (${entry} MATCHES "^}") - message("") - endif() - - endif(NOT skip) - - - endforeach(entry) - - endif(line MATCHES "^code") - - endforeach(line) - -else() - # message("FOUND NO DEPENDS") -endif() - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/CMakeModules/FindCUDA/run_nvcc.cmake b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/CMakeModules/FindCUDA/run_nvcc.cmake deleted file mode 100644 index dce98e3..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/CMakeModules/FindCUDA/run_nvcc.cmake +++ /dev/null @@ -1,280 +0,0 @@ -# James Bigler, NVIDIA Corp (nvidia.com - jbigler) -# -# Copyright (c) 2008 - 2009 NVIDIA Corporation. All rights reserved. -# -# This code is licensed under the MIT License. See the FindCUDA.cmake script -# for the text of the license. - -# The MIT License -# -# License for the specific language governing rights and limitations under -# Permission is hereby granted, free of charge, to any person obtaining a -# copy of this software and associated documentation files (the "Software"), -# to deal in the Software without restriction, including without limitation -# the rights to use, copy, modify, merge, publish, distribute, sublicense, -# and/or sell copies of the Software, and to permit persons to whom the -# Software is furnished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included -# in all copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS -# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL -# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING -# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER -# DEALINGS IN THE SOFTWARE. - - -########################################################################## -# This file runs the nvcc commands to produce the desired output file along with -# the dependency file needed by CMake to compute dependencies. In addition the -# file checks the output of each command and if the command fails it deletes the -# output files. - -# Input variables -# -# verbose:BOOL=<> OFF: Be as quiet as possible (default) -# ON : Describe each step -# -# build_configuration:STRING=<> Typically one of Debug, MinSizeRel, Release, or -# RelWithDebInfo, but it should match one of the -# entries in CUDA_HOST_FLAGS. This is the build -# configuration used when compiling the code. If -# blank or unspecified Debug is assumed as this is -# what CMake does. -# -# generated_file:STRING=<> File to generate. This argument must be passed in. -# -# generated_cubin_file:STRING=<> File to generate. This argument must be passed -# in if build_cubin is true. - -if(NOT generated_file) - message(FATAL_ERROR "You must specify generated_file on the command line") -endif() - -# Set these up as variables to make reading the generated file easier -set(CMAKE_COMMAND "@CMAKE_COMMAND@") -set(source_file "@source_file@") -set(NVCC_generated_dependency_file "@NVCC_generated_dependency_file@") -set(cmake_dependency_file "@cmake_dependency_file@") -set(CUDA_make2cmake "@CUDA_make2cmake@") -set(CUDA_parse_cubin "@CUDA_parse_cubin@") -set(build_cubin @build_cubin@) -# We won't actually use these variables for now, but we need to set this, in -# order to force this file to be run again if it changes. -set(generated_file_path "@generated_file_path@") -set(generated_file_internal "@generated_file@") -set(generated_cubin_file_internal "@generated_cubin_file@") - -set(CUDA_NVCC_EXECUTABLE "@CUDA_NVCC_EXECUTABLE@") -set(CUDA_NVCC_FLAGS "@CUDA_NVCC_FLAGS@;;@CUDA_WRAP_OPTION_NVCC_FLAGS@") -@CUDA_NVCC_FLAGS_CONFIG@ -set(nvcc_flags @nvcc_flags@) -set(CUDA_NVCC_INCLUDE_ARGS "@CUDA_NVCC_INCLUDE_ARGS@") -set(format_flag "@format_flag@") - -if(build_cubin AND NOT generated_cubin_file) - message(FATAL_ERROR "You must specify generated_cubin_file on the command line") -endif() - -# This is the list of host compilation flags. It C or CXX should already have -# been chosen by FindCUDA.cmake. -@CUDA_HOST_FLAGS@ - -# Take the compiler flags and package them up to be sent to the compiler via -Xcompiler -set(nvcc_host_compiler_flags "") -# If we weren't given a build_configuration, use Debug. -if(NOT build_configuration) - set(build_configuration Debug) -endif() -string(TOUPPER "${build_configuration}" build_configuration) -#message("CUDA_NVCC_HOST_COMPILER_FLAGS = ${CUDA_NVCC_HOST_COMPILER_FLAGS}") -foreach(flag ${CMAKE_HOST_FLAGS} ${CMAKE_HOST_FLAGS_${build_configuration}}) - # Extra quotes are added around each flag to help nvcc parse out flags with spaces. - set(nvcc_host_compiler_flags "${nvcc_host_compiler_flags},\"${flag}\"") -endforeach() -if (nvcc_host_compiler_flags) - set(nvcc_host_compiler_flags "-Xcompiler" ${nvcc_host_compiler_flags}) -endif() -#message("nvcc_host_compiler_flags = \"${nvcc_host_compiler_flags}\"") -# Add the build specific configuration flags -list(APPEND CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS_${build_configuration}}) - -if(DEFINED CCBIN) - set(CCBIN -ccbin "${CCBIN}") -endif() - -# cuda_execute_process - Executes a command with optional command echo and status message. -# -# status - Status message to print if verbose is true -# command - COMMAND argument from the usual execute_process argument structure -# ARGN - Remaining arguments are the command with arguments -# -# CUDA_result - return value from running the command -# -# Make this a macro instead of a function, so that things like RESULT_VARIABLE -# and other return variables are present after executing the process. -macro(cuda_execute_process status command) - set(_command ${command}) - if(NOT _command STREQUAL "COMMAND") - message(FATAL_ERROR "Malformed call to cuda_execute_process. Missing COMMAND as second argument. (command = ${command})") - endif() - if(verbose) - execute_process(COMMAND "${CMAKE_COMMAND}" -E echo -- ${status}) - # Now we need to build up our command string. We are accounting for quotes - # and spaces, anything else is left up to the user to fix if they want to - # copy and paste a runnable command line. - set(cuda_execute_process_string) - foreach(arg ${ARGN}) - # If there are quotes, excape them, so they come through. - string(REPLACE "\"" "\\\"" arg ${arg}) - # Args with spaces need quotes around them to get them to be parsed as a single argument. - if(arg MATCHES " ") - list(APPEND cuda_execute_process_string "\"${arg}\"") - else() - list(APPEND cuda_execute_process_string ${arg}) - endif() - endforeach() - # Echo the command - execute_process(COMMAND ${CMAKE_COMMAND} -E echo ${cuda_execute_process_string}) - endif(verbose) - # Run the command - execute_process(COMMAND ${ARGN} RESULT_VARIABLE CUDA_result ) -endmacro() - -# Delete the target file -cuda_execute_process( - "Removing ${generated_file}" - COMMAND "${CMAKE_COMMAND}" -E remove "${generated_file}" - ) - -# For CUDA 2.3 and below, -G -M doesn't work, so remove the -G flag -# for dependency generation and hope for the best. -set(depends_CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS}") -set(CUDA_VERSION @CUDA_VERSION@) -if(CUDA_VERSION VERSION_LESS "3.0") - cmake_policy(PUSH) - # CMake policy 0007 NEW states that empty list elements are not - # ignored. I'm just setting it to avoid the warning that's printed. - cmake_policy(SET CMP0007 NEW) - # Note that this will remove all occurances of -G. - list(REMOVE_ITEM depends_CUDA_NVCC_FLAGS "-G") - cmake_policy(POP) -endif() - -# nvcc doesn't define __CUDACC__ for some reason when generating dependency files. This -# can cause incorrect dependencies when #including files based on this macro which is -# defined in the generating passes of nvcc invokation. We will go ahead and manually -# define this for now until a future version fixes this bug. -set(CUDACC_DEFINE -D__CUDACC__) - -# Generate the dependency file -cuda_execute_process( - "Generating dependency file: ${NVCC_generated_dependency_file}" - COMMAND "${CUDA_NVCC_EXECUTABLE}" - -M - ${CUDACC_DEFINE} - "${source_file}" - -o "${NVCC_generated_dependency_file}" - ${CCBIN} - ${nvcc_flags} - ${nvcc_host_compiler_flags} - ${depends_CUDA_NVCC_FLAGS} - -DNVCC - ${CUDA_NVCC_INCLUDE_ARGS} - ) - -if(CUDA_result) - message(FATAL_ERROR "Error generating ${generated_file}") -endif() - -# Generate the cmake readable dependency file to a temp file. Don't put the -# quotes just around the filenames for the input_file and output_file variables. -# CMake will pass the quotes through and not be able to find the file. -cuda_execute_process( - "Generating temporary cmake readable file: ${cmake_dependency_file}.tmp" - COMMAND "${CMAKE_COMMAND}" - -D "input_file:FILEPATH=${NVCC_generated_dependency_file}" - -D "output_file:FILEPATH=${cmake_dependency_file}.tmp" - -P "${CUDA_make2cmake}" - ) - -if(CUDA_result) - message(FATAL_ERROR "Error generating ${generated_file}") -endif() - -# Copy the file if it is different -cuda_execute_process( - "Copy if different ${cmake_dependency_file}.tmp to ${cmake_dependency_file}" - COMMAND "${CMAKE_COMMAND}" -E copy_if_different "${cmake_dependency_file}.tmp" "${cmake_dependency_file}" - ) - -if(CUDA_result) - message(FATAL_ERROR "Error generating ${generated_file}") -endif() - -# Delete the temporary file -cuda_execute_process( - "Removing ${cmake_dependency_file}.tmp and ${NVCC_generated_dependency_file}" - COMMAND "${CMAKE_COMMAND}" -E remove "${cmake_dependency_file}.tmp" "${NVCC_generated_dependency_file}" - ) - -if(CUDA_result) - message(FATAL_ERROR "Error generating ${generated_file}") -endif() - -# Generate the code -cuda_execute_process( - "Generating ${generated_file}" - COMMAND "${CUDA_NVCC_EXECUTABLE}" - "${source_file}" - ${format_flag} -o "${generated_file}" - ${CCBIN} - ${nvcc_flags} - ${nvcc_host_compiler_flags} - ${CUDA_NVCC_FLAGS} - -DNVCC - ${CUDA_NVCC_INCLUDE_ARGS} - ) - -if(CUDA_result) - # Since nvcc can sometimes leave half done files make sure that we delete the output file. - cuda_execute_process( - "Removing ${generated_file}" - COMMAND "${CMAKE_COMMAND}" -E remove "${generated_file}" - ) - message(FATAL_ERROR "Error generating file ${generated_file}") -else() - if(verbose) - message("Generated ${generated_file} successfully.") - endif() -endif() - -# Cubin resource report commands. -if( build_cubin ) - # Run with -cubin to produce resource usage report. - cuda_execute_process( - "Generating ${generated_cubin_file}" - COMMAND "${CUDA_NVCC_EXECUTABLE}" - "${source_file}" - ${CUDA_NVCC_FLAGS} - ${nvcc_flags} - ${CCBIN} - ${nvcc_host_compiler_flags} - -DNVCC - -cubin - -o "${generated_cubin_file}" - ${CUDA_NVCC_INCLUDE_ARGS} - ) - - # Execute the parser script. - cuda_execute_process( - "Executing the parser script" - COMMAND "${CMAKE_COMMAND}" - -D "input_file:STRING=${generated_cubin_file}" - -P "${CUDA_parse_cubin}" - ) - -endif( build_cubin ) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/CMakeModules/FindEigen.cmake b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/CMakeModules/FindEigen.cmake deleted file mode 100644 index cac56d8..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/CMakeModules/FindEigen.cmake +++ /dev/null @@ -1,81 +0,0 @@ -############################################################################### -# -# CMake script for finding the Eigen library. -# -# http://eigen.tuxfamily.org/index.php?title=Main_Page -# -# Copyright (c) 2006, 2007 Montel Laurent, -# Copyright (c) 2008, 2009 Gael Guennebaud, -# Copyright (c) 2009 Benoit Jacob -# Redistribution and use is allowed according to the terms of the 2-clause BSD -# license. -# -# -# Input variables: -# -# - Eigen_ROOT_DIR (optional): When specified, header files and libraries -# will be searched for in `${Eigen_ROOT_DIR}/include` and -# `${Eigen_ROOT_DIR}/libs` respectively, and the default CMake search order -# will be ignored. When unspecified, the default CMake search order is used. -# This variable can be specified either as a CMake or environment variable. -# If both are set, preference is given to the CMake variable. -# Use this variable for finding packages installed in a nonstandard location, -# or for enforcing that one of multiple package installations is picked up. -# -# Cache variables (not intended to be used in CMakeLists.txt files) -# -# - Eigen_INCLUDE_DIR: Absolute path to package headers. -# -# -# Output variables: -# -# - Eigen_FOUND: Boolean that indicates if the package was found -# - Eigen_INCLUDE_DIRS: Paths to the necessary header files -# - Eigen_VERSION: Version of Eigen library found -# - Eigen_DEFINITIONS: Definitions to be passed on behalf of eigen -# -# -# Example usage: -# -# # Passing the version means Eigen_FOUND will only be TRUE if a -# # version >= the provided version is found. -# find_package(Eigen 3.1.2) -# if(NOT Eigen_FOUND) -# # Error handling -# endif() -# ... -# add_definitions(${Eigen_DEFINITIONS}) -# ... -# include_directories(${Eigen_INCLUDE_DIRS} ...) -# -############################################################################### - -find_package(PkgConfig) -pkg_check_modules(PC_EIGEN eigen3) -set(EIGEN_DEFINITIONS ${PC_EIGEN_CFLAGS_OTHER}) - -set(EIGEN_INCLUDE_DIR "/usr/local/include/eigen3/") -find_path(EIGEN_INCLUDE_DIR Eigen/Core - HINTS ${PC_EIGEN_INCLUDEDIR} ${PC_EIGEN_INCLUDE_DIRS} - "${Eigen_ROOT_DIR}" "$ENV{EIGEN_ROOT_DIR}" - "${EIGEN_ROOT}" "$ENV{EIGEN_ROOT}" # Backwards Compatibility - PATHS "$ENV{PROGRAMFILES}/Eigen" "$ENV{PROGRAMW6432}/Eigen" - "$ENV{PROGRAMFILES}/Eigen 3.0.0" "$ENV{PROGRAMW6432}/Eigen 3.0.0" - PATH_SUFFIXES eigen3 include/eigen3 include) - -set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR}) - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(Eigen DEFAULT_MSG EIGEN_INCLUDE_DIR) - -mark_as_advanced(EIGEN_INCLUDE_DIR) - -if(EIGEN_FOUND) - message(STATUS "Eigen found (include: ${EIGEN_INCLUDE_DIRS})") -endif(EIGEN_FOUND) - - -set(Eigen_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) -set(Eigen_FOUND ${EIGEN_FOUND}) -set(Eigen_VERSION ${EIGEN_VERSION}) -set(Eigen_DEFINITIONS ${EIGEN_DEFINITIONS}) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/cfg/local_sensing_node.cfg b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/cfg/local_sensing_node.cfg deleted file mode 100644 index ac82ee4..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/cfg/local_sensing_node.cfg +++ /dev/null @@ -1,15 +0,0 @@ -#!/usr/bin/env python -PACKAGE = "local_sensing_node" - -from dynamic_reconfigure.parameter_generator_catkin import * - -gen = ParameterGenerator() - -gen.add("tx", double_t, 0, "tx", 0.0, -1000.0, 1000.0) -gen.add("ty", double_t, 0, "ty", 0.0, -1000.0, 1000.0) -gen.add("tz", double_t, 0, "tz", 0.0, -1000.0, 1000.0) -gen.add("axis_x", double_t, 0, "axis_x", 0.0, -360.0, 360.0) -gen.add("axis_y", double_t, 0, "axis_y", 0.0, -360.0, 360.0) -gen.add("axis_z", double_t, 0, "axis_z", 0.0, -360.0, 360.0) - -exit(gen.generate(PACKAGE, "local_sensing_node", "local_sensing_node")) \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/package.xml deleted file mode 100644 index ae0110c..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/package.xml +++ /dev/null @@ -1,38 +0,0 @@ - - - local_sensing_node - 0.1.0 - - render depth from depth - - Matia Pizzoli - Matia Pizzoli - GPLv3 - - - catkin - - - cmake_modules - roscpp - roslib - svo_msgs - cv_bridge - image_transport - vikit_ros - pcl_ros - dynamic_reconfigure - quadrotor_msgs - - - roscpp - roslib - svo_msgs - cv_bridge - image_transport - vikit_ros - pcl_ros - dynamic_reconfigure - quadrotor_msgs - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/params/camera.yaml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/params/camera.yaml deleted file mode 100644 index 8e375b2..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/params/camera.yaml +++ /dev/null @@ -1,6 +0,0 @@ -cam_width: 640 -cam_height: 480 -cam_fx: 387.229248046875 -cam_fy: 387.229248046875 -cam_cx: 321.04638671875 -cam_cy: 243.44969177246094 diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/AlignError.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/AlignError.h deleted file mode 100644 index 04d4076..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/AlignError.h +++ /dev/null @@ -1,86 +0,0 @@ -#include -#include - -struct AlignError { - AlignError( const Eigen::Quaterniond camera_pose, const Eigen::Vector3d camera_trans, - const Eigen::Quaterniond velodyne_pose, const Eigen::Vector3d velodyne_trans) - { - camera_q[0] = camera_pose.x(); - camera_q[1] = camera_pose.y(); - camera_q[2] = camera_pose.z(); - camera_q[3] = camera_pose.w(); - camera_t[0] = camera_trans.x(); - camera_t[1] = camera_trans.y(); - camera_t[2] = camera_trans.z(); - - velodyne_q[0] = velodyne_pose.x(); - velodyne_q[1] = velodyne_pose.y(); - velodyne_q[2] = velodyne_pose.z(); - velodyne_q[3] = velodyne_pose.w(); - velodyne_t[0] = velodyne_trans.x(); - velodyne_t[1] = velodyne_trans.y(); - velodyne_t[2] = velodyne_trans.z(); - } - - // Factory to hide the construction of the CostFunction object from the client code. - static ceres::CostFunction* Create( const Eigen::Quaterniond camera_pose, const Eigen::Vector3d camera_trans, - const Eigen::Quaterniond velodyne_pose, const Eigen::Vector3d velodyne_trans) - { - return (new ceres::AutoDiffCostFunction( - new AlignError(camera_pose, camera_trans, velodyne_pose, velodyne_trans))); - } - - template - bool operator()(const T* const world_rotation, const T* const world_translation, - const T* const v2c_rotation, const T* const v2c_translation, - T* residuals) const - { - Eigen::Quaternion q_world = Eigen::Map< const Eigen::Quaternion >(world_rotation); - Eigen::Matrix t_world = Eigen::Map< const Eigen::Matrix >(world_translation); - - Eigen::Quaternion q_v2c = Eigen::Map< const Eigen::Quaternion >(v2c_rotation); - Eigen::Matrix t_v2c = Eigen::Map< const Eigen::Matrix >(v2c_translation); - - Eigen::Quaternion q_c; - Eigen::Matrix t_c; - q_c.x() = T(camera_q[0]); - q_c.y() = T(camera_q[1]); - q_c.z() = T(camera_q[2]); - q_c.w() = T(camera_q[3]); - t_c << T(camera_t[0]), T(camera_t[1]), T(camera_t[2]); - - Eigen::Quaternion q_v; - Eigen::Matrix t_v; - q_v.x() = T(velodyne_q[0]); - q_v.y() = T(velodyne_q[1]); - q_v.z() = T(velodyne_q[2]); - q_v.w() = T(velodyne_q[3]); - t_v << T(velodyne_t[0]), T(velodyne_t[1]), T(velodyne_t[2]); - - Eigen::Quaternion q_left; - Eigen::Matrix t_left; - - q_left = q_world * q_c * q_v2c; - t_left = q_world * q_c * t_v2c + q_world * t_c + t_world; - - Eigen::Quaternion q_diff; - Eigen::Matrix t_diff; - q_diff = q_left * q_v.inverse(); - // t_diff = t_left - q_left * q_v.inverse() * t_v; - t_diff = t_left - t_v; - - residuals[0] = q_diff.x(); - residuals[1] = q_diff.y(); - residuals[2] = q_diff.z(); - residuals[3] = t_diff(0); - residuals[4] = t_diff(1); - residuals[5] = t_diff(2); - - return true; - } - - double camera_q[4]; - double camera_t[3]; - double velodyne_q[4]; - double velodyne_t[3]; -}; diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/ceres_extensions.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/ceres_extensions.h deleted file mode 100644 index a79fcf4..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/ceres_extensions.h +++ /dev/null @@ -1,161 +0,0 @@ -// -// ceres_extensions.h -// Bundle_Adjust_Test -// -// Created by Lloyd Hughes on 2014/04/11. -// Copyright (c) 2014 Lloyd Hughes. All rights reserved. -// hughes.lloyd@gmail.com -// - -#ifndef CERES_EXTENSIONS_H -#define CERES_EXTENSIONS_H - -#include -#include -#include - -namespace ceres_ext { - - // Plus(x, delta) = [cos(|delta|), sin(|delta|) delta / |delta|] * x - // with * being the quaternion multiplication operator. Here we assume - // that the first element of the quaternion vector is the real (cos - // theta) part. - class EigenQuaternionParameterization : public ceres::LocalParameterization - { - public: - virtual ~EigenQuaternionParameterization() {} - - virtual bool Plus(const double* x_raw, const double* delta_raw, double* x_plus_delta_raw) const - { - const Eigen::Map x(x_raw); - const Eigen::Map delta(delta_raw); - - Eigen::Map x_plus_delta(x_plus_delta_raw); - - const double delta_norm = delta.norm(); - if ( delta_norm > 0.0 ) - { - const double sin_delta_by_delta = sin(delta_norm) / delta_norm; - Eigen::Quaterniond tmp( cos(delta_norm), sin_delta_by_delta*delta[0], sin_delta_by_delta*delta[1], sin_delta_by_delta*delta[2] ); - - x_plus_delta = tmp*x; - } - else - { - x_plus_delta = x; - } - return true; - } - - virtual bool ComputeJacobian(const double* x, double* jacobian) const - { - jacobian[0] = x[3]; jacobian[1] = x[2]; jacobian[2] = -x[1]; // NOLINT x - jacobian[3] = -x[2]; jacobian[4] = x[3]; jacobian[5] = x[0]; // NOLINT y - jacobian[6] = x[1]; jacobian[7] = -x[0]; jacobian[8] = x[3]; // NOLINT z - jacobian[9] = -x[0]; jacobian[10] = -x[1]; jacobian[11] = -x[2]; // NOLINT w - return true; - } - - virtual int GlobalSize() const { return 4; } - virtual int LocalSize() const { return 3; } - - }; - - template inline - void EigenQuaternionToScaledRotation(const T q[4], T R[3 * 3]) { - EigenQuaternionToScaledRotation(q, RowMajorAdapter3x3(R)); - } - - template inline - void EigenQuaternionToScaledRotation(const T q[4], - const ceres::MatrixAdapter& R) { - // Make convenient names for elements of q. - T a = q[3]; - T b = q[0]; - T c = q[1]; - T d = q[2]; - // This is not to eliminate common sub-expression, but to - // make the lines shorter so that they fit in 80 columns! - T aa = a * a; - T ab = a * b; - T ac = a * c; - T ad = a * d; - T bb = b * b; - T bc = b * c; - T bd = b * d; - T cc = c * c; - T cd = c * d; - T dd = d * d; - - R(0, 0) = aa + bb - cc - dd; R(0, 1) = T(2) * (bc - ad); R(0, 2) = T(2) * (ac + bd); // NOLINT - R(1, 0) = T(2) * (ad + bc); R(1, 1) = aa - bb + cc - dd; R(1, 2) = T(2) * (cd - ab); // NOLINT - R(2, 0) = T(2) * (bd - ac); R(2, 1) = T(2) * (ab + cd); R(2, 2) = aa - bb - cc + dd; // NOLINT - } - - template inline - void EigenQuaternionToRotation(const T q[4], T R[3 * 3]) { - EigenQuaternionToRotation(q, RowMajorAdapter3x3(R)); - } - - template inline - void EigenQuaternionToRotation(const T q[4], - const ceres::MatrixAdapter& R) { - EigenQuaternionToScaledRotation(q, R); - - T normalizer = q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]; - CHECK_NE(normalizer, T(0)); - normalizer = T(1) / normalizer; - - for (int i = 0; i < 3; ++i) { - for (int j = 0; j < 3; ++j) { - R(i, j) *= normalizer; - } - } - } - - template inline - void EigenUnitQuaternionRotatePoint(const T q[4], const T pt[3], T result[3]) { - const T t2 = q[3] * q[0]; - const T t3 = q[3] * q[1]; - const T t4 = q[3] * q[2]; - const T t5 = -q[0] * q[0]; - const T t6 = q[0] * q[1]; - const T t7 = q[0] * q[2]; - const T t8 = -q[1] * q[1]; - const T t9 = q[1] * q[2]; - const T t1 = -q[2] * q[2]; - result[0] = T(2) * ((t8 + t1) * pt[0] + (t6 - t4) * pt[1] + (t3 + t7) * pt[2]) + pt[0]; // NOLINT - result[1] = T(2) * ((t4 + t6) * pt[0] + (t5 + t1) * pt[1] + (t9 - t2) * pt[2]) + pt[1]; // NOLINT - result[2] = T(2) * ((t7 - t3) * pt[0] + (t2 + t9) * pt[1] + (t5 + t8) * pt[2]) + pt[2]; // NOLINT - } - - template inline - void EigenQuaternionRotatePoint(const T q[4], const T pt[3], T result[3]) { - // 'scale' is 1 / norm(q). - const T scale = T(1) / sqrt(q[0] * q[0] + - q[1] * q[1] + - q[2] * q[2] + - q[3] * q[3]); - - // Make unit-norm version of q. - const T unit[4] = { - scale * q[0], - scale * q[1], - scale * q[2], - scale * q[3], - }; - - EigenUnitQuaternionRotatePoint(unit, pt, result); - } - - template inline - void EigenQuaternionProduct(const T z[4], const T w[4], T zw[4]) { - zw[0] = z[0] * w[3] + z[1] * w[2] - z[2] * w[1] + z[3] * w[0]; - zw[1] = - z[0] * w[2] + z[1] * w[3] + z[2] * w[0] + z[3] * w[1]; - zw[2] = z[0] * w[1] - z[1] * w[0] + z[2] * w[3] + z[3] * w[2]; - zw[3] = - z[0] * w[0] - z[1] * w[1] - z[2] * w[2] + z[3] * w[3]; - } - -} - -#endif \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/csv_convert.py b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/csv_convert.py deleted file mode 100644 index 0040baa..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/csv_convert.py +++ /dev/null @@ -1,15 +0,0 @@ -import csv -file_location = '/home/wang/bag/banchmark/EuRoC/ViconRoom101/state_groundtruth_estimate0/data.csv' -with open('/home/wang/bag/banchmark/EuRoC/ViconRoom101/state_groundtruth_estimate0/data.txt', 'w') as txt_f: - with open(file_location) as f: - f_csv = csv.reader(f) - headers = next(f_csv) - for row in f_csv: - txt_f.write('%lf\n'% (float(row[0]) / 1000000000.0) ) - txt_f.write('%lf\n'% (float(row[1])) ) - txt_f.write('%lf\n'% (float(row[2])) ) - txt_f.write('%lf\n'% (float(row[3])) ) - txt_f.write('%lf\n'% (float(row[4])) ) - txt_f.write('%lf\n'% (float(row[5])) ) - txt_f.write('%lf\n'% (float(row[6])) ) - txt_f.write('%lf\n'% (float(row[7])) ) \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/cuda_exception.cuh b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/cuda_exception.cuh deleted file mode 100644 index cf8213f..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/cuda_exception.cuh +++ /dev/null @@ -1,45 +0,0 @@ -// This file is part of REMODE - REgularized MOnocular Depth Estimation. -// -// Copyright (C) 2014 Matia Pizzoli -// Robotics and Perception Group, University of Zurich, Switzerland -// http://rpg.ifi.uzh.ch -// -// REMODE is free software: you can redistribute it and/or modify it under the -// terms of the GNU General Public License as published by the Free Software -// Foundation, either version 3 of the License, or any later version. -// -// REMODE is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . - -#ifndef RMD_CUDA_EXCEPTION_CUH_ -#define RMD_CUDA_EXCEPTION_CUH_ - -#include -#include - - -struct CudaException : public std::exception -{ - CudaException(const std::string& what, cudaError err) - : what_(what), err_(err) {} - virtual ~CudaException() throw() {} - virtual const char* what() const throw() - { - std::stringstream description; - description << "CudaException: " << what_ << std::endl; - if(err_ != cudaSuccess) - { - description << "cudaError code: " << cudaGetErrorString(err_); - description << " (" << err_ << ")" << std::endl; - } - return description.str().c_str(); - } - std::string what_; - cudaError err_; -}; - -#endif /* RMD_CUDA_EXCEPTION_CUH_ */ diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/depth_render.cu b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/depth_render.cu deleted file mode 100644 index 1836780..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/depth_render.cu +++ /dev/null @@ -1,197 +0,0 @@ -#include "depth_render.cuh" -__global__ void render(float3 *data_devptr, Parameter *para_devptr, DeviceImage *depth_devptr) -{ - const int index = threadIdx.x + blockIdx.x * blockDim.x; - const Parameter para = *para_devptr; - if(index >= para.point_number) - return; - float3 my_point = data_devptr[index]; - - //transform - float3 trans_point; - trans_point.x = my_point.x * para.r[0][0] + my_point.y * para.r[0][1] + my_point.z * para.r[0][2] + para.t[0]; - trans_point.y = my_point.x * para.r[1][0] + my_point.y * para.r[1][1] + my_point.z * para.r[1][2] + para.t[1]; - trans_point.z = my_point.x * para.r[2][0] + my_point.y * para.r[2][1] + my_point.z * para.r[2][2] + para.t[2]; - - if(trans_point.z <= 0.0f) - return; - - //project - int2 projected; - projected.x = trans_point.x / trans_point.z * para.fx + para.cx + 0.5; - projected.y = trans_point.y / trans_point.z * para.fy + para.cy + 0.5; - if(projected.x < 0 || projected.x >= para.width || projected.y < 0 || projected.y >= para.height) - return; - - // float dist = length(trans_point); - float dist = trans_point.z; - int dist_mm = dist * 1000.0f + 0.5f; - - //int r = 0.0173 * para.fx / dist + 0.5f; -// int r = 0.0473 * para.fx / dist + 0.5f; - int r = 0.0573 * para.fx / dist + 0.5f; - for(int i = -r; i <= r; i++) - for(int j = -r; j <= r; j++) - { - int to_x = projected.x + j; - int to_y = projected.y + i; - if(to_x < 0 || to_x >= para.width || to_y < 0 || to_y >= para.height) - continue; - int *dist_ptr = &(depth_devptr->atXY(to_x, to_y)); - atomicMin(dist_ptr, dist_mm); - } -} - -__global__ void depth_initial(DeviceImage *depth_devptr) -{ - const int x = threadIdx.x + blockIdx.x * blockDim.x; - const int y = threadIdx.y + blockIdx.y * blockDim.y; - int width = depth_devptr->width; - int height = depth_devptr->height; - - if(x >= width || y >= height) - return; - - depth_devptr->atXY(x,y) = 999999; -} - -DepthRender::DepthRender(): - cloud_size(0), - host_cloud_ptr(NULL), - dev_cloud_ptr(NULL), - has_devptr(false) -{ -} - -DepthRender::~DepthRender() -{ - if(has_devptr) - { - free(host_cloud_ptr); - cudaFree(dev_cloud_ptr); - cudaFree(parameter_devptr); - } -} - -void DepthRender::set_para(float _fx, float _fy, float _cx, float _cy, int _width, int _height) -{ - parameter.fx = _fx; - parameter.fy = _fy; - parameter.cx = _cx; - parameter.cy = _cy; - parameter.width = _width; - parameter.height = _height; -} - -void DepthRender::set_data(vector &cloud_data) -{ - cloud_size = cloud_data.size() / 3; - parameter.point_number = cloud_size; - - host_cloud_ptr = (float3*) malloc(cloud_size * sizeof(float3)); - for(int i = 0; i < cloud_size; i++) - host_cloud_ptr[i] = make_float3(cloud_data[3*i], cloud_data[3*i+1], cloud_data[3*i+2]); - - cudaError err = cudaMalloc(&dev_cloud_ptr, cloud_size * sizeof(float3)); - if(err != cudaSuccess) - throw CudaException("DeviceLinear: unable to allocate linear memory.", err); - err = cudaMemcpy( - dev_cloud_ptr, - host_cloud_ptr, - cloud_size * sizeof(float3), - cudaMemcpyHostToDevice); - if(err != cudaSuccess) - throw CudaException("DeviceLinear: unable to copy data from host to device.", err); - - err = cudaMalloc(¶meter_devptr, sizeof(Parameter)); - if(err != cudaSuccess) - throw CudaException("DeviceLinear: unable to allocate linear memory.", err); - err = cudaMemcpy( - parameter_devptr, - ¶meter, - sizeof(Parameter), - cudaMemcpyHostToDevice); - if(err != cudaSuccess) - throw CudaException("DeviceLinear: unable to copy data from host to device.", err); - - has_devptr = true; - - //printf("load points done!\n"); -} - -/*void DepthRender::render_pose( Matrix3d &rotation, Vector3d &translation, int *host_ptr) -{ - for(int i = 0; i < 3; i++) - { - parameter.t[i] = translation(i); - for(int j = 0; j < 3; j++) - { - parameter.r[i][j] = rotation(i,j); - } - } - cudaError err = cudaMemcpy( - parameter_devptr, - ¶meter, - sizeof(Parameter), - cudaMemcpyHostToDevice); - if(err != cudaSuccess) - throw CudaException("DeviceLinear: unable to copy data from host to device.", err); - - DeviceImage depth_output(parameter.width, parameter.height); - depth_output.zero(); - - dim3 depth_block; - dim3 depth_grid; - depth_block.x = 16; - depth_block.y = 16; - depth_grid.x = (parameter.width + depth_block.x - 1 ) / depth_block.x; - depth_grid.y = (parameter.height + depth_block.y - 1 ) / depth_block.y; - depth_initial<<>>(depth_output.dev_ptr); - - dim3 render_block; - dim3 render_grid; - render_block.x = 64; - render_grid.x = (cloud_size + render_block.x - 1) / render_block.x; - render<<>>(dev_cloud_ptr, parameter_devptr, depth_output.dev_ptr); - - depth_output.getDevData(host_ptr); -} -*/ -//void DepthRender::render_pose( Matrix4d &transformation, int *host_ptr) -void DepthRender::render_pose( double * transformation, int *host_ptr) -{ - for(int i = 0; i < 3; i++) - { - parameter.t[i] = transformation[4 * i + 3];//transformation(i,3); - for(int j = 0; j < 3; j++) - { - parameter.r[i][j] = transformation[4 * i + j];//transformation(i,j); - } - } - cudaError err = cudaMemcpy( - parameter_devptr, - ¶meter, - sizeof(Parameter), - cudaMemcpyHostToDevice); - if(err != cudaSuccess) - throw CudaException("DeviceLinear: unable to copy data from host to device.", err); - - DeviceImage depth_output(parameter.width, parameter.height); - depth_output.zero(); - - dim3 depth_block; - dim3 depth_grid; - depth_block.x = 16; - depth_block.y = 16; - depth_grid.x = (parameter.width + depth_block.x - 1 ) / depth_block.x; - depth_grid.y = (parameter.height + depth_block.y - 1 ) / depth_block.y; - depth_initial<<>>(depth_output.dev_ptr); - - dim3 render_block; - dim3 render_grid; - render_block.x = 64; - render_grid.x = (cloud_size + render_block.x - 1) / render_block.x; - render<<>>(dev_cloud_ptr, parameter_devptr, depth_output.dev_ptr); - - depth_output.getDevData(host_ptr); -} \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/depth_render.cuh b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/depth_render.cuh deleted file mode 100644 index 26b8518..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/depth_render.cuh +++ /dev/null @@ -1,52 +0,0 @@ -#ifndef DEPTH_RENDER_CUH -#define DEPTH_RENDER_CUH - -#include -#include -#include -#include -#include -#include -//#include - -#include "device_image.cuh" -#include "cuda_exception.cuh" -#include "helper_math.h" - -using namespace std; -//using namespace Eigen; - -struct Parameter -{ - int point_number; - float fx, fy, cx, cy; - int width, height; - float r[3][3]; - float t[3]; -}; - -class DepthRender -{ -public: - DepthRender(); - void set_para(float _fx, float _fy, float _cx, float _cy, int _width, int _height); - ~DepthRender(); - void set_data(vector &cloud_data); - //void render_pose( Matrix3d &rotation, Vector3d &translation, int *host_ptr); - //void render_pose( Matrix4d &transformation, int *host_ptr); - void render_pose( double * transformation, int *host_ptr); - -private: - int cloud_size; - - //data - float3 *host_cloud_ptr; - float3 *dev_cloud_ptr; - bool has_devptr; - - //camera - Parameter parameter; - Parameter* parameter_devptr; -}; - -#endif \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/device_image.cuh b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/device_image.cuh deleted file mode 100644 index 84e77ef..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/device_image.cuh +++ /dev/null @@ -1,179 +0,0 @@ -// This file is part of REMODE - REgularized MOnocular Depth Estimation. -// -// Copyright (C) 2014 Matia Pizzoli -// Robotics and Perception Group, University of Zurich, Switzerland -// http://rpg.ifi.uzh.ch -// -// REMODE is free software: you can redistribute it and/or modify it under the -// terms of the GNU General Public License as published by the Free Software -// Foundation, either version 3 of the License, or any later version. -// -// REMODE is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . - -#ifndef DEVICE_IMAGE_CUH -#define DEVICE_IMAGE_CUH - -#include -#include -#include "cuda_exception.cuh" - -struct Size -{ - int width; - int height; -}; - -template -struct DeviceImage -{ - __host__ - DeviceImage(size_t width, size_t height) - : width(width), - height(height) - { - cudaError err = cudaMallocPitch( - &data, - &pitch, - width*sizeof(ElementType), - height); - if(err != cudaSuccess) - throw CudaException("Image: unable to allocate pitched memory.", err); - - stride = pitch / sizeof(ElementType); - - err = cudaMalloc( - &dev_ptr, - sizeof(*this)); - if(err != cudaSuccess) - throw CudaException("DeviceData, cannot allocate device memory to store image parameters.", err); - - err = cudaMemcpy( - dev_ptr, - this, - sizeof(*this), - cudaMemcpyHostToDevice); - if(err != cudaSuccess) - throw CudaException("DeviceData, cannot copy image parameters to device memory.", err); - } - - __device__ - ElementType & operator()(size_t x, size_t y) - { - return atXY(x, y); - } - - __device__ - const ElementType & operator()(size_t x, size_t y) const - { - return atXY(x, y); - } - - __device__ - ElementType & atXY(size_t x, size_t y) - { - return data[y*stride+x]; - } - - __device__ - const ElementType & atXY(size_t x, size_t y) const - { - return data[y*stride+x]; - } - - /// Upload aligned_data_row_major to device memory - __host__ - void setDevData(const ElementType * aligned_data_row_major) - { - const cudaError err = cudaMemcpy2D( - data, - pitch, - aligned_data_row_major, - width*sizeof(ElementType), - width*sizeof(ElementType), - height, - cudaMemcpyHostToDevice); - if(err != cudaSuccess) - throw CudaException("Image: unable to copy data from host to device.", err); - } - - /// Download the data from the device memory to aligned_data_row_major, a preallocated array in host memory - __host__ - void getDevData(ElementType* aligned_data_row_major) const - { - const cudaError err = cudaMemcpy2D( - aligned_data_row_major, // destination memory address - width*sizeof(ElementType), // pitch of destination memory - data, // source memory address - pitch, // pitch of source memory - width*sizeof(ElementType), // width of matrix transfer (columns in bytes) - height, // height of matrix transfer - cudaMemcpyDeviceToHost); - if(err != cudaSuccess) - throw CudaException("Image: unable to copy data from device to host.", err); - } - - __host__ - ~DeviceImage() - { - cudaError err = cudaFree(data); - if(err != cudaSuccess) - throw CudaException("Image: unable to free allocated memory.", err); - err = cudaFree(dev_ptr); - if(err != cudaSuccess) - throw CudaException("Image: unable to free allocated memory.", err); - } - - __host__ - cudaChannelFormatDesc getCudaChannelFormatDesc() const - { - return cudaCreateChannelDesc(); - } - - __host__ - void zero() - { - const cudaError err = cudaMemset2D( - data, - pitch, - 0, - width*sizeof(ElementType), - height); - if(err != cudaSuccess) - throw CudaException("Image: unable to zero.", err); - } - - __host__ - DeviceImage & operator=(const DeviceImage &other_image) - { - if(this != &other_image) - { - assert(width == other_image.width && - height == other_image.height); - const cudaError err = cudaMemcpy2D(data, - pitch, - other_image.data, - other_image.pitch, - width*sizeof(ElementType), - height, - cudaMemcpyDeviceToDevice); - if(err != cudaSuccess) - throw CudaException("Image, operator '=': unable to copy data from another image.", err); - } - return *this; - } - - // fields - size_t width; - size_t height; - size_t pitch; - size_t stride; - ElementType * data; - DeviceImage *dev_ptr; -}; - -#endif // DEVICE_IMAGE_CUH diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/empty.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/empty.cpp deleted file mode 100644 index 6948223..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/empty.cpp +++ /dev/null @@ -1 +0,0 @@ -#include "empty.h" \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/empty.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/empty.h deleted file mode 100644 index e69de29..0000000 diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/euroc.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/euroc.cpp deleted file mode 100644 index 307e255..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/euroc.cpp +++ /dev/null @@ -1,378 +0,0 @@ -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include -#include - -#include -#include "opencv2/highgui/highgui.hpp" -#include -#include - -#include "depth_render.cuh" - -using namespace cv; -using namespace std; -using namespace Eigen; - -typedef message_filters::sync_policies::ApproximateTime approx_policy; - -int *depth_hostptr; -cv::Mat depth_mat; - -int width, height; -cv::Mat cv_K, cv_D; -double fx,fy,cx,cy; -cv::Mat undist_map1, undist_map2; -bool is_distorted(false); - -DepthRender depthrender; -ros::Publisher pub_depth; -ros::Publisher pub_color; -ros::Publisher pub_posedimage; - -Matrix4d vicon2body; -Matrix4d cam02body; -Matrix4d cam2world; -Matrix4d vicon2leica; - -ros::Time receive_stamp; - -cv::Mat undistorted_image; - -struct PoseInfo -{ - Matrix4d pose; - double time; -}; - -vector gt_pose_vect; - -void render_currentpose(); - -bool read_pose(fstream &file) -{ - int count = 0; - bool good = true; - double para[16]; - while(good) - { - count ++; - for(int i = 0; i < 8 && good; i++) - { - good = good && file >> para[i]; - } - if(good) - { - Eigen::Vector3d request_position; - Eigen::Quaterniond request_pose; - request_position.x() = para[1]; - request_position.y() = para[2]; - request_position.z() = para[3]; - request_pose.w() = para[4]; - request_pose.x() = para[5]; - request_pose.y() = para[6]; - request_pose.z() = para[7]; - - PoseInfo info; - info.time = para[0]; - info.pose = Matrix4d::Identity(); - info.pose.block<3,3>(0,0) = request_pose.toRotationMatrix(); - info.pose(0,3) = para[1]; - info.pose(1,3) = para[2]; - info.pose(2,3) = para[3]; - gt_pose_vect.push_back(info); - } - } - printf("we have %d poses.\n", count); - return true; -} - -vector pts_3; -vector pts_2; -void imageBackFunc(int event, int x, int y, int flags, void* userdata) -{ - if( event == EVENT_LBUTTONDOWN ) - { - cout << "image is clicked - position (" << x << ", " << y << ")" << endl; - pts_2.push_back(cv::Point2f(x,y)); - } -} -void depthBackFunc(int event, int x, int y, int flags, void* userdata) -{ - if( event == EVENT_LBUTTONDOWN ) - { - cout << "depth is clicked - position (" << x << ", " << y << ")" << endl; - double depth = depth_mat.at(y,x); - double space_x = (x - cx) * depth / fx; - double space_y = (y - cy) * depth / fy; - double space_z = depth; - pts_3.push_back(cv::Point3f(space_x, space_y, space_z)); - } -} - -void solve_pnp() -{ -// translation : -// 0.994976 -0.0431638 0.0903361 -0.0338185 -// 0.0444475 0.998937 -0.012246 0.0541652 -// -0.0897114 0.0161996 0.995836 0.0384018 -// 0 0 0 1 - printf("we have %d pair points.\n", pts_3.size()); - if(pts_3.size() < 5 || pts_2.size() < 5) - { - return; - } - if(pts_3.size() != pts_2.size()) - { - printf("error, not equal!\n"); - return; - } - - cv::Mat r, rvec, t; - cv::solvePnP(pts_3, pts_2, cv_K, cv::Mat::zeros(4,1,CV_32FC1), rvec, t); - cv::Rodrigues(rvec, r); - Matrix3d R_ref; - for(int i=0;i<3;i++) - for(int j=0;j<3;j++) - { - R_ref(i,j) = r.at(i, j); - } - Matrix4d pnp_result = Matrix4d::Identity(); - pnp_result.block<3,3>(0,0) = R_ref; - pnp_result(0,3) = t.at(0, 0); - pnp_result(1,3) = t.at(1, 0); - pnp_result(2,3) = t.at(2, 0); - - vicon2leica = pnp_result.inverse(); - cout << "translation : " << endl << pnp_result << endl; -} - -void image_pose_callback( - const sensor_msgs::ImageConstPtr &image_input, - const geometry_msgs::TransformStampedConstPtr &pose_input) -{ - //time diff - double time_diff = fabs(image_input->header.stamp.toSec() - pose_input->header.stamp.toSec()) * 1000.0; - printf("time diff is %lf ms.\n", time_diff); - - //pose - Matrix4d Pose_receive = Matrix4d::Identity(); - - //using vicon - // Eigen::Vector3d request_position; - // Eigen::Quaterniond request_pose; - // request_position.x() = pose_input->transform.translation.x; - // request_position.y() = pose_input->transform.translation.y; - // request_position.z() = pose_input->transform.translation.z; - // request_pose.x() = pose_input->transform.rotation.x; - // request_pose.y() = pose_input->transform.rotation.y; - // request_pose.z() = pose_input->transform.rotation.z; - // request_pose.w() = pose_input->transform.rotation.w; - // Pose_receive.block<3,3>(0,0) = request_pose.toRotationMatrix(); - // Pose_receive(0,3) = request_position(0); - // Pose_receive(1,3) = request_position(1); - // Pose_receive(2,3) = request_position(2); - - //using ground truth - double image_time = image_input->header.stamp.toSec(); - double min_time_diff = 999.9; - int min_time_index = 0; - for(int i = 1; i < gt_pose_vect.size(); i++) - { - double time_diff = fabs(image_time - gt_pose_vect[i].time); - if(time_diff < min_time_diff) - { - min_time_diff = time_diff; - min_time_index = i; - } - } - printf("min time diff index %d, with diff time %lf ms.\n", min_time_index, min_time_diff*1000.0f); - Pose_receive = gt_pose_vect[min_time_index].pose; - - //convert to body pose - // Matrix4d body_pose = Pose_receive * vicon2body.inverse(); - Matrix4d body_pose = Pose_receive; - - //convert to cam pose - cam2world = body_pose * cam02body * vicon2leica; - - receive_stamp = pose_input->header.stamp; - - //image - cv_bridge::CvImageConstPtr cv_img_ptr = cv_bridge::toCvShare(image_input, sensor_msgs::image_encodings::MONO8); - cv::Mat img_8uC1 = cv_img_ptr->image; - undistorted_image.create(height, width, CV_8UC1); - if(is_distorted) - { - cv::remap(img_8uC1, undistorted_image, undist_map1, undist_map2, CV_INTER_LINEAR); - } - else - undistorted_image = img_8uC1; - - render_currentpose(); -} - -void render_currentpose() -{ - solve_pnp(); - - double this_time = ros::Time::now().toSec(); - - Matrix4d cam_pose = cam2world.inverse(); - - depthrender.render_pose(cam_pose, depth_hostptr); - - depth_mat = cv::Mat::zeros(height, width, CV_32FC1); - double min = 0.5; - double max = 1.0f; - for(int i = 0; i < height; i++) - for(int j = 0; j < width; j++) - { - float depth = (float)depth_hostptr[i * width + j] / 1000.0f; - depth = depth < 500.0f ? depth : 0; - max = depth > max ? depth : max; - depth_mat.at(i,j) = depth; - } - ROS_INFO("render cost %lf ms.", (ros::Time::now().toSec() - this_time) * 1000.0f); - printf("max_depth %lf.\n", max); - - cv_bridge::CvImage out_msg; - out_msg.header.stamp = receive_stamp; - out_msg.encoding = sensor_msgs::image_encodings::TYPE_32FC1; - out_msg.image = depth_mat.clone(); - pub_depth.publish(out_msg.toImageMsg()); - - cv::Mat adjMap; - depth_mat.convertTo(adjMap,CV_8UC1, 255 / (max-min), -min); - cv::Mat falseColorsMap; - cv::applyColorMap(adjMap, falseColorsMap, cv::COLORMAP_RAINBOW); - cv::Mat bgr_image; - cv::cvtColor(undistorted_image, bgr_image, cv::COLOR_GRAY2BGR); - cv::addWeighted(bgr_image, 0.2, falseColorsMap, 0.8, 0.0, falseColorsMap); - cv_bridge::CvImage cv_image_colored; - cv_image_colored.header.frame_id = "depthmap"; - cv_image_colored.encoding = sensor_msgs::image_encodings::BGR8; - cv_image_colored.image = falseColorsMap; - pub_color.publish(cv_image_colored.toImageMsg()); - - cv::imshow("bluefox_image", bgr_image); - cv::imshow("depth_image", adjMap); -} - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "cloud_banchmark"); - ros::NodeHandle nh("~"); - - nh.getParam("cam_width", width); - nh.getParam("cam_height", height); - nh.getParam("cam_fx", fx); - nh.getParam("cam_fy", fy); - nh.getParam("cam_cx", cx); - nh.getParam("cam_cy", cy); - - depthrender.set_para(fx, fy, cx, cy, width, height); - - cv_K = (cv::Mat_(3, 3) << fx, 0.0f, cx, 0.0f, fy, cy, 0.0f, 0.0f, 1.0f); - if(nh.hasParam("cam_k1") && - nh.hasParam("cam_k2") && - nh.hasParam("cam_r1") && - nh.hasParam("cam_r2") ) - { - float k1, k2, r1, r2; - nh.getParam("cam_k1", k1); - nh.getParam("cam_k2", k2); - nh.getParam("cam_r1", r1); - nh.getParam("cam_r2", r2); - cv_D = (cv::Mat_(1, 4) << k1, k2, r1, r2); - cv::initUndistortRectifyMap( - cv_K, - cv_D, - cv::Mat_::eye(3,3), - cv_K, - cv::Size(width, height), - CV_16SC2, - undist_map1, undist_map2); - is_distorted = true; - } - if(is_distorted) - printf("need to rectify.\n"); - else - printf("do not need to rectify.\n"); - - vicon2body << 0.33638, -0.01749, 0.94156, 0.06901, - -0.02078, -0.99972, -0.01114, -0.02781, - 0.94150, -0.01582, -0.33665, -0.12395, - 0.0, 0.0, 0.0, 1.0; - cam02body << 0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, - 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, - -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, - 0.0, 0.0, 0.0, 1.0; - cam2world = Matrix4d::Identity(); - - string cloud_path; - nh.getParam("cloud_path", cloud_path); - printf("cloud file %s\n", cloud_path.c_str()); - std::fstream data_file; - data_file.open(cloud_path.c_str(), ios::in); - vector cloud_data; - double x, y, z, i, r, g, b; - while(data_file >> x >> y >> z >> i >> r >> g >> b) - { - cloud_data.push_back(x); - cloud_data.push_back(y); - cloud_data.push_back(z); - } - data_file.close(); - printf("has points %d.\n", cloud_data.size() / 3 ); - - - string groundtruth_path = string("/home/denny/Downloads/wkx_bag/data.txt"); - std::fstream gt_file; - gt_file.open(groundtruth_path.c_str(), ios::in); - read_pose(gt_file); - gt_file.close(); - - //pass cloud_data to depth render - depthrender.set_data(cloud_data); - depth_hostptr = (int*) malloc(width * height * sizeof(int)); - - message_filters::Subscriber image_sub(nh, "/cam0/image_raw", 30); - message_filters::Subscriber pose_sub(nh, "/vicon/firefly_sbx/firefly_sbx", 30); - message_filters::Synchronizer sync2(approx_policy(100), image_sub, pose_sub); - sync2.registerCallback(boost::bind(image_pose_callback, _1, _2)); - - //publisher depth image and color image - pub_depth = nh.advertise("depth",1000); - pub_color = nh.advertise("colordepth",1000); - // pub_posedimage = nh.advertise("posedimage",1000); - - undistorted_image.create(height, width, CV_8UC1); - - cv::namedWindow("bluefox_image",1); - cv::namedWindow("depth_image",1); - setMouseCallback("bluefox_image", imageBackFunc, NULL); - setMouseCallback("depth_image", depthBackFunc, NULL); - vicon2leica = Matrix4d::Identity(); - - while(ros::ok()) - { - ros::spinOnce(); - cv::waitKey(30); - } -} \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/helper_math.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/helper_math.h deleted file mode 100644 index c9c07c3..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/helper_math.h +++ /dev/null @@ -1,1453 +0,0 @@ -/** - * Copyright 1993-2013 NVIDIA Corporation. All rights reserved. - * - * Please refer to the NVIDIA end user license agreement (EULA) associated - * with this source code for terms and conditions that govern your use of - * this software. Any use, reproduction, disclosure, or distribution of - * this software and related documentation outside the terms of the EULA - * is strictly prohibited. - * - */ - -/* - * This file implements common mathematical operations on vector types - * (float3, float4 etc.) since these are not provided as standard by CUDA. - * - * The syntax is modeled on the Cg standard library. - * - * This is part of the Helper library includes - * - * Thanks to Linh Hah for additions and fixes. - */ - -#ifndef HELPER_MATH_H -#define HELPER_MATH_H - -#include "cuda_runtime.h" - -typedef unsigned int uint; -typedef unsigned short ushort; - -#ifndef EXIT_WAIVED -#define EXIT_WAIVED 2 -#endif - -#ifndef __CUDACC__ -#include - -//////////////////////////////////////////////////////////////////////////////// -// host implementations of CUDA functions -//////////////////////////////////////////////////////////////////////////////// - -inline float fminf(float a, float b) -{ - return a < b ? a : b; -} - -inline float fmaxf(float a, float b) -{ - return a > b ? a : b; -} - -inline int max(int a, int b) -{ - return a > b ? a : b; -} - -inline int min(int a, int b) -{ - return a < b ? a : b; -} - -inline float rsqrtf(float x) -{ - return 1.0f / sqrtf(x); -} -#endif - -//////////////////////////////////////////////////////////////////////////////// -// constructors -//////////////////////////////////////////////////////////////////////////////// - -inline __host__ __device__ float2 make_float2(float s) -{ - return make_float2(s, s); -} -inline __host__ __device__ float2 make_float2(float3 a) -{ - return make_float2(a.x, a.y); -} -inline __host__ __device__ float2 make_float2(int2 a) -{ - return make_float2(float(a.x), float(a.y)); -} -inline __host__ __device__ float2 make_float2(uint2 a) -{ - return make_float2(float(a.x), float(a.y)); -} - -inline __host__ __device__ int2 make_int2(int s) -{ - return make_int2(s, s); -} -inline __host__ __device__ int2 make_int2(int3 a) -{ - return make_int2(a.x, a.y); -} -inline __host__ __device__ int2 make_int2(uint2 a) -{ - return make_int2(int(a.x), int(a.y)); -} -inline __host__ __device__ int2 make_int2(float2 a) -{ - return make_int2(int(a.x), int(a.y)); -} - -inline __host__ __device__ uint2 make_uint2(uint s) -{ - return make_uint2(s, s); -} -inline __host__ __device__ uint2 make_uint2(uint3 a) -{ - return make_uint2(a.x, a.y); -} -inline __host__ __device__ uint2 make_uint2(int2 a) -{ - return make_uint2(uint(a.x), uint(a.y)); -} - -inline __host__ __device__ float3 make_float3(float s) -{ - return make_float3(s, s, s); -} -inline __host__ __device__ float3 make_float3(float2 a) -{ - return make_float3(a.x, a.y, 0.0f); -} -inline __host__ __device__ float3 make_float3(float2 a, float s) -{ - return make_float3(a.x, a.y, s); -} -inline __host__ __device__ float3 make_float3(float4 a) -{ - return make_float3(a.x, a.y, a.z); -} -inline __host__ __device__ float3 make_float3(int3 a) -{ - return make_float3(float(a.x), float(a.y), float(a.z)); -} -inline __host__ __device__ float3 make_float3(uint3 a) -{ - return make_float3(float(a.x), float(a.y), float(a.z)); -} - -inline __host__ __device__ int3 make_int3(int s) -{ - return make_int3(s, s, s); -} -inline __host__ __device__ int3 make_int3(int2 a) -{ - return make_int3(a.x, a.y, 0); -} -inline __host__ __device__ int3 make_int3(int2 a, int s) -{ - return make_int3(a.x, a.y, s); -} -inline __host__ __device__ int3 make_int3(uint3 a) -{ - return make_int3(int(a.x), int(a.y), int(a.z)); -} -inline __host__ __device__ int3 make_int3(float3 a) -{ - return make_int3(int(a.x), int(a.y), int(a.z)); -} - -inline __host__ __device__ uint3 make_uint3(uint s) -{ - return make_uint3(s, s, s); -} -inline __host__ __device__ uint3 make_uint3(uint2 a) -{ - return make_uint3(a.x, a.y, 0); -} -inline __host__ __device__ uint3 make_uint3(uint2 a, uint s) -{ - return make_uint3(a.x, a.y, s); -} -inline __host__ __device__ uint3 make_uint3(uint4 a) -{ - return make_uint3(a.x, a.y, a.z); -} -inline __host__ __device__ uint3 make_uint3(int3 a) -{ - return make_uint3(uint(a.x), uint(a.y), uint(a.z)); -} - -inline __host__ __device__ float4 make_float4(float s) -{ - return make_float4(s, s, s, s); -} -inline __host__ __device__ float4 make_float4(float3 a) -{ - return make_float4(a.x, a.y, a.z, 0.0f); -} -inline __host__ __device__ float4 make_float4(float3 a, float w) -{ - return make_float4(a.x, a.y, a.z, w); -} -inline __host__ __device__ float4 make_float4(int4 a) -{ - return make_float4(float(a.x), float(a.y), float(a.z), float(a.w)); -} -inline __host__ __device__ float4 make_float4(uint4 a) -{ - return make_float4(float(a.x), float(a.y), float(a.z), float(a.w)); -} - -inline __host__ __device__ int4 make_int4(int s) -{ - return make_int4(s, s, s, s); -} -inline __host__ __device__ int4 make_int4(int3 a) -{ - return make_int4(a.x, a.y, a.z, 0); -} -inline __host__ __device__ int4 make_int4(int3 a, int w) -{ - return make_int4(a.x, a.y, a.z, w); -} -inline __host__ __device__ int4 make_int4(uint4 a) -{ - return make_int4(int(a.x), int(a.y), int(a.z), int(a.w)); -} -inline __host__ __device__ int4 make_int4(float4 a) -{ - return make_int4(int(a.x), int(a.y), int(a.z), int(a.w)); -} - - -inline __host__ __device__ uint4 make_uint4(uint s) -{ - return make_uint4(s, s, s, s); -} -inline __host__ __device__ uint4 make_uint4(uint3 a) -{ - return make_uint4(a.x, a.y, a.z, 0); -} -inline __host__ __device__ uint4 make_uint4(uint3 a, uint w) -{ - return make_uint4(a.x, a.y, a.z, w); -} -inline __host__ __device__ uint4 make_uint4(int4 a) -{ - return make_uint4(uint(a.x), uint(a.y), uint(a.z), uint(a.w)); -} - -//////////////////////////////////////////////////////////////////////////////// -// negate -//////////////////////////////////////////////////////////////////////////////// - -inline __host__ __device__ float2 operator-(float2 &a) -{ - return make_float2(-a.x, -a.y); -} -inline __host__ __device__ int2 operator-(int2 &a) -{ - return make_int2(-a.x, -a.y); -} -inline __host__ __device__ float3 operator-(float3 &a) -{ - return make_float3(-a.x, -a.y, -a.z); -} -inline __host__ __device__ int3 operator-(int3 &a) -{ - return make_int3(-a.x, -a.y, -a.z); -} -inline __host__ __device__ float4 operator-(float4 &a) -{ - return make_float4(-a.x, -a.y, -a.z, -a.w); -} -inline __host__ __device__ int4 operator-(int4 &a) -{ - return make_int4(-a.x, -a.y, -a.z, -a.w); -} - -//////////////////////////////////////////////////////////////////////////////// -// addition -//////////////////////////////////////////////////////////////////////////////// - -inline __host__ __device__ float2 operator+(float2 a, float2 b) -{ - return make_float2(a.x + b.x, a.y + b.y); -} -inline __host__ __device__ void operator+=(float2 &a, float2 b) -{ - a.x += b.x; - a.y += b.y; -} -inline __host__ __device__ float2 operator+(float2 a, float b) -{ - return make_float2(a.x + b, a.y + b); -} -inline __host__ __device__ float2 operator+(float b, float2 a) -{ - return make_float2(a.x + b, a.y + b); -} -inline __host__ __device__ void operator+=(float2 &a, float b) -{ - a.x += b; - a.y += b; -} - -inline __host__ __device__ int2 operator+(int2 a, int2 b) -{ - return make_int2(a.x + b.x, a.y + b.y); -} -inline __host__ __device__ void operator+=(int2 &a, int2 b) -{ - a.x += b.x; - a.y += b.y; -} -inline __host__ __device__ int2 operator+(int2 a, int b) -{ - return make_int2(a.x + b, a.y + b); -} -inline __host__ __device__ int2 operator+(int b, int2 a) -{ - return make_int2(a.x + b, a.y + b); -} -inline __host__ __device__ void operator+=(int2 &a, int b) -{ - a.x += b; - a.y += b; -} - -inline __host__ __device__ uint2 operator+(uint2 a, uint2 b) -{ - return make_uint2(a.x + b.x, a.y + b.y); -} -inline __host__ __device__ void operator+=(uint2 &a, uint2 b) -{ - a.x += b.x; - a.y += b.y; -} -inline __host__ __device__ uint2 operator+(uint2 a, uint b) -{ - return make_uint2(a.x + b, a.y + b); -} -inline __host__ __device__ uint2 operator+(uint b, uint2 a) -{ - return make_uint2(a.x + b, a.y + b); -} -inline __host__ __device__ void operator+=(uint2 &a, uint b) -{ - a.x += b; - a.y += b; -} - - -inline __host__ __device__ float3 operator+(float3 a, float3 b) -{ - return make_float3(a.x + b.x, a.y + b.y, a.z + b.z); -} -inline __host__ __device__ void operator+=(float3 &a, float3 b) -{ - a.x += b.x; - a.y += b.y; - a.z += b.z; -} -inline __host__ __device__ float3 operator+(float3 a, float b) -{ - return make_float3(a.x + b, a.y + b, a.z + b); -} -inline __host__ __device__ void operator+=(float3 &a, float b) -{ - a.x += b; - a.y += b; - a.z += b; -} - -inline __host__ __device__ int3 operator+(int3 a, int3 b) -{ - return make_int3(a.x + b.x, a.y + b.y, a.z + b.z); -} -inline __host__ __device__ void operator+=(int3 &a, int3 b) -{ - a.x += b.x; - a.y += b.y; - a.z += b.z; -} -inline __host__ __device__ int3 operator+(int3 a, int b) -{ - return make_int3(a.x + b, a.y + b, a.z + b); -} -inline __host__ __device__ void operator+=(int3 &a, int b) -{ - a.x += b; - a.y += b; - a.z += b; -} - -inline __host__ __device__ uint3 operator+(uint3 a, uint3 b) -{ - return make_uint3(a.x + b.x, a.y + b.y, a.z + b.z); -} -inline __host__ __device__ void operator+=(uint3 &a, uint3 b) -{ - a.x += b.x; - a.y += b.y; - a.z += b.z; -} -inline __host__ __device__ uint3 operator+(uint3 a, uint b) -{ - return make_uint3(a.x + b, a.y + b, a.z + b); -} -inline __host__ __device__ void operator+=(uint3 &a, uint b) -{ - a.x += b; - a.y += b; - a.z += b; -} - -inline __host__ __device__ int3 operator+(int b, int3 a) -{ - return make_int3(a.x + b, a.y + b, a.z + b); -} -inline __host__ __device__ uint3 operator+(uint b, uint3 a) -{ - return make_uint3(a.x + b, a.y + b, a.z + b); -} -inline __host__ __device__ float3 operator+(float b, float3 a) -{ - return make_float3(a.x + b, a.y + b, a.z + b); -} - -inline __host__ __device__ float4 operator+(float4 a, float4 b) -{ - return make_float4(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w); -} -inline __host__ __device__ void operator+=(float4 &a, float4 b) -{ - a.x += b.x; - a.y += b.y; - a.z += b.z; - a.w += b.w; -} -inline __host__ __device__ float4 operator+(float4 a, float b) -{ - return make_float4(a.x + b, a.y + b, a.z + b, a.w + b); -} -inline __host__ __device__ float4 operator+(float b, float4 a) -{ - return make_float4(a.x + b, a.y + b, a.z + b, a.w + b); -} -inline __host__ __device__ void operator+=(float4 &a, float b) -{ - a.x += b; - a.y += b; - a.z += b; - a.w += b; -} - -inline __host__ __device__ int4 operator+(int4 a, int4 b) -{ - return make_int4(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w); -} -inline __host__ __device__ void operator+=(int4 &a, int4 b) -{ - a.x += b.x; - a.y += b.y; - a.z += b.z; - a.w += b.w; -} -inline __host__ __device__ int4 operator+(int4 a, int b) -{ - return make_int4(a.x + b, a.y + b, a.z + b, a.w + b); -} -inline __host__ __device__ int4 operator+(int b, int4 a) -{ - return make_int4(a.x + b, a.y + b, a.z + b, a.w + b); -} -inline __host__ __device__ void operator+=(int4 &a, int b) -{ - a.x += b; - a.y += b; - a.z += b; - a.w += b; -} - -inline __host__ __device__ uint4 operator+(uint4 a, uint4 b) -{ - return make_uint4(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w); -} -inline __host__ __device__ void operator+=(uint4 &a, uint4 b) -{ - a.x += b.x; - a.y += b.y; - a.z += b.z; - a.w += b.w; -} -inline __host__ __device__ uint4 operator+(uint4 a, uint b) -{ - return make_uint4(a.x + b, a.y + b, a.z + b, a.w + b); -} -inline __host__ __device__ uint4 operator+(uint b, uint4 a) -{ - return make_uint4(a.x + b, a.y + b, a.z + b, a.w + b); -} -inline __host__ __device__ void operator+=(uint4 &a, uint b) -{ - a.x += b; - a.y += b; - a.z += b; - a.w += b; -} - -//////////////////////////////////////////////////////////////////////////////// -// subtract -//////////////////////////////////////////////////////////////////////////////// - -inline __host__ __device__ float2 operator-(float2 a, float2 b) -{ - return make_float2(a.x - b.x, a.y - b.y); -} -inline __host__ __device__ void operator-=(float2 &a, float2 b) -{ - a.x -= b.x; - a.y -= b.y; -} -inline __host__ __device__ float2 operator-(float2 a, float b) -{ - return make_float2(a.x - b, a.y - b); -} -inline __host__ __device__ float2 operator-(float b, float2 a) -{ - return make_float2(b - a.x, b - a.y); -} -inline __host__ __device__ void operator-=(float2 &a, float b) -{ - a.x -= b; - a.y -= b; -} - -inline __host__ __device__ int2 operator-(int2 a, int2 b) -{ - return make_int2(a.x - b.x, a.y - b.y); -} -inline __host__ __device__ void operator-=(int2 &a, int2 b) -{ - a.x -= b.x; - a.y -= b.y; -} -inline __host__ __device__ int2 operator-(int2 a, int b) -{ - return make_int2(a.x - b, a.y - b); -} -inline __host__ __device__ int2 operator-(int b, int2 a) -{ - return make_int2(b - a.x, b - a.y); -} -inline __host__ __device__ void operator-=(int2 &a, int b) -{ - a.x -= b; - a.y -= b; -} - -inline __host__ __device__ uint2 operator-(uint2 a, uint2 b) -{ - return make_uint2(a.x - b.x, a.y - b.y); -} -inline __host__ __device__ void operator-=(uint2 &a, uint2 b) -{ - a.x -= b.x; - a.y -= b.y; -} -inline __host__ __device__ uint2 operator-(uint2 a, uint b) -{ - return make_uint2(a.x - b, a.y - b); -} -inline __host__ __device__ uint2 operator-(uint b, uint2 a) -{ - return make_uint2(b - a.x, b - a.y); -} -inline __host__ __device__ void operator-=(uint2 &a, uint b) -{ - a.x -= b; - a.y -= b; -} - -inline __host__ __device__ float3 operator-(float3 a, float3 b) -{ - return make_float3(a.x - b.x, a.y - b.y, a.z - b.z); -} -inline __host__ __device__ void operator-=(float3 &a, float3 b) -{ - a.x -= b.x; - a.y -= b.y; - a.z -= b.z; -} -inline __host__ __device__ float3 operator-(float3 a, float b) -{ - return make_float3(a.x - b, a.y - b, a.z - b); -} -inline __host__ __device__ float3 operator-(float b, float3 a) -{ - return make_float3(b - a.x, b - a.y, b - a.z); -} -inline __host__ __device__ void operator-=(float3 &a, float b) -{ - a.x -= b; - a.y -= b; - a.z -= b; -} - -inline __host__ __device__ int3 operator-(int3 a, int3 b) -{ - return make_int3(a.x - b.x, a.y - b.y, a.z - b.z); -} -inline __host__ __device__ void operator-=(int3 &a, int3 b) -{ - a.x -= b.x; - a.y -= b.y; - a.z -= b.z; -} -inline __host__ __device__ int3 operator-(int3 a, int b) -{ - return make_int3(a.x - b, a.y - b, a.z - b); -} -inline __host__ __device__ int3 operator-(int b, int3 a) -{ - return make_int3(b - a.x, b - a.y, b - a.z); -} -inline __host__ __device__ void operator-=(int3 &a, int b) -{ - a.x -= b; - a.y -= b; - a.z -= b; -} - -inline __host__ __device__ uint3 operator-(uint3 a, uint3 b) -{ - return make_uint3(a.x - b.x, a.y - b.y, a.z - b.z); -} -inline __host__ __device__ void operator-=(uint3 &a, uint3 b) -{ - a.x -= b.x; - a.y -= b.y; - a.z -= b.z; -} -inline __host__ __device__ uint3 operator-(uint3 a, uint b) -{ - return make_uint3(a.x - b, a.y - b, a.z - b); -} -inline __host__ __device__ uint3 operator-(uint b, uint3 a) -{ - return make_uint3(b - a.x, b - a.y, b - a.z); -} -inline __host__ __device__ void operator-=(uint3 &a, uint b) -{ - a.x -= b; - a.y -= b; - a.z -= b; -} - -inline __host__ __device__ float4 operator-(float4 a, float4 b) -{ - return make_float4(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w); -} -inline __host__ __device__ void operator-=(float4 &a, float4 b) -{ - a.x -= b.x; - a.y -= b.y; - a.z -= b.z; - a.w -= b.w; -} -inline __host__ __device__ float4 operator-(float4 a, float b) -{ - return make_float4(a.x - b, a.y - b, a.z - b, a.w - b); -} -inline __host__ __device__ void operator-=(float4 &a, float b) -{ - a.x -= b; - a.y -= b; - a.z -= b; - a.w -= b; -} - -inline __host__ __device__ int4 operator-(int4 a, int4 b) -{ - return make_int4(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w); -} -inline __host__ __device__ void operator-=(int4 &a, int4 b) -{ - a.x -= b.x; - a.y -= b.y; - a.z -= b.z; - a.w -= b.w; -} -inline __host__ __device__ int4 operator-(int4 a, int b) -{ - return make_int4(a.x - b, a.y - b, a.z - b, a.w - b); -} -inline __host__ __device__ int4 operator-(int b, int4 a) -{ - return make_int4(b - a.x, b - a.y, b - a.z, b - a.w); -} -inline __host__ __device__ void operator-=(int4 &a, int b) -{ - a.x -= b; - a.y -= b; - a.z -= b; - a.w -= b; -} - -inline __host__ __device__ uint4 operator-(uint4 a, uint4 b) -{ - return make_uint4(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w); -} -inline __host__ __device__ void operator-=(uint4 &a, uint4 b) -{ - a.x -= b.x; - a.y -= b.y; - a.z -= b.z; - a.w -= b.w; -} -inline __host__ __device__ uint4 operator-(uint4 a, uint b) -{ - return make_uint4(a.x - b, a.y - b, a.z - b, a.w - b); -} -inline __host__ __device__ uint4 operator-(uint b, uint4 a) -{ - return make_uint4(b - a.x, b - a.y, b - a.z, b - a.w); -} -inline __host__ __device__ void operator-=(uint4 &a, uint b) -{ - a.x -= b; - a.y -= b; - a.z -= b; - a.w -= b; -} - -//////////////////////////////////////////////////////////////////////////////// -// multiply -//////////////////////////////////////////////////////////////////////////////// - -inline __host__ __device__ float2 operator*(float2 a, float2 b) -{ - return make_float2(a.x * b.x, a.y * b.y); -} -inline __host__ __device__ void operator*=(float2 &a, float2 b) -{ - a.x *= b.x; - a.y *= b.y; -} -inline __host__ __device__ float2 operator*(float2 a, float b) -{ - return make_float2(a.x * b, a.y * b); -} -inline __host__ __device__ float2 operator*(float b, float2 a) -{ - return make_float2(b * a.x, b * a.y); -} -inline __host__ __device__ void operator*=(float2 &a, float b) -{ - a.x *= b; - a.y *= b; -} - -inline __host__ __device__ int2 operator*(int2 a, int2 b) -{ - return make_int2(a.x * b.x, a.y * b.y); -} -inline __host__ __device__ void operator*=(int2 &a, int2 b) -{ - a.x *= b.x; - a.y *= b.y; -} -inline __host__ __device__ int2 operator*(int2 a, int b) -{ - return make_int2(a.x * b, a.y * b); -} -inline __host__ __device__ int2 operator*(int b, int2 a) -{ - return make_int2(b * a.x, b * a.y); -} -inline __host__ __device__ void operator*=(int2 &a, int b) -{ - a.x *= b; - a.y *= b; -} - -inline __host__ __device__ uint2 operator*(uint2 a, uint2 b) -{ - return make_uint2(a.x * b.x, a.y * b.y); -} -inline __host__ __device__ void operator*=(uint2 &a, uint2 b) -{ - a.x *= b.x; - a.y *= b.y; -} -inline __host__ __device__ uint2 operator*(uint2 a, uint b) -{ - return make_uint2(a.x * b, a.y * b); -} -inline __host__ __device__ uint2 operator*(uint b, uint2 a) -{ - return make_uint2(b * a.x, b * a.y); -} -inline __host__ __device__ void operator*=(uint2 &a, uint b) -{ - a.x *= b; - a.y *= b; -} - -inline __host__ __device__ float3 operator*(float3 a, float3 b) -{ - return make_float3(a.x * b.x, a.y * b.y, a.z * b.z); -} -inline __host__ __device__ void operator*=(float3 &a, float3 b) -{ - a.x *= b.x; - a.y *= b.y; - a.z *= b.z; -} -inline __host__ __device__ float3 operator*(float3 a, float b) -{ - return make_float3(a.x * b, a.y * b, a.z * b); -} -inline __host__ __device__ float3 operator*(float b, float3 a) -{ - return make_float3(b * a.x, b * a.y, b * a.z); -} -inline __host__ __device__ void operator*=(float3 &a, float b) -{ - a.x *= b; - a.y *= b; - a.z *= b; -} - -inline __host__ __device__ int3 operator*(int3 a, int3 b) -{ - return make_int3(a.x * b.x, a.y * b.y, a.z * b.z); -} -inline __host__ __device__ void operator*=(int3 &a, int3 b) -{ - a.x *= b.x; - a.y *= b.y; - a.z *= b.z; -} -inline __host__ __device__ int3 operator*(int3 a, int b) -{ - return make_int3(a.x * b, a.y * b, a.z * b); -} -inline __host__ __device__ int3 operator*(int b, int3 a) -{ - return make_int3(b * a.x, b * a.y, b * a.z); -} -inline __host__ __device__ void operator*=(int3 &a, int b) -{ - a.x *= b; - a.y *= b; - a.z *= b; -} - -inline __host__ __device__ uint3 operator*(uint3 a, uint3 b) -{ - return make_uint3(a.x * b.x, a.y * b.y, a.z * b.z); -} -inline __host__ __device__ void operator*=(uint3 &a, uint3 b) -{ - a.x *= b.x; - a.y *= b.y; - a.z *= b.z; -} -inline __host__ __device__ uint3 operator*(uint3 a, uint b) -{ - return make_uint3(a.x * b, a.y * b, a.z * b); -} -inline __host__ __device__ uint3 operator*(uint b, uint3 a) -{ - return make_uint3(b * a.x, b * a.y, b * a.z); -} -inline __host__ __device__ void operator*=(uint3 &a, uint b) -{ - a.x *= b; - a.y *= b; - a.z *= b; -} - -inline __host__ __device__ float4 operator*(float4 a, float4 b) -{ - return make_float4(a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w); -} -inline __host__ __device__ void operator*=(float4 &a, float4 b) -{ - a.x *= b.x; - a.y *= b.y; - a.z *= b.z; - a.w *= b.w; -} -inline __host__ __device__ float4 operator*(float4 a, float b) -{ - return make_float4(a.x * b, a.y * b, a.z * b, a.w * b); -} -inline __host__ __device__ float4 operator*(float b, float4 a) -{ - return make_float4(b * a.x, b * a.y, b * a.z, b * a.w); -} -inline __host__ __device__ void operator*=(float4 &a, float b) -{ - a.x *= b; - a.y *= b; - a.z *= b; - a.w *= b; -} - -inline __host__ __device__ int4 operator*(int4 a, int4 b) -{ - return make_int4(a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w); -} -inline __host__ __device__ void operator*=(int4 &a, int4 b) -{ - a.x *= b.x; - a.y *= b.y; - a.z *= b.z; - a.w *= b.w; -} -inline __host__ __device__ int4 operator*(int4 a, int b) -{ - return make_int4(a.x * b, a.y * b, a.z * b, a.w * b); -} -inline __host__ __device__ int4 operator*(int b, int4 a) -{ - return make_int4(b * a.x, b * a.y, b * a.z, b * a.w); -} -inline __host__ __device__ void operator*=(int4 &a, int b) -{ - a.x *= b; - a.y *= b; - a.z *= b; - a.w *= b; -} - -inline __host__ __device__ uint4 operator*(uint4 a, uint4 b) -{ - return make_uint4(a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w); -} -inline __host__ __device__ void operator*=(uint4 &a, uint4 b) -{ - a.x *= b.x; - a.y *= b.y; - a.z *= b.z; - a.w *= b.w; -} -inline __host__ __device__ uint4 operator*(uint4 a, uint b) -{ - return make_uint4(a.x * b, a.y * b, a.z * b, a.w * b); -} -inline __host__ __device__ uint4 operator*(uint b, uint4 a) -{ - return make_uint4(b * a.x, b * a.y, b * a.z, b * a.w); -} -inline __host__ __device__ void operator*=(uint4 &a, uint b) -{ - a.x *= b; - a.y *= b; - a.z *= b; - a.w *= b; -} - -//////////////////////////////////////////////////////////////////////////////// -// divide -//////////////////////////////////////////////////////////////////////////////// - -inline __host__ __device__ float2 operator/(float2 a, float2 b) -{ - return make_float2(a.x / b.x, a.y / b.y); -} -inline __host__ __device__ void operator/=(float2 &a, float2 b) -{ - a.x /= b.x; - a.y /= b.y; -} -inline __host__ __device__ float2 operator/(float2 a, float b) -{ - return make_float2(a.x / b, a.y / b); -} -inline __host__ __device__ void operator/=(float2 &a, float b) -{ - a.x /= b; - a.y /= b; -} -inline __host__ __device__ float2 operator/(float b, float2 a) -{ - return make_float2(b / a.x, b / a.y); -} - -inline __host__ __device__ float3 operator/(float3 a, float3 b) -{ - return make_float3(a.x / b.x, a.y / b.y, a.z / b.z); -} -inline __host__ __device__ void operator/=(float3 &a, float3 b) -{ - a.x /= b.x; - a.y /= b.y; - a.z /= b.z; -} -inline __host__ __device__ float3 operator/(float3 a, float b) -{ - return make_float3(a.x / b, a.y / b, a.z / b); -} -inline __host__ __device__ void operator/=(float3 &a, float b) -{ - a.x /= b; - a.y /= b; - a.z /= b; -} -inline __host__ __device__ float3 operator/(float b, float3 a) -{ - return make_float3(b / a.x, b / a.y, b / a.z); -} - -inline __host__ __device__ float4 operator/(float4 a, float4 b) -{ - return make_float4(a.x / b.x, a.y / b.y, a.z / b.z, a.w / b.w); -} -inline __host__ __device__ void operator/=(float4 &a, float4 b) -{ - a.x /= b.x; - a.y /= b.y; - a.z /= b.z; - a.w /= b.w; -} -inline __host__ __device__ float4 operator/(float4 a, float b) -{ - return make_float4(a.x / b, a.y / b, a.z / b, a.w / b); -} -inline __host__ __device__ void operator/=(float4 &a, float b) -{ - a.x /= b; - a.y /= b; - a.z /= b; - a.w /= b; -} -inline __host__ __device__ float4 operator/(float b, float4 a) -{ - return make_float4(b / a.x, b / a.y, b / a.z, b / a.w); -} - -//////////////////////////////////////////////////////////////////////////////// -// min -//////////////////////////////////////////////////////////////////////////////// - -inline __host__ __device__ float2 fminf(float2 a, float2 b) -{ - return make_float2(fminf(a.x,b.x), fminf(a.y,b.y)); -} -inline __host__ __device__ float3 fminf(float3 a, float3 b) -{ - return make_float3(fminf(a.x,b.x), fminf(a.y,b.y), fminf(a.z,b.z)); -} -inline __host__ __device__ float4 fminf(float4 a, float4 b) -{ - return make_float4(fminf(a.x,b.x), fminf(a.y,b.y), fminf(a.z,b.z), fminf(a.w,b.w)); -} - -inline __host__ __device__ int2 min(int2 a, int2 b) -{ - return make_int2(min(a.x,b.x), min(a.y,b.y)); -} -inline __host__ __device__ int3 min(int3 a, int3 b) -{ - return make_int3(min(a.x,b.x), min(a.y,b.y), min(a.z,b.z)); -} -inline __host__ __device__ int4 min(int4 a, int4 b) -{ - return make_int4(min(a.x,b.x), min(a.y,b.y), min(a.z,b.z), min(a.w,b.w)); -} - -inline __host__ __device__ uint2 min(uint2 a, uint2 b) -{ - return make_uint2(min(a.x,b.x), min(a.y,b.y)); -} -inline __host__ __device__ uint3 min(uint3 a, uint3 b) -{ - return make_uint3(min(a.x,b.x), min(a.y,b.y), min(a.z,b.z)); -} -inline __host__ __device__ uint4 min(uint4 a, uint4 b) -{ - return make_uint4(min(a.x,b.x), min(a.y,b.y), min(a.z,b.z), min(a.w,b.w)); -} - -//////////////////////////////////////////////////////////////////////////////// -// max -//////////////////////////////////////////////////////////////////////////////// - -inline __host__ __device__ float2 fmaxf(float2 a, float2 b) -{ - return make_float2(fmaxf(a.x,b.x), fmaxf(a.y,b.y)); -} -inline __host__ __device__ float3 fmaxf(float3 a, float3 b) -{ - return make_float3(fmaxf(a.x,b.x), fmaxf(a.y,b.y), fmaxf(a.z,b.z)); -} -inline __host__ __device__ float4 fmaxf(float4 a, float4 b) -{ - return make_float4(fmaxf(a.x,b.x), fmaxf(a.y,b.y), fmaxf(a.z,b.z), fmaxf(a.w,b.w)); -} - -inline __host__ __device__ int2 max(int2 a, int2 b) -{ - return make_int2(max(a.x,b.x), max(a.y,b.y)); -} -inline __host__ __device__ int3 max(int3 a, int3 b) -{ - return make_int3(max(a.x,b.x), max(a.y,b.y), max(a.z,b.z)); -} -inline __host__ __device__ int4 max(int4 a, int4 b) -{ - return make_int4(max(a.x,b.x), max(a.y,b.y), max(a.z,b.z), max(a.w,b.w)); -} - -inline __host__ __device__ uint2 max(uint2 a, uint2 b) -{ - return make_uint2(max(a.x,b.x), max(a.y,b.y)); -} -inline __host__ __device__ uint3 max(uint3 a, uint3 b) -{ - return make_uint3(max(a.x,b.x), max(a.y,b.y), max(a.z,b.z)); -} -inline __host__ __device__ uint4 max(uint4 a, uint4 b) -{ - return make_uint4(max(a.x,b.x), max(a.y,b.y), max(a.z,b.z), max(a.w,b.w)); -} - -//////////////////////////////////////////////////////////////////////////////// -// lerp -// - linear interpolation between a and b, based on value t in [0, 1] range -//////////////////////////////////////////////////////////////////////////////// - -inline __device__ __host__ float lerp(float a, float b, float t) -{ - return a + t*(b-a); -} -inline __device__ __host__ float2 lerp(float2 a, float2 b, float t) -{ - return a + t*(b-a); -} -inline __device__ __host__ float3 lerp(float3 a, float3 b, float t) -{ - return a + t*(b-a); -} -inline __device__ __host__ float4 lerp(float4 a, float4 b, float t) -{ - return a + t*(b-a); -} - -//////////////////////////////////////////////////////////////////////////////// -// clamp -// - clamp the value v to be in the range [a, b] -//////////////////////////////////////////////////////////////////////////////// - -inline __device__ __host__ float clamp(float f, float a, float b) -{ - return fmaxf(a, fminf(f, b)); -} -inline __device__ __host__ int clamp(int f, int a, int b) -{ - return max(a, min(f, b)); -} -inline __device__ __host__ uint clamp(uint f, uint a, uint b) -{ - return max(a, min(f, b)); -} - -inline __device__ __host__ float2 clamp(float2 v, float a, float b) -{ - return make_float2(clamp(v.x, a, b), clamp(v.y, a, b)); -} -inline __device__ __host__ float2 clamp(float2 v, float2 a, float2 b) -{ - return make_float2(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y)); -} -inline __device__ __host__ float3 clamp(float3 v, float a, float b) -{ - return make_float3(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b)); -} -inline __device__ __host__ float3 clamp(float3 v, float3 a, float3 b) -{ - return make_float3(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z)); -} -inline __device__ __host__ float4 clamp(float4 v, float a, float b) -{ - return make_float4(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b), clamp(v.w, a, b)); -} -inline __device__ __host__ float4 clamp(float4 v, float4 a, float4 b) -{ - return make_float4(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z), clamp(v.w, a.w, b.w)); -} - -inline __device__ __host__ int2 clamp(int2 v, int a, int b) -{ - return make_int2(clamp(v.x, a, b), clamp(v.y, a, b)); -} -inline __device__ __host__ int2 clamp(int2 v, int2 a, int2 b) -{ - return make_int2(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y)); -} -inline __device__ __host__ int3 clamp(int3 v, int a, int b) -{ - return make_int3(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b)); -} -inline __device__ __host__ int3 clamp(int3 v, int3 a, int3 b) -{ - return make_int3(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z)); -} -inline __device__ __host__ int4 clamp(int4 v, int a, int b) -{ - return make_int4(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b), clamp(v.w, a, b)); -} -inline __device__ __host__ int4 clamp(int4 v, int4 a, int4 b) -{ - return make_int4(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z), clamp(v.w, a.w, b.w)); -} - -inline __device__ __host__ uint2 clamp(uint2 v, uint a, uint b) -{ - return make_uint2(clamp(v.x, a, b), clamp(v.y, a, b)); -} -inline __device__ __host__ uint2 clamp(uint2 v, uint2 a, uint2 b) -{ - return make_uint2(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y)); -} -inline __device__ __host__ uint3 clamp(uint3 v, uint a, uint b) -{ - return make_uint3(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b)); -} -inline __device__ __host__ uint3 clamp(uint3 v, uint3 a, uint3 b) -{ - return make_uint3(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z)); -} -inline __device__ __host__ uint4 clamp(uint4 v, uint a, uint b) -{ - return make_uint4(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b), clamp(v.w, a, b)); -} -inline __device__ __host__ uint4 clamp(uint4 v, uint4 a, uint4 b) -{ - return make_uint4(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z), clamp(v.w, a.w, b.w)); -} - -//////////////////////////////////////////////////////////////////////////////// -// dot product -//////////////////////////////////////////////////////////////////////////////// - -inline __host__ __device__ float dot(float2 a, float2 b) -{ - return a.x * b.x + a.y * b.y; -} -inline __host__ __device__ float dot(float3 a, float3 b) -{ - return a.x * b.x + a.y * b.y + a.z * b.z; -} -inline __host__ __device__ float dot(float4 a, float4 b) -{ - return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w; -} - -inline __host__ __device__ int dot(int2 a, int2 b) -{ - return a.x * b.x + a.y * b.y; -} -inline __host__ __device__ int dot(int3 a, int3 b) -{ - return a.x * b.x + a.y * b.y + a.z * b.z; -} -inline __host__ __device__ int dot(int4 a, int4 b) -{ - return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w; -} - -inline __host__ __device__ uint dot(uint2 a, uint2 b) -{ - return a.x * b.x + a.y * b.y; -} -inline __host__ __device__ uint dot(uint3 a, uint3 b) -{ - return a.x * b.x + a.y * b.y + a.z * b.z; -} -inline __host__ __device__ uint dot(uint4 a, uint4 b) -{ - return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w; -} - -//////////////////////////////////////////////////////////////////////////////// -// length -//////////////////////////////////////////////////////////////////////////////// - -inline __host__ __device__ float length(float2 v) -{ - return sqrtf(dot(v, v)); -} -inline __host__ __device__ float length(float3 v) -{ - return sqrtf(dot(v, v)); -} -inline __host__ __device__ float length(float4 v) -{ - return sqrtf(dot(v, v)); -} - -//////////////////////////////////////////////////////////////////////////////// -// normalize -//////////////////////////////////////////////////////////////////////////////// - -inline __host__ __device__ float2 normalize(float2 v) -{ - float invLen = rsqrtf(dot(v, v)); - return v * invLen; -} -inline __host__ __device__ float3 normalize(float3 v) -{ - float invLen = rsqrtf(dot(v, v)); - return v * invLen; -} -inline __host__ __device__ float4 normalize(float4 v) -{ - float invLen = rsqrtf(dot(v, v)); - return v * invLen; -} - -//////////////////////////////////////////////////////////////////////////////// -// floor -//////////////////////////////////////////////////////////////////////////////// - -inline __host__ __device__ float2 floorf(float2 v) -{ - return make_float2(floorf(v.x), floorf(v.y)); -} -inline __host__ __device__ float3 floorf(float3 v) -{ - return make_float3(floorf(v.x), floorf(v.y), floorf(v.z)); -} -inline __host__ __device__ float4 floorf(float4 v) -{ - return make_float4(floorf(v.x), floorf(v.y), floorf(v.z), floorf(v.w)); -} - -//////////////////////////////////////////////////////////////////////////////// -// frac - returns the fractional portion of a scalar or each vector component -//////////////////////////////////////////////////////////////////////////////// - -inline __host__ __device__ float fracf(float v) -{ - return v - floorf(v); -} -inline __host__ __device__ float2 fracf(float2 v) -{ - return make_float2(fracf(v.x), fracf(v.y)); -} -inline __host__ __device__ float3 fracf(float3 v) -{ - return make_float3(fracf(v.x), fracf(v.y), fracf(v.z)); -} -inline __host__ __device__ float4 fracf(float4 v) -{ - return make_float4(fracf(v.x), fracf(v.y), fracf(v.z), fracf(v.w)); -} - -//////////////////////////////////////////////////////////////////////////////// -// fmod -//////////////////////////////////////////////////////////////////////////////// - -inline __host__ __device__ float2 fmodf(float2 a, float2 b) -{ - return make_float2(fmodf(a.x, b.x), fmodf(a.y, b.y)); -} -inline __host__ __device__ float3 fmodf(float3 a, float3 b) -{ - return make_float3(fmodf(a.x, b.x), fmodf(a.y, b.y), fmodf(a.z, b.z)); -} -inline __host__ __device__ float4 fmodf(float4 a, float4 b) -{ - return make_float4(fmodf(a.x, b.x), fmodf(a.y, b.y), fmodf(a.z, b.z), fmodf(a.w, b.w)); -} - -//////////////////////////////////////////////////////////////////////////////// -// absolute value -//////////////////////////////////////////////////////////////////////////////// - -inline __host__ __device__ float2 fabs(float2 v) -{ - return make_float2(fabs(v.x), fabs(v.y)); -} -inline __host__ __device__ float3 fabs(float3 v) -{ - return make_float3(fabs(v.x), fabs(v.y), fabs(v.z)); -} -inline __host__ __device__ float4 fabs(float4 v) -{ - return make_float4(fabs(v.x), fabs(v.y), fabs(v.z), fabs(v.w)); -} - -inline __host__ __device__ int2 abs(int2 v) -{ - return make_int2(abs(v.x), abs(v.y)); -} -inline __host__ __device__ int3 abs(int3 v) -{ - return make_int3(abs(v.x), abs(v.y), abs(v.z)); -} -inline __host__ __device__ int4 abs(int4 v) -{ - return make_int4(abs(v.x), abs(v.y), abs(v.z), abs(v.w)); -} - -//////////////////////////////////////////////////////////////////////////////// -// reflect -// - returns reflection of incident ray I around surface normal N -// - N should be normalized, reflected vector's length is equal to length of I -//////////////////////////////////////////////////////////////////////////////// - -inline __host__ __device__ float3 reflect(float3 i, float3 n) -{ - return i - 2.0f * n * dot(n,i); -} - -//////////////////////////////////////////////////////////////////////////////// -// cross product -//////////////////////////////////////////////////////////////////////////////// - -inline __host__ __device__ float3 cross(float3 a, float3 b) -{ - return make_float3(a.y*b.z - a.z*b.y, a.z*b.x - a.x*b.z, a.x*b.y - a.y*b.x); -} - -//////////////////////////////////////////////////////////////////////////////// -// smoothstep -// - returns 0 if x < a -// - returns 1 if x > b -// - otherwise returns smooth interpolation between 0 and 1 based on x -//////////////////////////////////////////////////////////////////////////////// - -inline __device__ __host__ float smoothstep(float a, float b, float x) -{ - float y = clamp((x - a) / (b - a), 0.0f, 1.0f); - return (y*y*(3.0f - (2.0f*y))); -} -inline __device__ __host__ float2 smoothstep(float2 a, float2 b, float2 x) -{ - float2 y = clamp((x - a) / (b - a), 0.0f, 1.0f); - return (y*y*(make_float2(3.0f) - (make_float2(2.0f)*y))); -} -inline __device__ __host__ float3 smoothstep(float3 a, float3 b, float3 x) -{ - float3 y = clamp((x - a) / (b - a), 0.0f, 1.0f); - return (y*y*(make_float3(3.0f) - (make_float3(2.0f)*y))); -} -inline __device__ __host__ float4 smoothstep(float4 a, float4 b, float4 x) -{ - float4 y = clamp((x - a) / (b - a), 0.0f, 1.0f); - return (y*y*(make_float4(3.0f) - (make_float4(2.0f)*y))); -} - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/pcl_render_node.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/pcl_render_node.cpp deleted file mode 100644 index 4e1c496..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/pcl_render_node.cpp +++ /dev/null @@ -1,390 +0,0 @@ -#include -#include -#include -//include ros dep. -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "tf/tf.h" -#include "tf/transform_datatypes.h" -#include -//include pcl dep -#include -#include -#include -#include - #include -//include opencv and eigen -#include -#include "opencv2/highgui/highgui.hpp" -#include -#include -#include - -//#include -#include "depth_render.cuh" -#include "quadrotor_msgs/PositionCommand.h" -using namespace cv; -using namespace std; -using namespace Eigen; - -int *depth_hostptr; -cv::Mat depth_mat; - -//camera param -int width, height; -double fx,fy,cx,cy; - -DepthRender depthrender; -ros::Publisher pub_depth; -ros::Publisher pub_color; -ros::Publisher pub_pose; -ros::Publisher pub_pcl_wolrd; - -sensor_msgs::PointCloud2 local_map_pcl; -sensor_msgs::PointCloud2 local_depth_pcl; - -ros::Subscriber odom_sub; -ros::Subscriber global_map_sub, local_map_sub; - -ros::Timer local_sensing_timer, estimation_timer; - -bool has_global_map(false); -bool has_local_map(false); -bool has_odom(false); - -Matrix4d cam02body; -Matrix4d cam2world; -Eigen::Quaterniond cam2world_quat; -nav_msgs::Odometry _odom; - -double sensing_horizon, sensing_rate, estimation_rate; -double _x_size, _y_size, _z_size; -double _gl_xl, _gl_yl, _gl_zl; -double _resolution, _inv_resolution; -int _GLX_SIZE, _GLY_SIZE, _GLZ_SIZE; - -ros::Time last_odom_stamp = ros::TIME_MAX; -Eigen::Vector3d last_pose_world; - -void render_currentpose(); -void render_pcl_world(); - -inline Eigen::Vector3d gridIndex2coord(const Eigen::Vector3i & index) -{ - Eigen::Vector3d pt; - pt(0) = ((double)index(0) + 0.5) * _resolution + _gl_xl; - pt(1) = ((double)index(1) + 0.5) * _resolution + _gl_yl; - pt(2) = ((double)index(2) + 0.5) * _resolution + _gl_zl; - - return pt; -}; - -inline Eigen::Vector3i coord2gridIndex(const Eigen::Vector3d & pt) -{ - Eigen::Vector3i idx; - idx(0) = std::min( std::max( int( (pt(0) - _gl_xl) * _inv_resolution), 0), _GLX_SIZE - 1); - idx(1) = std::min( std::max( int( (pt(1) - _gl_yl) * _inv_resolution), 0), _GLY_SIZE - 1); - idx(2) = std::min( std::max( int( (pt(2) - _gl_zl) * _inv_resolution), 0), _GLZ_SIZE - 1); - - return idx; -}; - -void rcvOdometryCallbck(const nav_msgs::Odometry& odom) -{ - /*if(!has_global_map) - return;*/ - has_odom = true; - _odom = odom; - Matrix4d Pose_receive = Matrix4d::Identity(); - - Eigen::Vector3d request_position; - Eigen::Quaterniond request_pose; - request_position.x() = odom.pose.pose.position.x; - request_position.y() = odom.pose.pose.position.y; - request_position.z() = odom.pose.pose.position.z; - request_pose.x() = odom.pose.pose.orientation.x; - request_pose.y() = odom.pose.pose.orientation.y; - request_pose.z() = odom.pose.pose.orientation.z; - request_pose.w() = odom.pose.pose.orientation.w; - Pose_receive.block<3,3>(0,0) = request_pose.toRotationMatrix(); - Pose_receive(0,3) = request_position(0); - Pose_receive(1,3) = request_position(1); - Pose_receive(2,3) = request_position(2); - - Matrix4d body_pose = Pose_receive; - //convert to cam pose - cam2world = body_pose * cam02body; - cam2world_quat = cam2world.block<3,3>(0,0); - - last_odom_stamp = odom.header.stamp; - - last_pose_world(0) = odom.pose.pose.position.x; - last_pose_world(1) = odom.pose.pose.position.y; - last_pose_world(2) = odom.pose.pose.position.z; - - //publish tf - /*static tf::TransformBroadcaster br; - tf::Transform transform; - transform.setOrigin( tf::Vector3(cam2world(0,3), cam2world(1,3), cam2world(2,3) )); - transform.setRotation(tf::Quaternion(cam2world_quat.x(), cam2world_quat.y(), cam2world_quat.z(), cam2world_quat.w())); - br.sendTransform(tf::StampedTransform(transform, last_odom_stamp, "world", "camera")); //publish transform from world frame to quadrotor frame.*/ -} - -void pubCameraPose(const ros::TimerEvent & event) -{ - //cout<<"pub cam pose" - geometry_msgs::PoseStamped camera_pose; - camera_pose.header = _odom.header; - camera_pose.header.frame_id = "/map"; - camera_pose.pose.position.x = cam2world(0,3); - camera_pose.pose.position.y = cam2world(1,3); - camera_pose.pose.position.z = cam2world(2,3); - camera_pose.pose.orientation.w = cam2world_quat.w(); - camera_pose.pose.orientation.x = cam2world_quat.x(); - camera_pose.pose.orientation.y = cam2world_quat.y(); - camera_pose.pose.orientation.z = cam2world_quat.z(); - pub_pose.publish(camera_pose); -} - -void renderSensedPoints(const ros::TimerEvent & event) -{ - //if(! has_global_map || ! has_odom) return; - if( !has_global_map && !has_local_map) return; - - if( !has_odom ) return; - render_currentpose(); - render_pcl_world(); -} - -vector cloud_data; -void rcvGlobalPointCloudCallBack(const sensor_msgs::PointCloud2 & pointcloud_map ) -{ - if(has_global_map) - return; - - ROS_WARN("Global Pointcloud received.."); - //load global map - pcl::PointCloud cloudIn; - pcl::PointXYZ pt_in; - //transform map to point cloud format - pcl::fromROSMsg(pointcloud_map, cloudIn); - for(int i = 0; i < int(cloudIn.points.size()); i++){ - pt_in = cloudIn.points[i]; - cloud_data.push_back(pt_in.x); - cloud_data.push_back(pt_in.y); - cloud_data.push_back(pt_in.z); - } - printf("global map has points: %d.\n", (int)cloud_data.size() / 3 ); - //pass cloud_data to depth render - depthrender.set_data(cloud_data); - depth_hostptr = (int*) malloc(width * height * sizeof(int)); - - has_global_map = true; -} - -void rcvLocalPointCloudCallBack(const sensor_msgs::PointCloud2 & pointcloud_map ) -{ - //ROS_WARN("Local Pointcloud received.."); - //load local map - pcl::PointCloud cloudIn; - pcl::PointXYZ pt_in; - //transform map to point cloud format - pcl::fromROSMsg(pointcloud_map, cloudIn); - - if(cloudIn.points.size() == 0) return; - for(int i = 0; i < int(cloudIn.points.size()); i++){ - pt_in = cloudIn.points[i]; - Eigen::Vector3d pose_pt(pt_in.x, pt_in.y, pt_in.z); - //pose_pt = gridIndex2coord(coord2gridIndex(pose_pt)); - cloud_data.push_back(pose_pt(0)); - cloud_data.push_back(pose_pt(1)); - cloud_data.push_back(pose_pt(2)); - } - //printf("local map has points: %d.\n", (int)cloud_data.size() / 3 ); - //pass cloud_data to depth render - depthrender.set_data(cloud_data); - depth_hostptr = (int*) malloc(width * height * sizeof(int)); - - has_local_map = true; -} - -void render_pcl_world() -{ - //for debug purpose - pcl::PointCloud localMap; - pcl::PointXYZ pt_in; - - Eigen::Vector4d pose_in_camera; - Eigen::Vector4d pose_in_world; - Eigen::Vector3d pose_pt; - - for(int u = 0; u < width; u++) - for(int v = 0; v < height; v++){ - float depth = depth_mat.at(v,u); - - if(depth == 0.0) - continue; - - pose_in_camera(0) = (u - cx) * depth / fx; - pose_in_camera(1) = (v - cy) * depth / fy; - pose_in_camera(2) = depth; - pose_in_camera(3) = 1.0; - - pose_in_world = cam2world * pose_in_camera; - - if( (pose_in_world.segment(0,3) - last_pose_world).norm() > sensing_horizon ) - continue; - - pose_pt = pose_in_world.head(3); - //pose_pt = gridIndex2coord(coord2gridIndex(pose_pt)); - pt_in.x = pose_pt(0); - pt_in.y = pose_pt(1); - pt_in.z = pose_pt(2); - - localMap.points.push_back(pt_in); - } - - localMap.width = localMap.points.size(); - localMap.height = 1; - localMap.is_dense = true; - - pcl::toROSMsg(localMap, local_map_pcl); - local_map_pcl.header.frame_id = "/map"; - local_map_pcl.header.stamp = last_odom_stamp; - - pub_pcl_wolrd.publish(local_map_pcl); -} - -void render_currentpose() -{ - double this_time = ros::Time::now().toSec(); - - Matrix4d cam_pose = cam2world.inverse(); - - double pose[4 * 4]; - - for(int i = 0; i < 4; i ++) - for(int j = 0; j < 4; j ++) - pose[j + 4 * i] = cam_pose(i, j); - - depthrender.render_pose(pose, depth_hostptr); - //depthrender.render_pose(cam_pose, depth_hostptr); - - depth_mat = cv::Mat::zeros(height, width, CV_32FC1); - double min = 0.5; - double max = 1.0f; - for(int i = 0; i < height; i++) - for(int j = 0; j < width; j++) - { - float depth = (float)depth_hostptr[i * width + j] / 1000.0f; - depth = depth < 500.0f ? depth : 0; - max = depth > max ? depth : max; - depth_mat.at(i,j) = depth; - } - //ROS_INFO("render cost %lf ms.", (ros::Time::now().toSec() - this_time) * 1000.0f); - //printf("max_depth %lf.\n", max); - - cv_bridge::CvImage out_msg; - out_msg.header.stamp = last_odom_stamp; - out_msg.header.frame_id = "camera"; - out_msg.encoding = sensor_msgs::image_encodings::TYPE_32FC1; - out_msg.image = depth_mat.clone(); - pub_depth.publish(out_msg.toImageMsg()); - - cv::Mat adjMap; - // depth_mat.convertTo(adjMap,CV_8UC1, 255 / (max-min), -min); - depth_mat.convertTo(adjMap,CV_8UC1, 255 /13.0, -min); - cv::Mat falseColorsMap; - cv::applyColorMap(adjMap, falseColorsMap, cv::COLORMAP_RAINBOW); - cv_bridge::CvImage cv_image_colored; - cv_image_colored.header.frame_id = "depthmap"; - cv_image_colored.header.stamp = last_odom_stamp; - cv_image_colored.encoding = sensor_msgs::image_encodings::BGR8; - cv_image_colored.image = falseColorsMap; - pub_color.publish(cv_image_colored.toImageMsg()); - //cv::imshow("depth_image", adjMap); -} - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "pcl_render"); - ros::NodeHandle nh("~"); - - nh.getParam("cam_width", width); - nh.getParam("cam_height", height); - nh.getParam("cam_fx", fx); - nh.getParam("cam_fy", fy); - nh.getParam("cam_cx", cx); - nh.getParam("cam_cy", cy); - nh.getParam("sensing_horizon", sensing_horizon); - nh.getParam("sensing_rate", sensing_rate); - nh.getParam("estimation_rate", estimation_rate); - - nh.getParam("map/x_size", _x_size); - nh.getParam("map/y_size", _y_size); - nh.getParam("map/z_size", _z_size); - - depthrender.set_para(fx, fy, cx, cy, width, height); - - // cam02body << 0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, - // 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, - // -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, - // 0.0, 0.0, 0.0, 1.0; - - cam02body << 0.0, 0.0, 1.0, 0.0, - -1.0, 0.0, 0.0, 0.0, - 0.0, -1.0,0.0, 0.0, - 0.0, 0.0, 0.0, 1.0; - - //init cam2world transformation - cam2world = Matrix4d::Identity(); - //subscribe point cloud - global_map_sub = nh.subscribe( "global_map", 1, rcvGlobalPointCloudCallBack); - local_map_sub = nh.subscribe( "local_map", 1, rcvLocalPointCloudCallBack); - odom_sub = nh.subscribe( "odometry", 50, rcvOdometryCallbck ); - - //publisher depth image and color image - pub_depth = nh.advertise("depth",1000); - pub_color = nh.advertise("colordepth",1000); - pub_pose = nh.advertise("camera_pose",1000); - pub_pcl_wolrd = nh.advertise("rendered_pcl",1); - - double sensing_duration = 1.0 / sensing_rate; - double estimate_duration = 1.0 / estimation_rate; - - local_sensing_timer = nh.createTimer(ros::Duration(sensing_duration), renderSensedPoints); - estimation_timer = nh.createTimer(ros::Duration(estimate_duration), pubCameraPose); - //cv::namedWindow("depth_image",1); - - _inv_resolution = 1.0 / _resolution; - - _gl_xl = -_x_size/2.0; - _gl_yl = -_y_size/2.0; - _gl_zl = 0.0; - - _GLX_SIZE = (int)(_x_size * _inv_resolution); - _GLY_SIZE = (int)(_y_size * _inv_resolution); - _GLZ_SIZE = (int)(_z_size * _inv_resolution); - - ros::Rate rate(100); - bool status = ros::ok(); - while(status) - { - ros::spinOnce(); - status = ros::ok(); - rate.sleep(); - } -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/pointcloud_render_node.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/pointcloud_render_node.cpp deleted file mode 100644 index 7668d29..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/local_sensing/src/pointcloud_render_node.cpp +++ /dev/null @@ -1,202 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -using namespace std; -using namespace Eigen; - -ros::Publisher pub_cloud; - -sensor_msgs::PointCloud2 local_map_pcl; -sensor_msgs::PointCloud2 local_depth_pcl; - -ros::Subscriber odom_sub; -ros::Subscriber global_map_sub, local_map_sub; - -ros::Timer local_sensing_timer; - -bool has_global_map(false); -bool has_local_map(false); -bool has_odom(false); - -nav_msgs::Odometry _odom; - -double sensing_horizon, sensing_rate, estimation_rate; -double _x_size, _y_size, _z_size; -double _gl_xl, _gl_yl, _gl_zl; -double _resolution, _inv_resolution; -int _GLX_SIZE, _GLY_SIZE, _GLZ_SIZE; - -ros::Time last_odom_stamp = ros::TIME_MAX; - -inline Eigen::Vector3d gridIndex2coord(const Eigen::Vector3i& index) { - Eigen::Vector3d pt; - pt(0) = ((double)index(0) + 0.5) * _resolution + _gl_xl; - pt(1) = ((double)index(1) + 0.5) * _resolution + _gl_yl; - pt(2) = ((double)index(2) + 0.5) * _resolution + _gl_zl; - - return pt; -}; - -inline Eigen::Vector3i coord2gridIndex(const Eigen::Vector3d& pt) { - Eigen::Vector3i idx; - idx(0) = std::min(std::max(int((pt(0) - _gl_xl) * _inv_resolution), 0), - _GLX_SIZE - 1); - idx(1) = std::min(std::max(int((pt(1) - _gl_yl) * _inv_resolution), 0), - _GLY_SIZE - 1); - idx(2) = std::min(std::max(int((pt(2) - _gl_zl) * _inv_resolution), 0), - _GLZ_SIZE - 1); - - return idx; -}; - -void rcvOdometryCallbck(const nav_msgs::Odometry& odom) { - /*if(!has_global_map) - return;*/ - has_odom = true; - _odom = odom; -} - -pcl::PointCloud _cloud_all_map, _local_map; -pcl::VoxelGrid _voxel_sampler; -sensor_msgs::PointCloud2 _local_map_pcd; - -pcl::search::KdTree _kdtreeLocalMap; -vector _pointIdxRadiusSearch; -vector _pointRadiusSquaredDistance; - -void rcvGlobalPointCloudCallBack( - const sensor_msgs::PointCloud2& pointcloud_map) { - if (has_global_map) return; - - ROS_WARN("Global Pointcloud received.."); - - pcl::PointCloud cloud_input; - pcl::fromROSMsg(pointcloud_map, cloud_input); - - _voxel_sampler.setLeafSize(0.1f, 0.1f, 0.1f); - _voxel_sampler.setInputCloud(cloud_input.makeShared()); - _voxel_sampler.filter(_cloud_all_map); - - _kdtreeLocalMap.setInputCloud(_cloud_all_map.makeShared()); - - has_global_map = true; -} - -void renderSensedPoints(const ros::TimerEvent& event) { - if (!has_global_map || !has_odom) return; - - Eigen::Quaterniond q; - q.x() = _odom.pose.pose.orientation.x; - q.y() = _odom.pose.pose.orientation.y; - q.z() = _odom.pose.pose.orientation.z; - q.w() = _odom.pose.pose.orientation.w; - - Eigen::Matrix3d rot; - rot = q; - Eigen::Vector3d yaw_vec = rot.col(0); - - _local_map.points.clear(); - pcl::PointXYZ searchPoint(_odom.pose.pose.position.x, - _odom.pose.pose.position.y, - _odom.pose.pose.position.z); - _pointIdxRadiusSearch.clear(); - _pointRadiusSquaredDistance.clear(); - - pcl::PointXYZ pt; - if (_kdtreeLocalMap.radiusSearch(searchPoint, sensing_horizon, - _pointIdxRadiusSearch, - _pointRadiusSquaredDistance) > 0) { - for (size_t i = 0; i < _pointIdxRadiusSearch.size(); ++i) { - pt = _cloud_all_map.points[_pointIdxRadiusSearch[i]]; - - // if ((fabs(pt.z - _odom.pose.pose.position.z) / (pt.x - _odom.pose.pose.position.x)) > - // tan(M_PI / 12.0)) - // continue; - if ((fabs(pt.z - _odom.pose.pose.position.z) / sensing_horizon) > - tan(M_PI / 6.0)) - continue; - - Vector3d pt_vec(pt.x - _odom.pose.pose.position.x, - pt.y - _odom.pose.pose.position.y, - pt.z - _odom.pose.pose.position.z); - - if (pt_vec.normalized().dot(yaw_vec) < 0.5) continue; - - _local_map.points.push_back(pt); - } - } else { - return; - } - - _local_map.width = _local_map.points.size(); - _local_map.height = 1; - _local_map.is_dense = true; - - pcl::toROSMsg(_local_map, _local_map_pcd); - _local_map_pcd.header.frame_id = "map"; - - pub_cloud.publish(_local_map_pcd); -} - -void rcvLocalPointCloudCallBack( - const sensor_msgs::PointCloud2& pointcloud_map) { - // do nothing, fix later -} - -int main(int argc, char** argv) { - ros::init(argc, argv, "pcl_render"); - ros::NodeHandle nh("~"); - - nh.getParam("sensing_horizon", sensing_horizon); - nh.getParam("sensing_rate", sensing_rate); - nh.getParam("estimation_rate", estimation_rate); - - nh.getParam("map/x_size", _x_size); - nh.getParam("map/y_size", _y_size); - nh.getParam("map/z_size", _z_size); - - // subscribe point cloud - global_map_sub = nh.subscribe("global_map", 1, rcvGlobalPointCloudCallBack); - local_map_sub = nh.subscribe("local_map", 1, rcvLocalPointCloudCallBack); - odom_sub = nh.subscribe("odometry", 50, rcvOdometryCallbck); - - // publisher depth image and color image - pub_cloud = - nh.advertise("pcl_render_node/cloud", 10); - - double sensing_duration = 1.0 / sensing_rate * 2.5; - - local_sensing_timer = - nh.createTimer(ros::Duration(sensing_duration), renderSensedPoints); - - _inv_resolution = 1.0 / _resolution; - - _gl_xl = -_x_size / 2.0; - _gl_yl = -_y_size / 2.0; - _gl_zl = 0.0; - - _GLX_SIZE = (int)(_x_size * _inv_resolution); - _GLY_SIZE = (int)(_y_size * _inv_resolution); - _GLZ_SIZE = (int)(_z_size * _inv_resolution); - - ros::Rate rate(100); - bool status = ros::ok(); - while (status) { - ros::spinOnce(); - status = ros::ok(); - rate.sleep(); - } -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/map_generator/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/map_generator/CMakeLists.txt deleted file mode 100644 index d805ca9..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/map_generator/CMakeLists.txt +++ /dev/null @@ -1,37 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(map_generator) - -set(CMAKE_BUILD_TYPE "Release") -#set(CMAKE_CXX_FLAGS "-std=c++11") -ADD_COMPILE_OPTIONS(-std=c++11 ) -ADD_COMPILE_OPTIONS(-std=c++14 ) -set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") - -find_package(catkin REQUIRED COMPONENTS - roscpp - rospy - std_msgs - geometry_msgs - pcl_conversions -) -find_package(PCL REQUIRED) -find_package(Eigen3 REQUIRED) - -catkin_package() - -include_directories( -# include - ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIR} - ${PCL_INCLUDE_DIRS} -) - -add_executable (random_forest src/random_forest_sensing.cpp ) -target_link_libraries(random_forest - ${catkin_LIBRARIES} - ${PCL_LIBRARIES}) - -add_executable (random_forest_new src/random_forest_sensing_new.cpp ) -target_link_libraries(random_forest_new - ${catkin_LIBRARIES} - ${PCL_LIBRARIES}) \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/map_generator/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/map_generator/package.xml deleted file mode 100644 index 42f7c33..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/map_generator/package.xml +++ /dev/null @@ -1,65 +0,0 @@ - - - map_generator - 0.0.0 - The map_generator package - - - - - bzhouai - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - std_msgs - roscpp - std_msgs - roscpp - std_msgs - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/map_generator/src/random_forest_sensing.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/map_generator/src/random_forest_sensing.cpp deleted file mode 100644 index ad863a1..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/map_generator/src/random_forest_sensing.cpp +++ /dev/null @@ -1,436 +0,0 @@ -#include -#include -// #include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -using namespace std; - -// pcl::search::KdTree kdtreeLocalMap; -pcl::KdTreeFLANN kdtreeLocalMap; -vector pointIdxRadiusSearch; -vector pointRadiusSquaredDistance; - -random_device rd; -// default_random_engine eng(4); -default_random_engine eng(rd()); -uniform_real_distribution rand_x; -uniform_real_distribution rand_y; -uniform_real_distribution rand_w; -uniform_real_distribution rand_h; -uniform_real_distribution rand_inf; - -ros::Publisher _local_map_pub; -ros::Publisher _all_map_pub; -ros::Publisher click_map_pub_; -ros::Subscriber _odom_sub; - -vector _state; - -int _obs_num; -double _x_size, _y_size, _z_size; -double _x_l, _x_h, _y_l, _y_h, _w_l, _w_h, _h_l, _h_h; -double _z_limit, _sensing_range, _resolution, _sense_rate, _init_x, _init_y; -double _min_dist; - -bool _map_ok = false; -bool _has_odom = false; - -int circle_num_; -double radius_l_, radius_h_, z_l_, z_h_; -double theta_; -uniform_real_distribution rand_radius_; -uniform_real_distribution rand_radius2_; -uniform_real_distribution rand_theta_; -uniform_real_distribution rand_z_; - -sensor_msgs::PointCloud2 globalMap_pcd; -pcl::PointCloud cloudMap; - -sensor_msgs::PointCloud2 localMap_pcd; -pcl::PointCloud clicked_cloud_; - -void RandomMapGenerate() { - pcl::PointXYZ pt_random; - - rand_x = uniform_real_distribution(_x_l, _x_h); - rand_y = uniform_real_distribution(_y_l, _y_h); - rand_w = uniform_real_distribution(_w_l, _w_h); - rand_h = uniform_real_distribution(_h_l, _h_h); - - rand_radius_ = uniform_real_distribution(radius_l_, radius_h_); - rand_radius2_ = uniform_real_distribution(radius_l_, 1.2); - rand_theta_ = uniform_real_distribution(-theta_, theta_); - rand_z_ = uniform_real_distribution(z_l_, z_h_); - - // generate polar obs - for (int i = 0; i < _obs_num; i++) { - double x, y, w, h; - x = rand_x(eng); - y = rand_y(eng); - w = rand_w(eng); - - x = floor(x / _resolution) * _resolution + _resolution / 2.0; - y = floor(y / _resolution) * _resolution + _resolution / 2.0; - - int widNum = ceil(w / _resolution); - - for (int r = -widNum / 2.0; r < widNum / 2.0; r++) - for (int s = -widNum / 2.0; s < widNum / 2.0; s++) { - h = rand_h(eng); - int heiNum = ceil(h / _resolution); - for (int t = -20; t < heiNum; t++) { - pt_random.x = x + (r + 0.5) * _resolution + 1e-2; - pt_random.y = y + (s + 0.5) * _resolution + 1e-2; - pt_random.z = (t + 0.5) * _resolution + 1e-2; - cloudMap.points.push_back(pt_random); - } - } - } - - // generate circle obs - for (int i = 0; i < circle_num_; ++i) { - double x, y, z; - x = rand_x(eng); - y = rand_y(eng); - z = rand_z_(eng); - - x = floor(x / _resolution) * _resolution + _resolution / 2.0; - y = floor(y / _resolution) * _resolution + _resolution / 2.0; - z = floor(z / _resolution) * _resolution + _resolution / 2.0; - - Eigen::Vector3d translate(x, y, z); - - double theta = rand_theta_(eng); - Eigen::Matrix3d rotate; - rotate << cos(theta), -sin(theta), 0.0, sin(theta), cos(theta), 0.0, 0, 0, - 1; - - double radius1 = rand_radius_(eng); - double radius2 = rand_radius2_(eng); - - // draw a circle centered at (x,y,z) - Eigen::Vector3d cpt; - for (double angle = 0.0; angle < 6.282; angle += _resolution / 2) { - cpt(0) = 0.0; - cpt(1) = radius1 * cos(angle); - cpt(2) = radius2 * sin(angle); - - // inflate - Eigen::Vector3d cpt_if; - for (int ifx = -0; ifx <= 0; ++ifx) - for (int ify = -0; ify <= 0; ++ify) - for (int ifz = -0; ifz <= 0; ++ifz) { - cpt_if = cpt + Eigen::Vector3d(ifx * _resolution, ify * _resolution, - ifz * _resolution); - cpt_if = rotate * cpt_if + Eigen::Vector3d(x, y, z); - pt_random.x = cpt_if(0); - pt_random.y = cpt_if(1); - pt_random.z = cpt_if(2); - cloudMap.push_back(pt_random); - } - } - } - - cloudMap.width = cloudMap.points.size(); - cloudMap.height = 1; - cloudMap.is_dense = true; - - ROS_WARN("Finished generate random map "); - - kdtreeLocalMap.setInputCloud(cloudMap.makeShared()); - - _map_ok = true; -} - -void RandomMapGenerateCylinder() { - pcl::PointXYZ pt_random; - - vector obs_position; - - rand_x = uniform_real_distribution(_x_l, _x_h); - rand_y = uniform_real_distribution(_y_l, _y_h); - rand_w = uniform_real_distribution(_w_l, _w_h); - rand_h = uniform_real_distribution(_h_l, _h_h); - rand_inf = uniform_real_distribution(0.5, 1.5); - - rand_radius_ = uniform_real_distribution(radius_l_, radius_h_); - rand_radius2_ = uniform_real_distribution(radius_l_, 1.2); - rand_theta_ = uniform_real_distribution(-theta_, theta_); - rand_z_ = uniform_real_distribution(z_l_, z_h_); - - // generate polar obs - for (int i = 0; i < _obs_num && ros::ok(); i++) { - double x, y, w, h, inf; - x = rand_x(eng); - y = rand_y(eng); - w = rand_w(eng); - inf = rand_inf(eng); - - bool flag_continue = false; - for ( auto p : obs_position ) - if ( (Eigen::Vector2d(x,y) - p).norm() < _min_dist /*metres*/ ) - { - i--; - flag_continue = true; - break; - } - if ( flag_continue ) continue; - - obs_position.push_back( Eigen::Vector2d(x,y) ); - - - x = floor(x / _resolution) * _resolution + _resolution / 2.0; - y = floor(y / _resolution) * _resolution + _resolution / 2.0; - - int widNum = ceil((w*inf) / _resolution); - double radius = (w*inf) / 2; - - for (int r = -widNum / 2.0; r < widNum / 2.0; r++) - for (int s = -widNum / 2.0; s < widNum / 2.0; s++) { - h = rand_h(eng); - int heiNum = ceil(h / _resolution); - for (int t = -20; t < heiNum; t++) { - double temp_x = x + (r + 0.5) * _resolution + 1e-2; - double temp_y = y + (s + 0.5) * _resolution + 1e-2; - double temp_z = (t + 0.5) * _resolution + 1e-2; - if ( (Eigen::Vector2d(temp_x,temp_y) - Eigen::Vector2d(x,y)).norm() <= radius ) - { - pt_random.x = temp_x; - pt_random.y = temp_y; - pt_random.z = temp_z; - cloudMap.points.push_back(pt_random); - } - } - } - } - - // generate circle obs - for (int i = 0; i < circle_num_; ++i) { - double x, y, z; - x = rand_x(eng); - y = rand_y(eng); - z = rand_z_(eng); - - x = floor(x / _resolution) * _resolution + _resolution / 2.0; - y = floor(y / _resolution) * _resolution + _resolution / 2.0; - z = floor(z / _resolution) * _resolution + _resolution / 2.0; - - Eigen::Vector3d translate(x, y, z); - - double theta = rand_theta_(eng); - Eigen::Matrix3d rotate; - rotate << cos(theta), -sin(theta), 0.0, sin(theta), cos(theta), 0.0, 0, 0, - 1; - - double radius1 = rand_radius_(eng); - double radius2 = rand_radius2_(eng); - - // draw a circle centered at (x,y,z) - Eigen::Vector3d cpt; - for (double angle = 0.0; angle < 6.282; angle += _resolution / 2) { - cpt(0) = 0.0; - cpt(1) = radius1 * cos(angle); - cpt(2) = radius2 * sin(angle); - - // inflate - Eigen::Vector3d cpt_if; - for (int ifx = -0; ifx <= 0; ++ifx) - for (int ify = -0; ify <= 0; ++ify) - for (int ifz = -0; ifz <= 0; ++ifz) { - cpt_if = cpt + Eigen::Vector3d(ifx * _resolution, ify * _resolution, - ifz * _resolution); - cpt_if = rotate * cpt_if + Eigen::Vector3d(x, y, z); - pt_random.x = cpt_if(0); - pt_random.y = cpt_if(1); - pt_random.z = cpt_if(2); - cloudMap.push_back(pt_random); - } - } - } - - cloudMap.width = cloudMap.points.size(); - cloudMap.height = 1; - cloudMap.is_dense = true; - - ROS_WARN("Finished generate random map "); - - kdtreeLocalMap.setInputCloud(cloudMap.makeShared()); - - _map_ok = true; -} - -void rcvOdometryCallbck(const nav_msgs::Odometry odom) { - if (odom.child_frame_id == "X" || odom.child_frame_id == "O") return; - _has_odom = true; - - _state = {odom.pose.pose.position.x, - odom.pose.pose.position.y, - odom.pose.pose.position.z, - odom.twist.twist.linear.x, - odom.twist.twist.linear.y, - odom.twist.twist.linear.z, - 0.0, - 0.0, - 0.0}; -} - -int i = 0; -void pubSensedPoints() { - // if (i < 10) { - pcl::toROSMsg(cloudMap, globalMap_pcd); - globalMap_pcd.header.frame_id = "world"; - _all_map_pub.publish(globalMap_pcd); - // } - - return; - - /* ---------- only publish points around current position ---------- */ - if (!_map_ok || !_has_odom) return; - - pcl::PointCloud localMap; - - pcl::PointXYZ searchPoint(_state[0], _state[1], _state[2]); - pointIdxRadiusSearch.clear(); - pointRadiusSquaredDistance.clear(); - - pcl::PointXYZ pt; - - if (isnan(searchPoint.x) || isnan(searchPoint.y) || isnan(searchPoint.z)) - return; - - if (kdtreeLocalMap.radiusSearch(searchPoint, _sensing_range, - pointIdxRadiusSearch, - pointRadiusSquaredDistance) > 0) { - for (size_t i = 0; i < pointIdxRadiusSearch.size(); ++i) { - pt = cloudMap.points[pointIdxRadiusSearch[i]]; - localMap.points.push_back(pt); - } - } else { - ROS_ERROR("[Map server] No obstacles ."); - return; - } - - localMap.width = localMap.points.size(); - localMap.height = 1; - localMap.is_dense = true; - - pcl::toROSMsg(localMap, localMap_pcd); - localMap_pcd.header.frame_id = "world"; - _local_map_pub.publish(localMap_pcd); -} - -void clickCallback(const geometry_msgs::PoseStamped& msg) { - double x = msg.pose.position.x; - double y = msg.pose.position.y; - double w = rand_w(eng); - double h; - pcl::PointXYZ pt_random; - - x = floor(x / _resolution) * _resolution + _resolution / 2.0; - y = floor(y / _resolution) * _resolution + _resolution / 2.0; - - int widNum = ceil(w / _resolution); - - for (int r = -widNum / 2.0; r < widNum / 2.0; r++) - for (int s = -widNum / 2.0; s < widNum / 2.0; s++) { - h = rand_h(eng); - int heiNum = ceil(h / _resolution); - for (int t = -1; t < heiNum; t++) { - pt_random.x = x + (r + 0.5) * _resolution + 1e-2; - pt_random.y = y + (s + 0.5) * _resolution + 1e-2; - pt_random.z = (t + 0.5) * _resolution + 1e-2; - clicked_cloud_.points.push_back(pt_random); - cloudMap.points.push_back(pt_random); - } - } - clicked_cloud_.width = clicked_cloud_.points.size(); - clicked_cloud_.height = 1; - clicked_cloud_.is_dense = true; - - pcl::toROSMsg(clicked_cloud_, localMap_pcd); - localMap_pcd.header.frame_id = "world"; - click_map_pub_.publish(localMap_pcd); - - cloudMap.width = cloudMap.points.size(); - - return; -} - -int main(int argc, char** argv) { - ros::init(argc, argv, "random_map_sensing"); - ros::NodeHandle n("~"); - - _local_map_pub = n.advertise("/map_generator/local_cloud", 1); - _all_map_pub = n.advertise("/map_generator/global_cloud", 1); - - _odom_sub = n.subscribe("odometry", 50, rcvOdometryCallbck); - - click_map_pub_ = - n.advertise("/pcl_render_node/local_map", 1); - // ros::Subscriber click_sub = n.subscribe("/goal", 10, clickCallback); - - n.param("init_state_x", _init_x, 0.0); - n.param("init_state_y", _init_y, 0.0); - - n.param("map/x_size", _x_size, 50.0); - n.param("map/y_size", _y_size, 50.0); - n.param("map/z_size", _z_size, 5.0); - n.param("map/obs_num", _obs_num, 30); - n.param("map/resolution", _resolution, 0.1); - n.param("map/circle_num", circle_num_, 30); - - n.param("ObstacleShape/lower_rad", _w_l, 0.3); - n.param("ObstacleShape/upper_rad", _w_h, 0.8); - n.param("ObstacleShape/lower_hei", _h_l, 3.0); - n.param("ObstacleShape/upper_hei", _h_h, 7.0); - - n.param("ObstacleShape/radius_l", radius_l_, 7.0); - n.param("ObstacleShape/radius_h", radius_h_, 7.0); - n.param("ObstacleShape/z_l", z_l_, 7.0); - n.param("ObstacleShape/z_h", z_h_, 7.0); - n.param("ObstacleShape/theta", theta_, 7.0); - - n.param("sensing/radius", _sensing_range, 10.0); - n.param("sensing/rate", _sense_rate, 10.0); - - n.param("min_distance", _min_dist, 1.0); - - _x_l = -_x_size / 2.0; - _x_h = +_x_size / 2.0; - - _y_l = -_y_size / 2.0; - _y_h = +_y_size / 2.0; - - _obs_num = min(_obs_num, (int)_x_size * 10); - _z_limit = _z_size; - - ros::Duration(0.5).sleep(); - - unsigned int seed = rd(); - // unsigned int seed = 2433201515; - cout << "seed=" << seed << endl; - eng.seed(seed); - - // RandomMapGenerate(); - RandomMapGenerateCylinder(); - - ros::Rate loop_rate(_sense_rate); - - while (ros::ok()) { - pubSensedPoints(); - ros::spinOnce(); - loop_rate.sleep(); - } -} \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/map_generator/src/random_forest_sensing_new.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/map_generator/src/random_forest_sensing_new.cpp deleted file mode 100644 index 338fd25..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/map_generator/src/random_forest_sensing_new.cpp +++ /dev/null @@ -1,776 +0,0 @@ -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -using namespace std; -using namespace Eigen; - -const int MAX_SWRAM_NUM = 40; - -ros::Publisher _all_map_pub; -ros::Timer global_pcl_timer; -ros::Publisher pub_cloud[MAX_SWRAM_NUM+1]; -ros::Subscriber _odom_sub[MAX_SWRAM_NUM+1]; -nav_msgs::Odometry _odom[MAX_SWRAM_NUM+1]; -ros::Timer local_sensing_timer[MAX_SWRAM_NUM+1]; - -ros::Publisher pub_cloud_ugv[MAX_SWRAM_NUM+1]; -ros::Subscriber _odom_ugv_sub[MAX_SWRAM_NUM+1]; -nav_msgs::Odometry _odom_ugv[MAX_SWRAM_NUM+1]; -ros::Timer local_sensing_ugv_timer[MAX_SWRAM_NUM+1]; - -pcl::KdTreeFLANN kdtreeLocalMap; -vector pointIdxRadiusSearch; -vector pointRadiusSquaredDistance; - -random_device rd; -default_random_engine eng(rd()); -uniform_real_distribution rand_x; -uniform_real_distribution rand_y; - -vector _state; -int map_flag, swarm_num, swarm_num_ugv, uav_id[MAX_SWRAM_NUM+1], ugv_id[MAX_SWRAM_NUM+1]; -std::string uav_name[MAX_SWRAM_NUM+1],ugv_name[MAX_SWRAM_NUM+1]; -double _x_size, _y_size, _z_size; -double _x_l, _x_h, _y_l, _y_h; -double _sensing_range, sensing_horizon, _resolution, _sense_rate, _init_x, _init_y; -double _min_dist; - -bool _map_ok = false; -bool _has_odom[MAX_SWRAM_NUM+1] = {false}; -bool _has_odom_ugv[MAX_SWRAM_NUM+1] = {false}; - -// 障碍物参数 - 圆柱体、正方体 -int cylinder_num; -double cylinder_radius, cylinder_height; -int sqaure_num; -double sqaure_size; - -sensor_msgs::PointCloud2 globalMap_pcd; -sensor_msgs::PointCloud2 localMap_pcd; - -pcl::PointCloud cloudMap,local_map; - - -void MapGenerateAMOV_1() -{ - // 待存入全局点云的点 - pcl::PointXYZ pt_random; - - double x, y,z; - - // 生成圆柱体障碍物 - for (int i = 1; i <= 21; i++) - { - for (int j = 1; j <= 21; j++) - { - - x = -18 + 2*i; - y = -18 + 2*j; - - if(j%2 == 1) - { - // y轴单数生成圆柱体 - x = floor(x / _resolution) * _resolution + _resolution / 2.0; - y = floor(y / _resolution) * _resolution + _resolution / 2.0; - - int widNum = ceil((cylinder_radius) / _resolution); - int heiNum = ceil(cylinder_height / _resolution); - - // 生成圆柱体的点云 - for (int r = -widNum; r < widNum; r++) - for (int s = -widNum; s < widNum; s++) { - for (int t = -1.0; t < heiNum; t++) { - double temp_x = x + (r + 0.5) * _resolution + 1e-2; - double temp_y = y + (s + 0.5) * _resolution + 1e-2; - double temp_z = (t + 0.5) * _resolution + 1e-2; - if ( (Eigen::Vector2d(temp_x,temp_y) - Eigen::Vector2d(x,y)).norm() <= cylinder_radius ) - { - pt_random.x = temp_x; - pt_random.y = temp_y; - pt_random.z = temp_z; - cloudMap.points.push_back(pt_random); - } - } - } - - }else - { - // y轴单数生成正方体 - z = sqaure_size / 2; - x = floor(x / _resolution) * _resolution + _resolution / 2.0; - y = floor(y / _resolution) * _resolution + _resolution / 2.0; - z = floor(z / _resolution) * _resolution + _resolution / 2.0; - - int widNum = ceil((sqaure_size) / _resolution); - - // 生成正方体的点云 - for (int r = -widNum / 2.0; r < widNum / 2.0; r++) - for (int s = -widNum / 2.0; s < widNum / 2.0; s++) { - for (int t = -widNum / 2.0; t < widNum / 2.0; t++) { - double temp_x = x + (r + 0.5) * _resolution + 1e-2; - double temp_y = y + (s + 0.5) * _resolution + 1e-2; - double temp_z = z + (t + 0.5) * _resolution + 1e-2; - pt_random.x = temp_x; - pt_random.y = temp_y; - pt_random.z = temp_z; - cloudMap.points.push_back(pt_random); - } - } - } - - } - } - - cloudMap.width = cloudMap.points.size(); - cloudMap.height = 1; - cloudMap.is_dense = true; - - ROS_INFO("\033[1;33;41m----> Finished generate AMOV map 1.\033[0m"); - - kdtreeLocalMap.setInputCloud(cloudMap.makeShared()); - - _map_ok = true; -} - - -void generate_cylinder(double x,double y) -{ - // 必须在地图范围内 - if(x<_x_l || x>_x_h || y<_y_l || y>_y_h) - { - return; - } - - pcl::PointXYZ pt_random; - x = floor(x/_resolution)*_resolution + _resolution/2.0; - y = floor(y/_resolution)*_resolution + _resolution/2.0; - int widNum = ceil((cylinder_radius)/_resolution); - int heiNum = ceil(cylinder_height/_resolution); - for(int r = -widNum; r < widNum; r++) - for(int s = -widNum; s < widNum; s++) - for(int t = -1.0; t < heiNum; t++) { - double temp_x = x + (r + 0.5)*_resolution + 1e-2; - double temp_y = y + (s + 0.5)*_resolution + 1e-2; - double temp_z = (t + 0.5)*_resolution + 1e-2; - if((Eigen::Vector2d(temp_x,temp_y) - Eigen::Vector2d(x,y)).norm() <= cylinder_radius) - { - pt_random.x = temp_x; - pt_random.y = temp_y; - pt_random.z = temp_z; - cloudMap.points.push_back(pt_random); - } - } -} - -void MapGenerateAMOV_2() -{ - // 待存入全局点云的点 - pcl::PointXYZ pt_random; - - double x, y,z; - - // 生成圆柱体障碍物 - generate_cylinder(2.0,0.0); - generate_cylinder(4.0,0.0); - generate_cylinder(6.0,0.0); - - cloudMap.width = cloudMap.points.size(); - cloudMap.height = 1; - cloudMap.is_dense = true; - - ROS_INFO("\033[1;33;41m----> Finished generate AMOV map 2.\033[0m"); - - kdtreeLocalMap.setInputCloud(cloudMap.makeShared()); - - _map_ok = true; -} - - -void generate_cube(double x,double y) -{ - // 必须在地图范围内 - if(x<_x_l || x>_x_h || y<_y_l || y>_y_h) - { - return; - } - - pcl::PointXYZ pt_random; - double z = sqaure_size/2.0; - x = floor(x/_resolution)*_resolution + _resolution/2.0; - y = floor(y/_resolution)*_resolution + _resolution/2.0; - z = floor(z/_resolution)*_resolution + _resolution/2.0; - int widNum = ceil((sqaure_size)/_resolution); - for(int r = -widNum / 2.0; r < widNum / 2.0; r++) - for(int s = -widNum / 2.0; s < widNum / 2.0; s++) - for(int t = -widNum / 2.0; t < widNum / 2.0; t++) { - double temp_x = x + (r + 0.5)*_resolution + 1e-2; - double temp_y = y + (s + 0.5)*_resolution + 1e-2; - double temp_z = z + (t + 0.5)*_resolution + 1e-2; - pt_random.x = temp_x; - pt_random.y = temp_y; - pt_random.z = temp_z; - cloudMap.points.push_back(pt_random); - } -} - -int sign(int num, double mid,bool zero_flag) -{ - if(num>mid) return -1; - if(zero_flag && num==mid) return 0; - else return 1; -} - -void MapGenerateAMOV_3() -{ - double x,y; - for(int num = 0; num < 10; num++) - { - // format1 - for(int ci = 0; ci < 5; ci++) - { - x = sign(num,4,0) * (ci*2 + 3); - y = (num*4*2)%40 - 13; - generate_cylinder(x,y); - // printf("\n\t\n\t\tmodel://cylinder\n\t\t",num*5+ci); - // printf("%.1f %.1f 1.5 0 0 0\n\t\n\n",x,y); - } - for(int qi = 0; qi < 6; qi++) - { - x = sign(num,4,0) * (qi*2 + 2); - y = (num*4*2)%40 - 13 + sign(qi%2,0,0)*0.5; - generate_cube(x,y); - // printf("\n\t\n\t\tmodel://square\n\t\t",num*6+qi); - // printf("%.1f %.1f 0.2 0 0 0\n\t\n\n",x,y); - } - // format2 - for(int ci = 0; ci < 5; ci++) - { - x = sign(num,4,0) * (ci*2 + 3); - y = (num*4*2)%40 - 14.5 + sign(ci,2,1)*(ci-2)*0.5; - generate_cylinder(x,y); - // printf("\n\t\n\t\tmodel://cylinder\n\t\t",num*5+ci+50); - // printf("%.1f %.1f 1.5 0 0 0\n\t\n\n",x,y); - } - for(int qi = 0; qi < 6; qi++) - { - x = sign(num,4,0) * (qi*2 + 2); - y = (num*4*2)%40 - 15 - sign(qi%2,0,0)*0.5; - generate_cube(x,y); - // printf("\n\t\n\t\tmodel://square\n\t\t",num*6+qi+60); - // printf("%.1f %.1f 0.2 0 0 0\n\t\n\n",x,y); - } - // format3 - for(int ci = 0; ci < 5; ci++) - { - x = sign(num,4,0) * (ci*2 + 3); - y = (num*4*2)%40 - 17 + sign(ci%2,0,0)*0.5; - generate_cylinder(x,y); - // printf("\n\t\n\t\tmodel://cylinder\n\t\t",num*5+ci+100); - // printf("%.1f %.1f 1.5 0 0 0\n\t\n\n",x,y); - } - for(int qi = 0; qi < 6; qi++) - { - x = sign(num,4,0) * (qi*2 + 2); - y = (num*4*2)%40 - 17; - generate_cube(x,y); - // printf("\n\t\n\t\tmodel://square\n\t\t",num*6+qi+120); - // printf("%.1f %.1f 0.2 0 0 0\n\t\n\n",x,y); - } - // format4 - for(int ci = 0; ci < 5; ci++) - { - x = sign(num,4,0) * (ci*2 + 3); - y = (num*4*2)%40 - 19 + (ci-2)/2*0.5; - generate_cylinder(x,y); - // printf("\n\t\n\t\tmodel://cylinder\n\t\t",num*5+ci+150); - // printf("%.1f %.1f 1.5 0 0 0\n\t\n\n",x,y); - } - for(int qi = 0; qi < 6; qi++) - { - x = sign(num,4,0) * (qi*2 + 2); - y = (num*4*2)%40 - 19 + sign(qi%2,0,0)*0.5; - generate_cube(x,y); - // printf("\n\t\n\t\tmodel://square\n\t\t",num*6+qi+180); - // printf("%.1f %.1f 0.2 0 0 0\n\t\n\n",x,y); - } - } - cloudMap.width = cloudMap.points.size(); - cloudMap.height = 1; - cloudMap.is_dense = true; - - ROS_INFO("\033[1;33;41m----> Finished generate AMOV map 3.\033[0m"); - - kdtreeLocalMap.setInputCloud(cloudMap.makeShared()); - - _map_ok = true; -} - -void MapGenerateAMOV_4() -{ - double x,y; - for(int num = 0; num < 10; num++) - { - // format1 - for(int ci = 0; ci < 3; ci++) - { - x = sign(num,4,0) * (ci*4 + 4); - y = (num*4*2)%40 - 13; - generate_cylinder(x,y); - // printf("\n\t\n\t\tmodel://cylinder\n\t\t",num*5+ci); - // printf("%.1f %.1f 1.5 0 0 0\n\t\n\n",x,y); - } - for(int qi = 0; qi < 3; qi++) - { - x = sign(num,4,0) * (qi*4 + 2); - y = (num*4*2)%40 - 13 + sign(qi%2,0,0)*0.5; - generate_cube(x,y); - // printf("\n\t\n\t\tmodel://square\n\t\t",num*6+qi); - // printf("%.1f %.1f 0.2 0 0 0\n\t\n\n",x,y); - } - // format2 - for(int ci = 0; ci < 3; ci++) - { - x = sign(num,4,0) * (ci*4 + 4); - y = (num*4*2)%40 - 14.5 + sign(ci,2,1)*(ci-2)*0.5; - generate_cylinder(x,y); - // printf("\n\t\n\t\tmodel://cylinder\n\t\t",num*5+ci+50); - // printf("%.1f %.1f 1.5 0 0 0\n\t\n\n",x,y); - } - for(int qi = 0; qi < 3; qi++) - { - x = sign(num,4,0) * (qi*4 + 2); - y = (num*4*2)%40 - 15 - sign(qi%2,0,0)*0.5; - generate_cube(x,y); - // printf("\n\t\n\t\tmodel://square\n\t\t",num*6+qi+60); - // printf("%.1f %.1f 0.2 0 0 0\n\t\n\n",x,y); - } - // format3 - for(int ci = 0; ci < 3; ci++) - { - x = sign(num,4,0) * (ci*4 + 4); - y = (num*4*2)%40 - 17 + sign(ci%2,0,0)*0.5; - generate_cylinder(x,y); - // printf("\n\t\n\t\tmodel://cylinder\n\t\t",num*5+ci+100); - // printf("%.1f %.1f 1.5 0 0 0\n\t\n\n",x,y); - } - for(int qi = 0; qi < 3; qi++) - { - x = sign(num,4,0) * (qi*4 + 2); - y = (num*4*2)%40 - 17; - generate_cube(x,y); - // printf("\n\t\n\t\tmodel://square\n\t\t",num*6+qi+120); - // printf("%.1f %.1f 0.2 0 0 0\n\t\n\n",x,y); - } - // format4 - for(int ci = 0; ci < 3; ci++) - { - x = sign(num,4,0) * (ci*4 + 4); - y = (num*4*2)%40 - 19 + (ci-2)/2*0.5; - generate_cylinder(x,y); - // printf("\n\t\n\t\tmodel://cylinder\n\t\t",num*5+ci+150); - // printf("%.1f %.1f 1.5 0 0 0\n\t\n\n",x,y); - } - for(int qi = 0; qi < 3; qi++) - { - x = sign(num,4,0) * (qi*4 + 2); - y = (num*4*2)%40 - 19 + sign(qi%2,0,0)*0.5; - generate_cube(x,y); - // printf("\n\t\n\t\tmodel://square\n\t\t",num*6+qi+180); - // printf("%.1f %.1f 0.2 0 0 0\n\t\n\n",x,y); - } - } - cloudMap.width = cloudMap.points.size(); - cloudMap.height = 1; - cloudMap.is_dense = true; - - ROS_INFO("\033[1;33;41m----> Finished generate AMOV map 4.\033[0m"); - - kdtreeLocalMap.setInputCloud(cloudMap.makeShared()); - - _map_ok = true; -} - -void RandomMapGenerateAMOV() -{ - // 待存入全局点云的点 - pcl::PointXYZ pt_random; - - // 障碍物位置容器 - vector obs_position; - - // 将无人机初始位置存入容器（防止在无人机初始位置周围生成障碍物） - obs_position.push_back( Eigen::Vector2d(_init_x,_init_y) ); - - // 障碍物位置随机生成器 - rand_x = uniform_real_distribution(_x_l, _x_h); - rand_y = uniform_real_distribution(_y_l, _y_h); - - // 生成圆柱体障碍物 - for (int i = 0; i < cylinder_num && ros::ok(); i++) - { - double x, y; - // 随机生成障碍物位置：[x,y] - x = rand_x(eng); - y = rand_y(eng); - - // 检查是否与已经生成的障碍物重叠：两个障碍物之间距离大于 _min_dist，否则生成失败 - bool flag_continue = false; - for ( auto p : obs_position ) - if ( (Eigen::Vector2d(x,y) - p).norm() < _min_dist /*metres*/ ) - { - i--; // i--代表此次生成失败，重新生成障碍物 - flag_continue = true; - break; - } - if ( flag_continue ) continue; - - // 将本次生成的障碍物位置推入容器 - obs_position.push_back( Eigen::Vector2d(x,y) ); - - // floor 是向下取整函数 - x = floor(x / _resolution) * _resolution + _resolution / 2.0; - y = floor(y / _resolution) * _resolution + _resolution / 2.0; - - int widNum = ceil((cylinder_radius) / _resolution); - int heiNum = ceil(cylinder_height / _resolution); - - // 生成圆柱体的点云 - for (int r = -widNum; r < widNum; r++) - for (int s = -widNum; s < widNum; s++) { - for (int t = -1.0; t < heiNum; t++) { - double temp_x = x + (r + 0.5) * _resolution + 1e-2; - double temp_y = y + (s + 0.5) * _resolution + 1e-2; - double temp_z = (t + 0.5) * _resolution + 1e-2; - if ( (Eigen::Vector2d(temp_x,temp_y) - Eigen::Vector2d(x,y)).norm() <= cylinder_radius ) - { - pt_random.x = temp_x; - pt_random.y = temp_y; - pt_random.z = temp_z; - cloudMap.points.push_back(pt_random); - } - } - } - } - - // 生成正方形障碍物 - for (int i = 0; i < sqaure_num; ++i) - { - double x, y, z; - // 随机生成障碍物位置：[x,y] - x = rand_x(eng); - y = rand_y(eng); - z = sqaure_size / 2; - - // 检查是否与已经生成的障碍物重叠：两个障碍物之间距离大于 _min_dist，否则生成失败 - bool flag_continue = false; - for ( auto p : obs_position ) - if ( (Eigen::Vector2d(x,y) - p).norm() < _min_dist /*metres*/ ) - { - i--; // i--代表此次生成失败，重新生成障碍物 - flag_continue = true; - break; - } - if ( flag_continue ) continue; - - // 将本次生成的障碍物位置推入容器 - obs_position.push_back( Eigen::Vector2d(x,y) ); - - x = floor(x / _resolution) * _resolution + _resolution / 2.0; - y = floor(y / _resolution) * _resolution + _resolution / 2.0; - z = floor(z / _resolution) * _resolution + _resolution / 2.0; - - int widNum = ceil((sqaure_size) / _resolution); - - // 生成正方体的点云 - for (int r = -widNum / 2.0; r < widNum / 2.0; r++) - for (int s = -widNum / 2.0; s < widNum / 2.0; s++) { - for (int t = -widNum / 2.0; t < widNum / 2.0; t++) { - double temp_x = x + (r + 0.5) * _resolution + 1e-2; - double temp_y = y + (s + 0.5) * _resolution + 1e-2; - double temp_z = z + (t + 0.5) * _resolution + 1e-2; - pt_random.x = temp_x; - pt_random.y = temp_y; - pt_random.z = temp_z; - cloudMap.points.push_back(pt_random); - } - } - } - - cloudMap.width = cloudMap.points.size(); - cloudMap.height = 1; - cloudMap.is_dense = true; - - ROS_INFO("\033[1;33;41m----> Finished generate random map.\033[0m"); - - kdtreeLocalMap.setInputCloud(cloudMap.makeShared()); - - _map_ok = true; -} - -void rcvOdometryCallbck(const nav_msgs::Odometry::ConstPtr& odom, int uav_id) -{ - _has_odom[uav_id] = true; - - _odom[uav_id] = *odom; - - _state = {odom->pose.pose.position.x, - odom->pose.pose.position.y, - odom->pose.pose.position.z, - odom->twist.twist.linear.x, - odom->twist.twist.linear.y, - odom->twist.twist.linear.z, - 0.0, - 0.0, - 0.0}; -} - -void rcvUGVOdometryCallbck(const nav_msgs::Odometry::ConstPtr& odom, int ugv_id) -{ - _has_odom_ugv[ugv_id] = true; - - _odom_ugv[ugv_id] = *odom; - - _state = {odom->pose.pose.position.x, - odom->pose.pose.position.y, - odom->pose.pose.position.z, - odom->twist.twist.linear.x, - odom->twist.twist.linear.y, - odom->twist.twist.linear.z, - 0.0, - 0.0, - 0.0}; -} - -void pubGlobalPoints(const ros::TimerEvent& event) -{ - if(_map_ok) - { - // 发布全局点云 - pcl::toROSMsg(cloudMap, globalMap_pcd); - globalMap_pcd.header.frame_id = "world"; - _all_map_pub.publish(globalMap_pcd); - }else - { - return; - } -} - -void renderSensedPoints(const ros::TimerEvent& event, int uav_id) -{ - if (!_map_ok || !_has_odom[uav_id]) return; - - Eigen::Quaterniond q; - q.x() = _odom[uav_id].pose.pose.orientation.x; - q.y() = _odom[uav_id].pose.pose.orientation.y; - q.z() = _odom[uav_id].pose.pose.orientation.z; - q.w() = _odom[uav_id].pose.pose.orientation.w; - - Eigen::Matrix3d rot; - rot = q; - Eigen::Vector3d yaw_vec = rot.col(0); - - local_map.points.clear(); - pcl::PointXYZ searchPoint(_odom[uav_id].pose.pose.position.x, - _odom[uav_id].pose.pose.position.y, - _odom[uav_id].pose.pose.position.z); - pointIdxRadiusSearch.clear(); - pointRadiusSquaredDistance.clear(); - - pcl::PointXYZ pt; - if (kdtreeLocalMap.radiusSearch(searchPoint, sensing_horizon, - pointIdxRadiusSearch, - pointRadiusSquaredDistance) > 0) { - for (size_t i = 0; i < pointIdxRadiusSearch.size(); ++i) { - pt = cloudMap.points[pointIdxRadiusSearch[i]]; - - // if ((fabs(pt.z - _odom.pose.pose.position.z) / (pt.x - _odom.pose.pose.position.x)) > - // tan(M_PI / 12.0)) - // continue; - if ((fabs(pt.z - _odom[uav_id].pose.pose.position.z) / sensing_horizon) > - tan(M_PI / 6.0)) - continue; - - Vector3d pt_vec(pt.x - _odom[uav_id].pose.pose.position.x, - pt.y - _odom[uav_id].pose.pose.position.y, - pt.z - _odom[uav_id].pose.pose.position.z); - - if (pt_vec.normalized().dot(yaw_vec) < 0.5) continue; - - local_map.points.push_back(pt); - } - } else { - return; - } - - local_map.width = local_map.points.size(); - local_map.height = 1; - local_map.is_dense = true; - - pcl::toROSMsg(local_map, localMap_pcd); - localMap_pcd.header.frame_id = "/world"; - - pub_cloud[uav_id].publish(localMap_pcd); -} - -void renderSensedPointsUGV(const ros::TimerEvent& event, int ugv_id) -{ - if (!_map_ok || !_has_odom_ugv[ugv_id]) return; - - Eigen::Quaterniond q; - q.x() = _odom_ugv[ugv_id].pose.pose.orientation.x; - q.y() = _odom_ugv[ugv_id].pose.pose.orientation.y; - q.z() = _odom_ugv[ugv_id].pose.pose.orientation.z; - q.w() = _odom_ugv[ugv_id].pose.pose.orientation.w; - - Eigen::Matrix3d rot; - rot = q; - Eigen::Vector3d yaw_vec = rot.col(0); - - local_map.points.clear(); - pcl::PointXYZ searchPoint(_odom_ugv[ugv_id].pose.pose.position.x, - _odom_ugv[ugv_id].pose.pose.position.y, - _odom_ugv[ugv_id].pose.pose.position.z); - pointIdxRadiusSearch.clear(); - pointRadiusSquaredDistance.clear(); - - pcl::PointXYZ pt; - if (kdtreeLocalMap.radiusSearch(searchPoint, sensing_horizon, - pointIdxRadiusSearch, - pointRadiusSquaredDistance) > 0) { - for (size_t i = 0; i < pointIdxRadiusSearch.size(); ++i) { - if(abs(pt.z - _odom_ugv[ugv_id].pose.pose.position.z)>5*_resolution+1e-2) continue; //qi comment - pt = cloudMap.points[pointIdxRadiusSearch[i]]; - // pt.z = _odom_ugv[ugv_id].pose.pose.position.z; //qi comment - - // if ((fabs(pt.z - _odom_ugv.pose.pose.position.z) / (pt.x - _odom_ugv.pose.pose.position.x)) > - // tan(M_PI / 12.0)) - // continue; - if ((fabs(pt.z - _odom_ugv[ugv_id].pose.pose.position.z) / sensing_horizon) > - tan(M_PI / 6.0)) - continue; - - Vector3d pt_vec(pt.x - _odom_ugv[ugv_id].pose.pose.position.x, - pt.y - _odom_ugv[ugv_id].pose.pose.position.y, - pt.z - _odom_ugv[ugv_id].pose.pose.position.z); - - if (pt_vec.normalized().dot(yaw_vec) < 0.5) continue; - - local_map.points.push_back(pt); - } - } else { - return; - } - - local_map.width = local_map.points.size(); - local_map.height = 1; - local_map.is_dense = true; - - pcl::toROSMsg(local_map, localMap_pcd); - localMap_pcd.header.frame_id = "/world"; - - pub_cloud_ugv[ugv_id].publish(localMap_pcd); -} - -int main(int argc, char** argv) -{ - ros::init(argc, argv, "random_map_sensing_new"); - ros::NodeHandle n("~"); - - n.param("swarm_num", swarm_num, 0); - n.param("swarm_num_ugv", swarm_num_ugv, 0); - // 0代表随机生成地图，1使用1号地图，2使用2号地图 - n.param("map_generator/map_flag", map_flag, 0); - // 地图尺寸 - n.param("map_generator/x_size", _x_size, 30.0); - n.param("map_generator/y_size", _y_size, 30.0); - n.param("map_generator/z_size", _z_size, 2.0); - // 点云分辨率 - n.param("map_generator/resolution", _resolution, 0.1); - // 障碍物间最小距离 - n.param("map_generator/min_distance", _min_dist, 1.0); - // 障碍物参数 - n.param("map_generator/cylinder_num", cylinder_num, 30); - n.param("map_generator/sqaure_num", sqaure_num, 30); - n.param("map_generator/cylinder_radius", cylinder_radius, 0.2); - n.param("map_generator/cylinder_height", cylinder_height, 3.0); - n.param("map_generator/sqaure_size", sqaure_size, 0.25); - // 无人机初始位置 - n.param("init_state_x", _init_x, 0.0); - n.param("init_state_y", _init_y, 0.0); - // 感知范围与感知频率 - n.param("map_generator/sensing_range", _sensing_range, 10.0); - n.param("map_generator/sensing_horizon", sensing_horizon, 5.0); - n.param("map_generator/sense_rate", _sense_rate, 10.0); - - _x_l = -_x_size / 2.0; - _x_h = +_x_size / 2.0; - - _y_l = -_y_size / 2.0; - _y_h = +_y_size / 2.0; - - if( (cylinder_num + sqaure_num) > _x_size*8) - { - ROS_ERROR("The map can't put all the obstacles, remove some."); - cylinder_num = _x_size*4; - sqaure_num = _x_size*4; - } - - // 发布 全局地图 - _all_map_pub = n.advertise("/map_generator/global_cloud", 1); - global_pcl_timer = n.createTimer(ros::Duration(10.0/_sense_rate), pubGlobalPoints); - - // 无人机 - for(int i = 1 ; i <= swarm_num; i++) - { - uav_id[i] = i; - uav_name[i] = "/uav"+std::to_string(i); - pub_cloud[i] = n.advertise("/uav"+std::to_string(i)+"/map_generator/local_cloud", 1); - _odom_sub[i] = n.subscribe("/uav"+std::to_string(i)+"/prometheus/drone_odom", 10, boost::bind(&rcvOdometryCallbck,_1,uav_id[i])); - local_sensing_timer[i] = n.createTimer(ros::Duration(1.0/_sense_rate), boost::bind(&renderSensedPoints,_1,uav_id[i])); - } - - // 无人车 - for(int i = 1 ; i <= swarm_num_ugv; i++) - { - ugv_id[i] = i; - ugv_name[i] = "/ugv"+std::to_string(i); - pub_cloud_ugv[i] = n.advertise("/ugv"+std::to_string(i)+"/map_generator/local_cloud", 1); - _odom_ugv_sub[i] = n.subscribe("/ugv"+std::to_string(i)+"/odom", 10, boost::bind(&rcvUGVOdometryCallbck,_1,ugv_id[i])); - local_sensing_ugv_timer[i] = n.createTimer(ros::Duration(1.0/_sense_rate), boost::bind(&renderSensedPointsUGV,_1,ugv_id[i])); - } - - unsigned int seed = rd(); - // unsigned int seed = 2433201515; - cout << "seed=" << seed << endl; - eng.seed(seed); - - if(map_flag == 0) RandomMapGenerateAMOV(); - else if(map_flag == 1) MapGenerateAMOV_1(); - else if(map_flag == 2) MapGenerateAMOV_2(); - else if(map_flag == 3) MapGenerateAMOV_3(); - else if(map_flag == 4) MapGenerateAMOV_4(); - else ROS_ERROR("[Map server] wrong map_flag."); - - ros::Rate loop_rate(100.0); - - while (ros::ok()) { - ros::spinOnce(); - loop_rate.sleep(); - } -} \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/CMakeLists.txt deleted file mode 100644 index 2593c16..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/CMakeLists.txt +++ /dev/null @@ -1,207 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(mockamap) - -## Compile as C++11, supported in ROS Kinetic and newer -add_compile_options(-std=c++11) - -set(CMAKE_BUILD_TYPE "Release") -ADD_COMPILE_OPTIONS(-std=c++11 ) -ADD_COMPILE_OPTIONS(-std=c++14 ) -set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - roscpp - pcl_ros - pcl_conversions -) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a run_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a run_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if you package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( - INCLUDE_DIRS include -# LIBRARIES mockamap - CATKIN_DEPENDS roscpp pcl_ros pcl_conversions -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( - include - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/mockamap.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -file(GLOB ${PROJECT_NAME}_SRCS src/*.cpp) - -add_executable(${PROJECT_NAME}_node - ${${PROJECT_NAME}_SRCS}) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against - target_link_libraries(${PROJECT_NAME}_node - ${catkin_LIBRARIES} - ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_mockamap.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/config/rviz.rviz b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/config/rviz.rviz deleted file mode 100644 index f69d35e..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/config/rviz.rviz +++ /dev/null @@ -1,217 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Path1 - - /PointCloud22 - Splitter Ratio: 0.5 - Tree Height: 489 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - - /Game Like Input1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: PointCloud2 - - Class: mockamap/PCDView - Input: /mock_map - Name: PCDView - Output: /mock_map/cut -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 1.9 - Min Value: 0 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: AxisColor - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.1 - Style: Boxes - Topic: /mock_map - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 85; 255 - Enabled: true - Head Diameter: 0.3 - Head Length: 0.2 - Length: 0.3 - Line Style: Lines - Line Width: 0.03 - Name: Path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Style: None - Radius: 0.03 - Shaft Diameter: 0.1 - Shaft Length: 0.1 - Topic: /theta_star_node/output - Unreliable: false - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 1.9 - Min Value: 0 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: AxisColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.1 - Style: Boxes - Topic: /mock_map/cut - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - - Boost Property: 0.5 - Class: rviz/FPSMotionTool - Fallback Tool: rviz/Interact - Fallback ViewController: rviz/Orbit - Fly Mode: false - Left Hand Mode: false - Step Length: 0.1 - - Class: rviz_plugins/GameLikeInput - RangeX_max: 1000 - RangeX_min: -1000 - RangeY_max: 1000 - RangeY_min: -1000 - RangeZ_max: 1000 - RangeZ_min: -1000 - TopicPoint: point_list - TopicSelect: select_list - TopicSwarm: swarm - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 9.57022 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -2.02708 - Y: -4.23441 - Z: 0.814007 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.525203 - Target Frame: - Value: Orbit (rviz) - Yaw: 1.88225 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1056 - Hide Left Dock: false - Hide Right Dock: false - PCDView: - collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000027000000396fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000002800000296000000fb0100001dfa000000010100000002fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000000ffffffff0000009800fffffffb000000100044006900730070006c00610079007301000000000000016a0000016a00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00540065006c0065006f0070000000024d0000009e0000000000000000fb0000000e005000430044005600690065007701000002c4000000fa000000cd00ffffff000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003b40000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1855 - X: 65 - Y: 24 diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/include/maps.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/include/maps.hpp deleted file mode 100644 index bcda759..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/include/maps.hpp +++ /dev/null @@ -1,73 +0,0 @@ -#ifndef MAPS_HPP -#define MAPS_HPP - -#include - -#include -#include -#include - -namespace mocka { - -class Maps { -public: - typedef struct BasicInfo { - ros::NodeHandle *nh_private; - int sizeX; - int sizeY; - int sizeZ; - int seed; - double scale; - sensor_msgs::PointCloud2 *output; - pcl::PointCloud *cloud; - } BasicInfo; - - BasicInfo getInfo() const; - void setInfo(const BasicInfo &value); - -public: - Maps(); - -public: - void generate(int type); - -private: - BasicInfo info; - -private: - void pcl2ros(); - - void perlin3D(); - void maze2D(); - void randomMapGenerate(); - void Maze3DGen(); - void recursiveDivision(int xl, int xh, int yl, int yh, Eigen::MatrixXi &maze); - void recursizeDivisionMaze(Eigen::MatrixXi &maze); - void optimizeMap(); -}; - -class MazePoint { -private: - pcl::PointXYZ point; - double dist1; - double dist2; - int point1; - int point2; - bool isdoor; - -public: - pcl::PointXYZ getPoint(); - int getPoint1(); - int getPoint2(); - double getDist1(); - double getDist2(); - void setPoint(pcl::PointXYZ p); - void setPoint1(int p); - void setPoint2(int p); - void setDist1(double set); - void setDist2(double set); -}; - -} // namespace mocka - -#endif // MAPS_HPP diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/include/perlinnoise.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/include/perlinnoise.hpp deleted file mode 100644 index fd525c8..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/include/perlinnoise.hpp +++ /dev/null @@ -1,33 +0,0 @@ -#ifndef PERLINNOISE_HPP -#define PERLINNOISE_HPP - -#include - -// THIS CLASS IS A TRANSLATION TO C++11 FROM THE REFERENCE -// JAVA IMPLEMENTATION OF THE IMPROVED PERLIN FUNCTION (see -// http://mrl.nyu.edu/~perlin/noise/) -// THE ORIGINAL JAVA IMPLEMENTATION IS COPYRIGHT 2002 KEN PERLIN - -// I ADDED AN EXTRA METHOD THAT GENERATES A NEW PERMUTATION VECTOR (THIS IS NOT -// PRESENT IN THE ORIGINAL IMPLEMENTATION) - -class PerlinNoise -{ - // The permutation vector - std::vector p; - -public: - // Initialize with the reference values for the permutation vector - PerlinNoise(); - // Generate a new permutation vector based on the value of seed - PerlinNoise(unsigned int seed); - // Get a noise value, for 2D images z can have any value - double noise(double x, double y, double z); - -private: - double fade(double t); - double lerp(double t, double a, double b); - double grad(int hash, double x, double y, double z); -}; - -#endif // PERLINNOISE_HPP diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/launch/maze2d.launch b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/launch/maze2d.launch deleted file mode 100644 index 6eda250..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/launch/maze2d.launch +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/launch/maze3d.launch b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/launch/maze3d.launch deleted file mode 100644 index aa3c8c1..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/launch/maze3d.launch +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/launch/mockamap.launch b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/launch/mockamap.launch deleted file mode 100644 index 42f9f4e..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/launch/mockamap.launch +++ /dev/null @@ -1,56 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/launch/perlin3d.launch b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/launch/perlin3d.launch deleted file mode 100644 index 2b067f8..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/launch/perlin3d.launch +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/launch/post2d.launch b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/launch/post2d.launch deleted file mode 100644 index 7d20f3e..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/launch/post2d.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/package.xml deleted file mode 100644 index 8feb28f..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/package.xml +++ /dev/null @@ -1,57 +0,0 @@ - - - mockamap - 0.1.0 - The mockamap package - - - - - William.Wu - - - - - - GPLv3 - - - - - - - - - - - - - William.Wu - - - - - - - - - - - - - - catkin - roscpp - pcl_ros - pcl_conversions - roscpp - pcl_ros - pcl_conversions - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/src/.clang-format b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/src/.clang-format deleted file mode 100644 index 83360cd..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/src/.clang-format +++ /dev/null @@ -1,12 +0,0 @@ ---- -BasedOnStyle: Mozilla -Standard: Cpp03 -AlignAfterOpenBracket: Align -AlignConsecutiveAssignments: true -AlignConsecutiveDeclarations: true -AllowShortFunctionsOnASingleLine: false -AllowShortIfStatementsOnASingleLine: false -AllowShortLoopsOnASingleLine: false -BreakBeforeBraces: Allman -... - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/src/ces_randommap.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/src/ces_randommap.cpp deleted file mode 100644 index ef5d027..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/src/ces_randommap.cpp +++ /dev/null @@ -1,264 +0,0 @@ -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include -#include -#include - -#include "visualization_msgs/Marker.h" -#include "visualization_msgs/MarkerArray.h" - -//! @todo historical above -#include "maps.hpp" - -using namespace std; -using namespace mocka; - -#if MAP_OR_WORLD -const string kFrameIdNs_ = "map"; -#else -const string kFrameIdNs_ = "world"; -#endif - -pcl::search::KdTree kdtreeLocalMap; -vector pointIdxRadiusSearch; -vector pointRadiusSquaredDistance; - -ros::Publisher _local_map_pub; -ros::Publisher _local_map_inflate_pub; -ros::Publisher _global_map_pub; - -ros::Subscriber _map_sub; -ros::Subscriber _odom_sub; - -deque _odom_queue; -vector _state; -const size_t _odom_queue_size = 200; -nav_msgs::Odometry _odom; - -double z_limit; -double _SenseRate; -double _sensing_range; - -// ros::Timer vis_map; -bool map_ok = false; -bool _has_odom = false; - -sensor_msgs::PointCloud2 globalMap_pcd; -sensor_msgs::PointCloud2 localMap_pcd; -pcl::PointCloud cloudMap; -ros::Time begin_time = ros::TIME_MAX; - -typedef Eigen::Vector3d ObsPos; -typedef Eigen::Vector3d ObsSize; // x, y, height --- z -typedef pair Obstacle; -std::vector obstacle_list; - -void -fixedMapGenerate() -{ - double _resolution = 1.0; - - cloudMap.points.clear(); - obstacle_list.push_back( - make_pair(ObsPos(-7.0, 1.0, 0.0), ObsSize(1.0, 3.0, 5.0))); - obstacle_list.push_back( - make_pair(ObsPos(-1.0, 1.0, 0.0), ObsSize(1.0, 3.0, 5.0))); - obstacle_list.push_back( - make_pair(ObsPos(10.0, 1.0, 0.0), ObsSize(1.0, 3.0, 5.0))); - obstacle_list.push_back( - make_pair(ObsPos(16.0, 1.0, 0.0), ObsSize(1.0, 3.0, 5.0))); - obstacle_list.push_back( - make_pair(ObsPos(-4.0, -1.0, 0.0), ObsSize(1.0, 3.0, 5.0))); - obstacle_list.push_back( - make_pair(ObsPos(13.0, -1.0, 0.0), ObsSize(1.0, 3.0, 5.0))); - - obstacle_list.push_back( - make_pair(ObsPos(5.0, 2.5, 0.0), ObsSize(30.0, 1.0, 5.0))); - obstacle_list.push_back( - make_pair(ObsPos(5.0, -2.5, 0.0), ObsSize(30.0, 1.0, 5.0))); - - int num_total_obs = obstacle_list.size(); - pcl::PointXYZ pt_insert; - - for (int i = 0; i < num_total_obs; i++) - { - double x, y, z; - double lx, ly, lz; - x = (obstacle_list[i].first)[0]; - y = (obstacle_list[i].first)[1]; - z = (obstacle_list[i].first)[2]; - lx = (obstacle_list[i].second)[0]; - ly = (obstacle_list[i].second)[1]; - lz = (obstacle_list[i].second)[2]; - - int num_mesh_x = ceil(lx / _resolution); - int num_mesh_y = ceil(ly / _resolution); - int num_mesh_z = ceil(lz / _resolution); - - int left_x, right_x, left_y, right_y, left_z, right_z; - left_x = -num_mesh_x / 2; - right_x = num_mesh_x / 2; - left_y = -num_mesh_y / 2; - right_y = num_mesh_y / 2; - left_z = 0; - right_z = num_mesh_z; - - for (int r = left_x; r < right_x; r++) - for (int s = left_y; s < right_y; s++) - { - for (int t = left_z; t < right_z; t++) - { - if ((r - left_x) * (r - right_x + 1) * (s - left_y) * - (s - right_y + 1) * (t - left_z) * (t - right_z + 1) == - 0) - { - pt_insert.x = x + r * _resolution; - pt_insert.y = y + s * _resolution; - pt_insert.z = z + t * _resolution; - cloudMap.points.push_back(pt_insert); - } - } - } - } - - cloudMap.width = cloudMap.points.size(); - cloudMap.height = 1; - cloudMap.is_dense = true; - - ROS_WARN("Finished generate random map "); - cout << cloudMap.size() << endl; - kdtreeLocalMap.setInputCloud(cloudMap.makeShared()); - map_ok = true; -} - -void -rcvOdometryCallbck(const nav_msgs::Odometry odom) -{ - if (odom.child_frame_id == "X" || odom.child_frame_id == "O") - return; - _odom = odom; - _has_odom = true; - - _state = { _odom.pose.pose.position.x, - _odom.pose.pose.position.y, - _odom.pose.pose.position.z, - _odom.twist.twist.linear.x, - _odom.twist.twist.linear.y, - _odom.twist.twist.linear.z, - 0.0, - 0.0, - 0.0 }; - - _odom_queue.push_back(odom); - while (_odom_queue.size() > _odom_queue_size) - _odom_queue.pop_front(); -} - -int frequence_division_global = 40; - -void -publishAllPoints() -{ - if (!map_ok) - return; - - if ((ros::Time::now() - begin_time).toSec() > 7.0) - return; - - frequence_division_global--; - if (frequence_division_global == 0) - { - pcl::toROSMsg(cloudMap, globalMap_pcd); - globalMap_pcd.header.frame_id = kFrameIdNs_; - _global_map_pub.publish(globalMap_pcd); - frequence_division_global = 40; - ROS_ERROR("[SERVER]Publish one global map"); - } -} - -void -pubSensedPoints() -{ - if (!map_ok || !_has_odom) - return; - - // ros::Time time_bef_sensing = ros::Time::now(); - - pcl::PointCloud localMap; - - pcl::PointXYZ searchPoint(_state[0], _state[1], _state[2]); - pointIdxRadiusSearch.clear(); - pointRadiusSquaredDistance.clear(); - - pcl::PointXYZ ptInNoflation; - - if (kdtreeLocalMap.radiusSearch(searchPoint, _sensing_range, - pointIdxRadiusSearch, - pointRadiusSquaredDistance) > 0) - { - for (size_t i = 0; i < pointIdxRadiusSearch.size(); ++i) - { - ptInNoflation = cloudMap.points[pointIdxRadiusSearch[i]]; - localMap.points.push_back(ptInNoflation); - } - } - else - { - // ROS_ERROR("[Map server] No obstacles ."); - // cout< 5.0) - return; - - frequence_division_global--; - if (frequence_division_global == 0) - { - pcl::toROSMsg(cloudMap, globalMap_pcd); - globalMap_pcd.header.frame_id = kFrameIdNs_; - _global_map_pub.publish(globalMap_pcd); - frequence_division_global = 40; - ROS_INFO("[SERVER]Publish one global map"); - } -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/src/maps.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/src/maps.cpp deleted file mode 100644 index f615b90..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/src/maps.cpp +++ /dev/null @@ -1,894 +0,0 @@ -#include "maps.hpp" - -#include -#include -#include -#include - -#include - -#include "perlinnoise.hpp" - -using namespace mocka; - -void -Maps::randomMapGenerate() -{ - - std::default_random_engine eng(info.seed); - - double _resolution = 1 / info.scale; - - double _x_l = -info.sizeX / (2 * info.scale); - double _x_h = info.sizeX / (2 * info.scale); - double _y_l = -info.sizeY / (2 * info.scale); - double _y_h = info.sizeY / (2 * info.scale); - double _h_l = 0; - double _h_h = info.sizeZ / info.scale; - - double _w_l, _w_h; - int _ObsNum; - - info.nh_private->param("width_min", _w_l, 0.6); - info.nh_private->param("width_max", _w_h, 1.5); - info.nh_private->param("obstacle_number", _ObsNum, 10); - - std::uniform_real_distribution rand_x; - std::uniform_real_distribution rand_y; - std::uniform_real_distribution rand_w; - std::uniform_real_distribution rand_h; - - pcl::PointXYZ pt_random; - - rand_x = std::uniform_real_distribution(_x_l, _x_h); - rand_y = std::uniform_real_distribution(_y_l, _y_h); - rand_w = std::uniform_real_distribution(_w_l, _w_h); - rand_h = std::uniform_real_distribution(_h_l, _h_h); - - for (int i = 0; i < _ObsNum; i++) - { - double x, y; - x = rand_x(eng); - y = rand_y(eng); - - double w, h; - w = rand_w(eng); - h = rand_h(eng); - - int widNum = ceil(w / _resolution); - int heiNum = ceil(h / _resolution); - - int rl, rh, sl, sh; - rl = -widNum / 2; - rh = widNum / 2; - sl = -widNum / 2; - sh = widNum / 2; - - for (int r = rl; r < rh; r++) - for (int s = sl; s < sh; s++) - { - for (int t = 0; t < heiNum; t++) - { - if ((r - rl) * (r - rh + 1) * (s - sl) * (s - sh + 1) * t * - (t - heiNum + 1) == - 0) - { - pt_random.x = x + r * _resolution; - pt_random.y = y + s * _resolution; - pt_random.z = t * _resolution; - info.cloud->points.push_back(pt_random); - } - } - } - } - - info.cloud->width = info.cloud->points.size(); - info.cloud->height = 1; - info.cloud->is_dense = true; - - pcl2ros(); -} - -void -Maps::pcl2ros() -{ - pcl::toROSMsg(*info.cloud, *info.output); - info.output->header.frame_id = "world"; - ROS_INFO("finish: infill %lf%%", - info.cloud->width / (1.0 * info.sizeX * info.sizeY * info.sizeZ)); -} - -void -Maps::perlin3D() -{ - double complexity; - double fill; - int fractal; - double attenuation; - - info.nh_private->param("complexity", complexity, 0.142857); - info.nh_private->param("fill", fill, 0.38); - info.nh_private->param("fractal", fractal, 1); - info.nh_private->param("attenuation", attenuation, 0.5); - - info.cloud->width = info.sizeX * info.sizeY * info.sizeZ; - info.cloud->height = 1; - info.cloud->points.resize(info.cloud->width * info.cloud->height); - - PerlinNoise noise(info.seed); - - std::vector* v = new std::vector; - v->reserve(info.cloud->width); - for (int i = 0; i < info.sizeX; ++i) - { - for (int j = 0; j < info.sizeY; ++j) - { - for (int k = 0; k < info.sizeZ; ++k) - { - double tnoise = 0; - for (int it = 1; it <= fractal; ++it) - { - int dfv = pow(2, it); - double ta = attenuation / it; - tnoise += ta * noise.noise(dfv * i * complexity, - dfv * j * complexity, - dfv * k * complexity); - } - v->push_back(tnoise); - } - } - } - std::sort(v->begin(), v->end()); - int tpos = info.cloud->width * (1 - fill); - double tmp = v->at(tpos); - ROS_INFO("threshold: %lf", tmp); - - int pos = 0; - for (int i = 0; i < info.sizeX; ++i) - { - for (int j = 0; j < info.sizeY; ++j) - { - for (int k = 0; k < info.sizeZ; ++k) - { - double tnoise = 0; - for (int it = 1; it <= fractal; ++it) - { - int dfv = pow(2, it); - double ta = attenuation / it; - tnoise += ta * noise.noise(dfv * i * complexity, - dfv * j * complexity, - dfv * k * complexity); - } - if (tnoise > tmp) - { - info.cloud->points[pos].x = - i / info.scale - info.sizeX / (2 * info.scale); - info.cloud->points[pos].y = - j / info.scale - info.sizeY / (2 * info.scale); - info.cloud->points[pos].z = k / info.scale; - pos++; - } - } - } - } - info.cloud->width = pos; - ROS_INFO("the number of points before optimization is %d", info.cloud->width); - info.cloud->points.resize(info.cloud->width * info.cloud->height); - pcl2ros(); -} - -void -Maps::recursiveDivision(int xl, int xh, int yl, int yh, Eigen::MatrixXi& maze) -{ - ROS_INFO( - "generating maze with width %d , height %d", xh - xl + 1, yh - yl + 1); - - if (xl < xh - 3 && yl < yh - 3) - { // the remaining area is larger than or equal to 5*5, need to add both x - // wall and y wall - bool valid = false; // used to judge whether the wall selection is valid - int xm = 0; - int ym = 0; - ROS_INFO("entered 5*5 mode"); - while (valid == false) - { - xm = (std::rand() % (xh - xl - 1) + xl + - 1); // generating random number between xl+1 and xh-1(pointless to - // add a wall at the sides) - ym = (std::rand() % (yh - yl - 1) + yl + - 1); // generating random number between yl+1 and yh-1(pointless to - // add a wall at the sides) - if (xl - 1 >= 0) - { // there is a point at xl-1,ym - if (maze(xl - 1, ym) == 0) - { // this is an opening,need to change random number - continue; - } - } - - else if (xh + 1 <= maze.cols() - 1) - { // there is a point at xh+1,ym - if (maze(xh + 1, ym) == 0) - { // this is an opening,need to change random number - continue; - } - } - - else if (yl - 1 >= 0) - { // there is a point at xm,yl-1 - if (maze(xm, yl - 1) == 0) - { // this is an opening,need to change random number - continue; - } - } - - else if (yh + 1 <= maze.rows() - 1) - { // there is a point at xm,yh+1 - if (maze(xm, yh + 1) == 0) - { // this is an opening,need to change random number - continue; - } - } - - valid = true; - - } // xm and ym are now the valid coordinate of the center of the wall - for (int i = xl; i <= xh; i++) - { - maze(i, ym) = 1; - } - for (int j = yl; j <= yh; j++) - { - maze(xm, j) = 1; - } // adding walls around the center point - int d1 = std::rand() % (xm - xl) + xl; - int d2 = std::rand() % (xh - xm) + xm + 1; - int d3 = std::rand() % (ym - yl) + yl; - int d4 = - std::rand() % (yh - ym) + ym + 1; // generating four possible door points - - int decision = std::rand() % 4; // random selection of three doors - switch (decision) - { - case 0: - maze(d1, ym) = 0; - maze(d2, ym) = 0; - maze(xm, d3) = 0; - break; - - case 1: - maze(d1, ym) = 0; - maze(d2, ym) = 0; - maze(xm, d4) = 0; - break; - - case 2: - maze(d2, ym) = 0; - maze(xm, d3) = 0; - maze(xm, d4) = 0; - break; - - case 3: - maze(d1, ym) = 0; - maze(xm, d3) = 0; - maze(xm, d4) = 0; - break; - } // the doors are opened for this cell - if (yl - 1 >= 0) - { - if (maze(xm, yl - 1) == 0) - { - maze(xm, yl) = 0; - } - } - - if (yh + 1 <= maze.rows() - 1) - { - if (maze(xm, yh + 1) == 0) - { - maze(xm, yh) = 0; - } - } - - if (xl - 1 >= 0) - { - if (maze(xl - 1, ym) == 0) - { - maze(xl, ym) = 0; - } - } - - if (xh + 1 <= maze.cols() - 1) - { - if (maze(xh + 1, ym) == 0) - { - maze(xh, ym) = 0; - } - } - - std::cout << maze << std::endl; - recursiveDivision(xl, xm - 1, yl, ym - 1, maze); - recursiveDivision(xm + 1, xh, yl, ym - 1, maze); - recursiveDivision(xl, xm - 1, ym + 1, yh, maze); - recursiveDivision(xm + 1, xh, ym + 1, yh, maze); - - ROS_INFO("finished generating maze with width %d , height %d", - xh - xl + 1, - yh - yl + 1); - std::cout << maze << std::endl; - return; - } // when the remaining area is larger than or equal to 5*5 - - else if (xl < xh - 2 && yl < yh - 2) - { - // bool valid = false; // used to judge whether the wall selection is valid - int xm = 0; - int ym = 0; - int doorcount = 0; - xm = (std::rand() % (xh - xl - 1) + xl + - 1); // generating random number between xl+1 and xh-1(pointless to - // add a wall at the sides) - ym = - (std::rand() % (yh - yl - 1) + yl + - 1); // generating random number between yl+1 and yh-1(pointless to - // add a wall at the sides) - // xm and ym are now the valid coordinate of the center of the wall - for (int i = xl; i <= xh; i++) - { - maze(i, ym) = 1; - } - for (int j = yl; j <= yh; j++) - { - maze(xm, j) = 1; - } // adding walls around the center point - if (yl - 1 >= 0) - { - if (maze(xm, yl - 1) == 0) - { - maze(xm, yl) = 0; - doorcount++; - } - } - - if (yh + 1 <= maze.rows() - 1) - { - if (maze(xm, yh + 1) == 0) - { - maze(xm, yh) = 0; - doorcount++; - } - } - - if (xl - 1 >= 0) - { - if (maze(xl - 1, ym) == 0) - { - maze(xl, ym) = 0; - doorcount++; - } - } - - if (xh + 1 <= maze.cols() - 1) - { - if (maze(xh + 1, ym) == 0) - { - maze(xh, ym) = 0; - doorcount++; - } - } - - int d1 = std::rand() % (xm - xl) + xl; - int d2 = std::rand() % (xh - xm) + xm + 1; - int d3 = std::rand() % (ym - yl) + yl; - int d4 = - std::rand() % (yh - ym) + ym + 1; // generating four possible door points - - int decision = std::rand() % 4; // random selection of three doors - switch (decision) - { - case 0: - maze(d1, ym) = 0; - maze(d2, ym) = 0; - maze(xm, d3) = 0; - break; - - case 1: - maze(d1, ym) = 0; - maze(d2, ym) = 0; - maze(xm, d4) = 0; - break; - - case 2: - maze(d2, ym) = 0; - maze(xm, d3) = 0; - maze(xm, d4) = 0; - break; - - case 3: - maze(d1, ym) = 0; - maze(xm, d3) = 0; - maze(xm, d4) = 0; - break; - } // the doors are opened for this cell - std::cout << maze << std::endl; - - ROS_INFO("finished generating maze with width %d , height %d", - xh - xl + 1, - yh - yl + 1); - std::cout << maze << std::endl; - return; - } - - else if (xl < xh - 1 && yl < yh - 2) - { // the case of 3*4+ - ROS_INFO("entered 3*4+ mode"); - int doorcount = 0; - int ym = 0; - for (int i = yl; i <= yh; i++) - { - maze(xl + 1, i) = 1; - } // filling a center wall - if (yl - 1 >= 0) - { - if (maze(xl + 1, yl - 1) == 0) - { - maze(xl + 1, yl) = 0; - doorcount++; - } - } - if (yh + 1 <= maze.rows() - 1) - { - if (maze(xl + 1, yh + 1) == 0) - { - maze(xl + 1, yh) = 0; - doorcount++; - } - } // opening doors if the wall blocks the old doors - if (doorcount == 0) - { - ym = std::rand() % (yh - yl + 1) + yl; - maze(xl + 1, ym) = 0; - } - } // the case of 4+*3 - // - else if (xl < xh - 2 && yl < yh - 1) - { // the case of 4+*3 - ROS_INFO("entered 4+*3 mode"); - int doorcount = 0; - int xm = 0; - for (int i = xl; i <= xh; i++) - { - maze(i, yl + 1) = 1; - } // filling a center wall - if (xl - 1 >= 0) - { - if (maze(xl - 1, yl + 1) == 0) - { - maze(xl, yl + 1) = 0; - doorcount++; - } - } - if (xh + 1 <= maze.cols() - 1) - { - if (maze(xh + 1, yl + 1) == 0) - { - maze(xh, yl + 1) = 0; - doorcount++; - } - } // opening doors if the wall blocks the old doors - if (doorcount == 0) - { - xm = std::rand() % (xh - xl + 1) + xl; - maze(xm, yl + 1) = 0; - } - } // the case of 4+*3 - - else if (xl < xh - 1 && yl < yh - 1) - { // the case of 3*3 - maze(xl + 1, yl + 1) = 1; - return; - } - else - { - ROS_INFO("finished generating maze with width %d , height %d", - xh - xl + 1, - yh - yl + 1); - return; - } -} - -void -Maps::recursizeDivisionMaze(Eigen::MatrixXi& maze) -{ - //! @todo all bugs here... - int sx = maze.rows(); - int sy = maze.cols(); - - int px, py; - - if (sx > 5) - px = (std::rand() % (sx - 3) + 1); - else - return; - - if (sy > 5) - py = (std::rand() % (sy - 3) + 1); - else - return; - - ROS_INFO("debug %d %d %d %d", sx, sy, px, py); - - int x1, x2, y1, y2; - - if (px != 1) - x1 = (std::rand() % (px - 1) + 1); - else - x1 = 1; - - if ((sx - px - 3) > 0) - x2 = (std::rand() % (sx - px - 3) + px + 1); - else - x2 = px + 1; - - if (py != 1) - y1 = (std::rand() % (py - 1) + 1); - else - y1 = 1; - - if ((sy - py - 3) > 0) - y2 = (std::rand() % (sy - py - 3) + py + 1); - else - y2 = py + 1; - ROS_INFO("%d %d %d %d", x1, x2, y1, y2); - - if (px != 1 && px != (sx - 2)) - { - for (int i = 1; i < (sy - 1); ++i) - { - if (i != y1 && i != y2) - maze(px, i) = 1; - } - } - if (py != 1 && py != (sy - 2)) - { - for (int i = 1; i < (sx - 1); ++i) - { - if (i != x1 && i != x2) - maze(i, py) = 1; - } - } - switch (std::rand() % 4) - { - case 0: - maze(x1, py) = 1; - break; - case 1: - maze(x2, py) = 1; - break; - case 2: - maze(px, y1) = 1; - break; - case 3: - maze(px, y2) = 1; - break; - } - - if (px > 2 && py > 2) - { - Eigen::MatrixXi sub = maze.block(0, 0, px + 1, py + 1); - recursizeDivisionMaze(sub); - maze.block(0, 0, px, py) = sub; - } - if (px > 2 && (sy - py - 1) > 2) - { - Eigen::MatrixXi sub = maze.block(0, py, px + 1, sy - py); - recursizeDivisionMaze(sub); - maze.block(0, py, px + 1, sy - py) = sub; - } - if (py > 2 && (sx - px - 1) > 2) - { - Eigen::MatrixXi sub = maze.block(px, 0, sx - px, py + 1); - recursizeDivisionMaze(sub); - maze.block(px, 0, sx - px, py + 1) = sub; - } - if ((sx - px - 1) > 2 && (sy - py - 1) > 2) - { - - Eigen::MatrixXi sub = maze.block(px, py, sy - px, sy - py); - - recursizeDivisionMaze(sub); - maze.block(px, py, sy - px, sy - py) = sub; - } -} - -void -Maps::maze2D() -{ - double width; - int type; - int addWallX; - int addWallY; - info.nh_private->param("road_width", width, 1.0); - info.nh_private->param("add_wall_x", addWallX, 0); - info.nh_private->param("add_wall_y", addWallY, 0); - info.nh_private->param("maze_type", type, 1); - - int mx = info.sizeX / (width * info.scale); - int my = info.sizeY / (width * info.scale); - - Eigen::MatrixXi maze(mx, my); - maze.setZero(); - - switch (type) - { - case 1: - recursiveDivision(0, maze.cols() - 1, 0, maze.rows() - 1, maze); - break; - } - - if (addWallX) - { - for (int i = 0; i < mx; ++i) - { - maze(i, 0) = 1; - maze(i, my - 1) = 1; - } - } - if (addWallY) - { - for (int i = 0; i < my; ++i) - { - maze(0, i) = 1; - maze(mx - 1, i) = 1; - } - } - - std::cout << maze << std::endl; - - for (int i = 0; i < mx; ++i) - { - for (int j = 0; j < my; ++j) - { - if (maze(i, j)) - { - for (int ii = 0; ii < width * info.scale; ++ii) - { - for (int jj = 0; jj < width * info.scale; ++jj) - { - for (int k = 0; k < info.sizeZ; ++k) - { - pcl::PointXYZ pt_random; - pt_random.x = - i * width + ii / info.scale - info.sizeX / (2.0 * info.scale); - pt_random.y = - j * width + jj / info.scale - info.sizeY / (2.0 * info.scale); - pt_random.z = k / info.scale; - info.cloud->points.push_back(pt_random); - } - } - } - } - } - } - info.cloud->width = info.cloud->points.size(); - info.cloud->height = 1; - info.cloud->is_dense = true; - pcl2ros(); -} - -Maps::BasicInfo -Maps::getInfo() const -{ - return info; -} - -void -Maps::setInfo(const BasicInfo& value) -{ - info = value; -} - -Maps::Maps() -{ -} - -void -Maps::generate(int type) -{ - switch (type) - { - default: - case 1: - perlin3D(); - break; - case 2: - randomMapGenerate(); - break; - case 3: - std::srand(info.seed); - maze2D(); - break; - case 4: // generating 3d maze - std::srand(info.seed); - Maze3DGen(); - break; - } -} - -pcl::PointXYZ -MazePoint::getPoint() -{ - return point; -} - -int -MazePoint::getPoint1() -{ - return point1; -} - -int -MazePoint::getPoint2() -{ - return point2; -} - -double -MazePoint::getDist1() -{ - return dist1; -} - -double -MazePoint::getDist2() -{ - return dist2; -} - -void -MazePoint::setPoint(pcl::PointXYZ p) -{ - point = p; -} - -void -MazePoint::setPoint1(int p) -{ - point1 = p; -} - -void -MazePoint::setPoint2(int p) -{ - point2 = p; -} - -void -MazePoint::setDist1(double set) -{ - dist1 = set; -} - -void -MazePoint::setDist2(double set) -{ - dist2 = set; -} - -void -Maps::Maze3DGen() -{ - // getting required info parameters from the given node - int numNodes; - double connectivity; - int nodeRad; - int roadRad; - - info.nh_private->param("numNodes", numNodes, 10); - info.nh_private->param("connectivity", connectivity, 0.5); - info.nh_private->param("nodeRad", nodeRad, 3); - info.nh_private->param("roadRad", roadRad, 2); - ROS_INFO("received parameters : numNodes: %d connectivity: " - "%f nodeRad: %d roadRad: %d", - numNodes, - connectivity, - nodeRad, - roadRad); - // generating random points - std::vector base; - - for (int i = 0; i < numNodes; i++) - { - double rx = std::rand() / RAND_MAX + - (std::rand() % info.sizeX) / info.scale - - info.sizeX / (2 * info.scale); - double ry = std::rand() / RAND_MAX + - (std::rand() % info.sizeY) / info.scale - - info.sizeY / (2 * info.scale); - double rz = std::rand() / RAND_MAX + - (std::rand() % info.sizeZ) / info.scale - - info.sizeZ / (2 * info.scale); - ROS_INFO("point: x: %f , y: %f , z: %f", rx, ry, rz); - - pcl::PointXYZ pt_random; - pt_random.x = rx; - pt_random.y = ry; - pt_random.z = rz; - base.push_back(pt_random); - } // generating random cores in the space - - for (int i = 0; i < info.sizeX; i++) - { - for (int j = 0; j < info.sizeY; j++) - { - for (int k = 0; k < info.sizeZ; k++) - { // for every scaled coordinate points - pcl::PointXYZ test; - test.x = i / info.scale - info.sizeX / (2 * info.scale); - test.y = j / info.scale - info.sizeY / (2 * info.scale); - test.z = k / info.scale - - info.sizeZ / - (2 * info.scale); // marking the corresponding point location - - MazePoint mp; - mp.setPoint(test); - mp.setPoint2(-1); - mp.setPoint1(-1); - mp.setDist1(10000.0); - mp.setDist2(100000.0); // setting super large starting values - for (int ii = 0; ii < numNodes; ii++) - { - double dist = - std::sqrt((base[ii].x - test.x) * (base[ii].x - test.x) + - (base[ii].y - test.y) * (base[ii].y - test.y) + - (base[ii].z - test.z) * (base[ii].z - test.z)); - if (dist < mp.getDist1()) - { - - mp.setDist2(mp.getDist1()); - mp.setDist1(dist); - - mp.setPoint2(mp.getPoint1()); - mp.setPoint1(ii); - } - else if (dist < mp.getDist2()) - { - mp.setDist2(dist); - mp.setPoint2(ii); - } // finding the distances to the nearest two cores - } - if (std::abs(mp.getDist2() - mp.getDist1()) < 1 / info.scale) - { // the tested location is on one of the middle planes - if ((mp.getPoint1() + mp.getPoint2()) > - int((1 - connectivity) * numNodes) && - (mp.getPoint1() + mp.getPoint2()) < - int((1 + connectivity) * numNodes)) - { // this is a holed wall - double judge = - std::sqrt((base[mp.getPoint1()].x - base[mp.getPoint2()].x) * - (base[mp.getPoint1()].x - base[mp.getPoint2()].x) + - (base[mp.getPoint1()].y - base[mp.getPoint2()].y) * - (base[mp.getPoint1()].y - base[mp.getPoint2()].y) + - (base[mp.getPoint1()].z - base[mp.getPoint2()].z) * - (base[mp.getPoint1()].z - base[mp.getPoint2()].z)); - if (mp.getDist1() + mp.getDist2() - judge >= - roadRad / (info.scale * 3)) - { - info.cloud->points.push_back(mp.getPoint()); - } - } - else - { - info.cloud->points.push_back(mp.getPoint()); - } - } - } - } - } - - info.cloud->width = info.cloud->points.size(); - info.cloud->height = 1; - ROS_INFO("the number of points before optimization is %d", info.cloud->width); - info.cloud->points.resize(info.cloud->width * info.cloud->height); - pcl2ros(); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/src/mockamap.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/src/mockamap.cpp deleted file mode 100644 index 9ff398b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/src/mockamap.cpp +++ /dev/null @@ -1,124 +0,0 @@ -#include -#include - -#include -#include -#include - -#include -#include -#include - -#include "maps.hpp" - -void -optimizeMap(mocka::Maps::BasicInfo& in) -{ - std::vector* temp = new std::vector; - - pcl::KdTreeFLANN kdtree; - pcl::PointCloud::Ptr cloud(new pcl::PointCloud); - - cloud->width = in.cloud->width; - cloud->height = in.cloud->height; - cloud->points.resize(cloud->width * cloud->height); - - for (uint32_t i = 0; i < cloud->width; i++) - { - cloud->points[i].x = in.cloud->points[i].x; - cloud->points[i].y = in.cloud->points[i].y; - cloud->points[i].z = in.cloud->points[i].z; - } - - kdtree.setInputCloud(cloud); - double radius = 1.75 / in.scale; // 1.75 is the rounded up value of sqrt(3) - - for (uint32_t i = 0; i < cloud->width; i++) - { - std::vector pointIdxRadiusSearch; - std::vector pointRadiusSquaredDistance; - - if (kdtree.radiusSearch(cloud->points[i], radius, pointIdxRadiusSearch, - pointRadiusSquaredDistance) >= 27) - { - temp->push_back(i); - } - } - for (int i = temp->size() - 1; i >= 0; i--) - { - in.cloud->points.erase(in.cloud->points.begin() + - temp->at(i)); // erasing the enclosed points - } - in.cloud->width -= temp->size(); - - pcl::toROSMsg(*in.cloud, *in.output); - in.output->header.frame_id = "world"; - ROS_INFO("finish: number of points after optimization %d", in.cloud->width); - delete temp; - return; -} - -int -main(int argc, char** argv) -{ - ros::init(argc, argv, "mockamap"); - ros::NodeHandle nh; - ros::NodeHandle nh_private("~"); - - ros::Publisher pcl_pub = - nh.advertise("mock_map", 1); - pcl::PointCloud cloud; - sensor_msgs::PointCloud2 output; - // Fill in the cloud data - - int seed; - - int sizeX; - int sizeY; - int sizeZ; - - double scale; - double update_freq; - - int type; - - nh_private.param("seed", seed, 4546); - nh_private.param("update_freq", update_freq, 1.0); - nh_private.param("resolution", scale, 0.38); - nh_private.param("x_length", sizeX, 100); - nh_private.param("y_length", sizeY, 100); - nh_private.param("z_length", sizeZ, 10); - - nh_private.param("type", type, 1); - - scale = 1 / scale; - sizeX = sizeX * scale; - sizeY = sizeY * scale; - sizeZ = sizeZ * scale; - - mocka::Maps::BasicInfo info; - info.nh_private = &nh_private; - info.sizeX = sizeX; - info.sizeY = sizeY; - info.sizeZ = sizeZ; - info.seed = seed; - info.scale = scale; - info.output = &output; - info.cloud = &cloud; - - mocka::Maps map; - map.setInfo(info); - map.generate(type); - - // optimizeMap(info); - - //! @note publish loop - ros::Rate loop_rate(update_freq); - while (ros::ok()) - { - pcl_pub.publish(output); - ros::spinOnce(); - loop_rate.sleep(); - } - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/src/perlinnoise.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/src/perlinnoise.cpp deleted file mode 100644 index c5d96fe..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/mockamap/src/perlinnoise.cpp +++ /dev/null @@ -1,123 +0,0 @@ -#include "perlinnoise.hpp" - -#include -#include -#include -#include - -// THIS IS A DIRECT TRANSLATION TO C++11 FROM THE REFERENCE -// JAVA IMPLEMENTATION OF THE IMPROVED PERLIN FUNCTION (see -// http://mrl.nyu.edu/~perlin/noise/) -// THE ORIGINAL JAVA IMPLEMENTATION IS COPYRIGHT 2002 KEN PERLIN - -// I ADDED AN EXTRA METHOD THAT GENERATES A NEW PERMUTATION VECTOR (THIS IS NOT -// PRESENT IN THE ORIGINAL IMPLEMENTATION) - -// Initialize with the reference values for the permutation vector -PerlinNoise::PerlinNoise() -{ - - // Initialize the permutation vector with the reference values - p = { 151, 160, 137, 91, 90, 15, 131, 13, 201, 95, 96, 53, 194, 233, - 7, 225, 140, 36, 103, 30, 69, 142, 8, 99, 37, 240, 21, 10, - 23, 190, 6, 148, 247, 120, 234, 75, 0, 26, 197, 62, 94, 252, - 219, 203, 117, 35, 11, 32, 57, 177, 33, 88, 237, 149, 56, 87, - 174, 20, 125, 136, 171, 168, 68, 175, 74, 165, 71, 134, 139, 48, - 27, 166, 77, 146, 158, 231, 83, 111, 229, 122, 60, 211, 133, 230, - 220, 105, 92, 41, 55, 46, 245, 40, 244, 102, 143, 54, 65, 25, - 63, 161, 1, 216, 80, 73, 209, 76, 132, 187, 208, 89, 18, 169, - 200, 196, 135, 130, 116, 188, 159, 86, 164, 100, 109, 198, 173, 186, - 3, 64, 52, 217, 226, 250, 124, 123, 5, 202, 38, 147, 118, 126, - 255, 82, 85, 212, 207, 206, 59, 227, 47, 16, 58, 17, 182, 189, - 28, 42, 223, 183, 170, 213, 119, 248, 152, 2, 44, 154, 163, 70, - 221, 153, 101, 155, 167, 43, 172, 9, 129, 22, 39, 253, 19, 98, - 108, 110, 79, 113, 224, 232, 178, 185, 112, 104, 218, 246, 97, 228, - 251, 34, 242, 193, 238, 210, 144, 12, 191, 179, 162, 241, 81, 51, - 145, 235, 249, 14, 239, 107, 49, 192, 214, 31, 181, 199, 106, 157, - 184, 84, 204, 176, 115, 121, 50, 45, 127, 4, 150, 254, 138, 236, - 205, 93, 222, 114, 67, 29, 24, 72, 243, 141, 128, 195, 78, 66, - 215, 61, 156, 180 }; - // Duplicate the permutation vector - p.insert(p.end(), p.begin(), p.end()); -} - -// Generate a new permutation vector based on the value of seed -PerlinNoise::PerlinNoise(unsigned int seed) -{ - p.resize(256); - - // Fill p with values from 0 to 255 - std::iota(p.begin(), p.end(), 0); - - // Initialize a random engine with seed - std::default_random_engine engine(seed); - - // Suffle using the above random engine - std::shuffle(p.begin(), p.end(), engine); - - // Duplicate the permutation vector - p.insert(p.end(), p.begin(), p.end()); -} - -double -PerlinNoise::noise(double x, double y, double z) -{ - // Find the unit cube that contains the point - int X = (int)floor(x) & 255; - int Y = (int)floor(y) & 255; - int Z = (int)floor(z) & 255; - - // Find relative x, y,z of point in cube - x -= floor(x); - y -= floor(y); - z -= floor(z); - - // Compute fade curves for each of x, y, z - double u = fade(x); - double v = fade(y); - double w = fade(z); - - // Hash coordinates of the 8 cube corners - int A = p[X] + Y; - int AA = p[A] + Z; - int AB = p[A + 1] + Z; - int B = p[X + 1] + Y; - int BA = p[B] + Z; - int BB = p[B + 1] + Z; - - // Add blended results from 8 corners of cube - double res = - lerp(w, // - lerp(v, // - lerp(u, grad(p[AA], x, y, z), grad(p[BA], x - 1, y, z)), - lerp(u, grad(p[AB], x, y - 1, z), grad(p[BB], x - 1, y - 1, z))), - lerp(v, // - lerp(u, // - grad(p[AA + 1], x, y, z - 1), // - grad(p[BA + 1], x - 1, y, z - 1)), - lerp(u, // - grad(p[AB + 1], x, y - 1, z - 1), - grad(p[BB + 1], x - 1, y - 1, z - 1)))); - return (res + 1.0) / 2.0; -} - -double -PerlinNoise::fade(double t) -{ - return t * t * t * (t * (t * 6 - 15) + 10); -} - -double -PerlinNoise::lerp(double t, double a, double b) -{ - return a + t * (b - a); -} - -double -PerlinNoise::grad(int hash, double x, double y, double z) -{ - int h = hash & 15; - // Convert lower 4 bits of hash into 12 gradient directions - double u = h < 8 ? x : y, v = h < 4 ? y : h == 12 || h == 14 ? x : z; - return ((h & 1) == 0 ? u : -u) + ((h & 2) == 0 ? v : -v); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/CMakeLists.txt deleted file mode 100644 index bb6b0c7..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/CMakeLists.txt +++ /dev/null @@ -1,237 +0,0 @@ -#cmake_minimum_required(VERSION 2.4.6) -#include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) - -# Set the build type. Options are: -# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage -# Debug : w/ debug symbols, w/o optimization -# Release : w/o debug symbols, w/ optimization -# RelWithDebInfo : w/ debug symbols, w/ optimization -# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries -#set(ROS_BUILD_TYPE RelWithDebInfo) - -#rosbuild_init() - -#set the default path for built executables to the "bin" directory -#set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) -#set the default path for built libraries to the "lib" directory -#set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) - -#uncomment if you have defined messages -#rosbuild_genmsg() -#uncomment if you have defined services -#rosbuild_gensrv() - -#common commands for building c++ executables and libraries -#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) -#target_link_libraries(${PROJECT_NAME} another_library) -#rosbuild_add_boost_directories() -#rosbuild_link_boost(${PROJECT_NAME} thread) -#rosbuild_add_executable(example examples/example.cpp) -#target_link_libraries(example ${PROJECT_NAME}) - -#list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake) -#find_package(Eigen3 REQUIRED) - -#include_directories(${EIGEN3_INCLUDE_DIR}) - -#rosbuild_add_library(SO3Control src/SO3Control.cpp) -#rosbuild_add_link_flags(SO3Control -Wl,--as-needed) - -#rosbuild_add_library(so3_control_nodelet src/so3_control_nodelet.cpp) -#target_link_libraries(so3_control_nodelet SO3Control) -#rosbuild_add_link_flags(so3_control_nodelet -Wl,--as-needed) - -#---------------------------------- -cmake_minimum_required(VERSION 2.8.3) -project(so3_control) - -set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") -set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - roscpp - nav_msgs - quadrotor_msgs - tf - nodelet - cmake_utils -) -set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependencies might have been -## pulled in transitively but can be declared for certainty nonetheless: -## * add a build_depend tag for "message_generation" -## * add a run_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -#add_message_files( -# FILES -# MultiOccupancyGrid.msg -# MultiSparseMap3D.msg -# SparseMap3D.msg -# VerticalOccupancyGridList.msg - #plan_cmd.msg -#) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -#generate_messages( -# DEPENDENCIES -# geometry_msgs -# nav_msgs -#) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if you package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES irobot_msgs -# CATKIN_DEPENDS geometry_msgs nav_msgs -# DEPENDS system_lib -) - -########### -## Build ## -########### -#find_package(Armadillo REQUIRED) -#include_directories(${ARMADILLO_INCLUDE_DIRS}) - -find_package(Eigen3 REQUIRED) - -include_directories(${EIGEN3_INCLUDE_DIR}) - - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories(include) -include_directories( - ${catkin_INCLUDE_DIRS} -) - -## Declare a cpp library -# add_library(irobot_msgs -# src/${PROJECT_NAME}/irobot_msgs.cpp -# ) - -## Declare a cpp executable -#add_executable(odom_visualization src/odom_visualization.cpp) -add_library(SO3Control src/SO3Control.cpp) -add_library(so3_control_nodelet src/so3_control_nodelet.cpp) - -target_link_libraries(so3_control_nodelet - ${catkin_LIBRARIES} - SO3Control -) - - -add_executable(control_example src/control_example.cpp) -target_link_libraries(control_example -${catkin_LIBRARIES} -) - -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -# add_dependencies(multi_map_visualization multi_map_server_messages_cpp) - -## Specify libraries to link a library or executable target against -#target_link_libraries(odom_visualization -# ${catkin_LIBRARIES} -# ${ARMADILLO_LIBRARIES} -# pose_utils -#) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS irobot_msgs irobot_msgs_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_irobot_msgs.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/config/corrections_hummingbird.yaml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/config/corrections_hummingbird.yaml deleted file mode 100644 index aeadaab..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/config/corrections_hummingbird.yaml +++ /dev/null @@ -1,4 +0,0 @@ -corrections: - z: 0.0 - r: 0.0 - p: 0.0 diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/config/corrections_pelican.yaml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/config/corrections_pelican.yaml deleted file mode 100644 index aeadaab..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/config/corrections_pelican.yaml +++ /dev/null @@ -1,4 +0,0 @@ -corrections: - z: 0.0 - r: 0.0 - p: 0.0 diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/config/gains.yaml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/config/gains.yaml deleted file mode 100644 index ffde85a..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/config/gains.yaml +++ /dev/null @@ -1,6 +0,0 @@ -# Gains for Laser-based Pelican -gains: - pos: {x: 5.0, y: 5.0, z: 15.0} - vel: {x: 5.0, y: 5.0, z: 5.0} - rot: {x: 3.5, y: 3.5, z: 1.0} - ang: {x: 0.4, y: 0.4, z: 0.1} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/config/gains_hummingbird.yaml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/config/gains_hummingbird.yaml deleted file mode 100644 index a1d016a..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/config/gains_hummingbird.yaml +++ /dev/null @@ -1,6 +0,0 @@ -# Vision Gain for Hummingbird -gains: - pos: {x: 2.0, y: 2.0, z: 3.5} - vel: {x: 1.8, y: 1.8, z: 2.0} - rot: {x: 1.0, y: 1.0, z: 0.3} - ang: {x: 0.07, y: 0.07, z: 0.02} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/config/gains_pelican.yaml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/config/gains_pelican.yaml deleted file mode 100644 index ffde85a..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/config/gains_pelican.yaml +++ /dev/null @@ -1,6 +0,0 @@ -# Gains for Laser-based Pelican -gains: - pos: {x: 5.0, y: 5.0, z: 15.0} - vel: {x: 5.0, y: 5.0, z: 5.0} - rot: {x: 3.5, y: 3.5, z: 1.0} - ang: {x: 0.4, y: 0.4, z: 0.1} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/include/so3_control/SO3Control.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/include/so3_control/SO3Control.h deleted file mode 100644 index afc2d95..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/include/so3_control/SO3Control.h +++ /dev/null @@ -1,42 +0,0 @@ -#ifndef __SO3_CONTROL_H__ -#define __SO3_CONTROL_H__ - -#include - -class SO3Control -{ -public: - SO3Control(); - - void setMass(const double mass); - void setGravity(const double g); - void setPosition(const Eigen::Vector3d& position); - void setVelocity(const Eigen::Vector3d& velocity); - void setAcc(const Eigen::Vector3d& acc); - - void calculateControl(const Eigen::Vector3d& des_pos, - const Eigen::Vector3d& des_vel, - const Eigen::Vector3d& des_acc, const double des_yaw, - const double des_yaw_dot, const Eigen::Vector3d& kx, - const Eigen::Vector3d& kv); - - const Eigen::Vector3d& getComputedForce(void); - const Eigen::Quaterniond& getComputedOrientation(void); - - - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - -private: - // Inputs for the controller - double mass_; - double g_; - Eigen::Vector3d pos_; - Eigen::Vector3d vel_; - Eigen::Vector3d acc_; - - // Outputs of the controller - Eigen::Vector3d force_; - Eigen::Quaterniond orientation_; -}; - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/mainpage.dox b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/mainpage.dox deleted file mode 100644 index 101a5b1..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/mainpage.dox +++ /dev/null @@ -1,14 +0,0 @@ -/** -\mainpage -\htmlinclude manifest.html - -\b so3_control - - - ---> - - -*/ diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/nodelet_plugin.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/nodelet_plugin.xml deleted file mode 100644 index af407f6..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/nodelet_plugin.xml +++ /dev/null @@ -1,7 +0,0 @@ - - - - so3_control - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/package.xml deleted file mode 100644 index c9273a4..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/package.xml +++ /dev/null @@ -1,35 +0,0 @@ - - 0.0.0 - so3_control - - - so3_control - - - Kartik Mohta - BSD - http://ros.org/wiki/so3_control - - - catkin - - roscpp - nav_msgs - quadrotor_msgs - tf - nodelet - cmake_utils - - roscpp - nav_msgs - quadrotor_msgs - tf - nodelet - cmake_utils - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/src/SO3Control.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/src/SO3Control.cpp deleted file mode 100644 index 9d512b8..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/src/SO3Control.cpp +++ /dev/null @@ -1,124 +0,0 @@ -#include -#include - -#include - -SO3Control::SO3Control() - : mass_(0.5) - , g_(9.81) -{ - acc_.setZero(); -} - -void -SO3Control::setMass(const double mass) -{ - mass_ = mass; -} - -void -SO3Control::setGravity(const double g) -{ - g_ = g; -} - -void -SO3Control::setPosition(const Eigen::Vector3d& position) -{ - pos_ = position; -} - -void -SO3Control::setVelocity(const Eigen::Vector3d& velocity) -{ - vel_ = velocity; -} - -void -SO3Control::calculateControl(const Eigen::Vector3d& des_pos, - const Eigen::Vector3d& des_vel, - const Eigen::Vector3d& des_acc, - const double des_yaw, const double des_yaw_dot, - const Eigen::Vector3d& kx, - const Eigen::Vector3d& kv) -{ - // ROS_INFO("Error %lf %lf %lf", (des_pos - pos_).norm(), - // (des_vel - vel_).norm(), (des_acc - acc_).norm()); - - bool flag_use_pos = !(std::isnan(des_pos(0)) || std::isnan(des_pos(1)) || std::isnan(des_pos(2))); - bool flag_use_vel = !(std::isnan(des_vel(0)) || std::isnan(des_vel(1)) || std::isnan(des_vel(2))); - bool flag_use_acc = !(std::isnan(des_acc(0)) || std::isnan(des_acc(1)) || std::isnan(des_acc(2))); - - Eigen::Vector3d totalError(Eigen::Vector3d::Zero()); - if ( flag_use_pos ) totalError.noalias() += des_pos - pos_; - if ( flag_use_vel ) totalError.noalias() += des_vel - vel_; - if ( flag_use_acc ) totalError.noalias() += des_acc - acc_; - - Eigen::Vector3d ka(fabs(totalError[0]) > 3 ? 0 : (fabs(totalError[0]) * 0.2), - fabs(totalError[1]) > 3 ? 0 : (fabs(totalError[1]) * 0.2), - fabs(totalError[2]) > 3 ? 0 : (fabs(totalError[2]) * 0.2)); - - // std::cout << des_pos.transpose() << std::endl; - // std::cout << des_vel.transpose() << std::endl; - // std::cout << des_acc.transpose() << std::endl; - // std::cout << des_yaw << std::endl; - // std::cout << pos_.transpose() << std::endl; - // std::cout << vel_.transpose() << std::endl; - // std::cout << acc_.transpose() << std::endl; - - - force_ = mass_ * g_ * Eigen::Vector3d(0, 0, 1); - if ( flag_use_pos ) force_.noalias() += kx.asDiagonal() * (des_pos - pos_); - if ( flag_use_vel ) force_.noalias() += kv.asDiagonal() * (des_vel - vel_); - if ( flag_use_acc ) force_.noalias() += mass_ * ka.asDiagonal() * (des_acc - acc_) + mass_ * (des_acc); - - // Limit control angle to 45 degree - double theta = M_PI / 2; - double c = cos(theta); - Eigen::Vector3d f; - f.noalias() = force_ - mass_ * g_ * Eigen::Vector3d(0, 0, 1); - if (Eigen::Vector3d(0, 0, 1).dot(force_ / force_.norm()) < c) - { - double nf = f.norm(); - double A = c * c * nf * nf - f(2) * f(2); - double B = 2 * (c * c - 1) * f(2) * mass_ * g_; - double C = (c * c - 1) * mass_ * mass_ * g_ * g_; - double s = (-B + sqrt(B * B - 4 * A * C)) / (2 * A); - force_.noalias() = s * f + mass_ * g_ * Eigen::Vector3d(0, 0, 1); - } - // Limit control angle to 45 degree - - Eigen::Vector3d b1c, b2c, b3c; - Eigen::Vector3d b1d(cos(des_yaw), sin(des_yaw), 0); - - if (force_.norm() > 1e-6) - b3c.noalias() = force_.normalized(); - else - b3c.noalias() = Eigen::Vector3d(0, 0, 1); - - b2c.noalias() = b3c.cross(b1d).normalized(); - b1c.noalias() = b2c.cross(b3c).normalized(); - - Eigen::Matrix3d R; - R << b1c, b2c, b3c; - - orientation_ = Eigen::Quaterniond(R); -} - -const Eigen::Vector3d& -SO3Control::getComputedForce(void) -{ - return force_; -} - -const Eigen::Quaterniond& -SO3Control::getComputedOrientation(void) -{ - return orientation_; -} - -void -SO3Control::setAcc(const Eigen::Vector3d& acc) -{ - acc_ = acc; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/src/control_example.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/src/control_example.cpp deleted file mode 100644 index 15a1738..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/src/control_example.cpp +++ /dev/null @@ -1,78 +0,0 @@ -#include -#include -#include - -int main(int argc, char **argv) -{ - - ros::init(argc, argv, "quad_sim_example"); - ros::NodeHandle nh("~"); - - ros::Publisher cmd_pub = nh.advertise("/position_cmd", 10); - - ros::Duration(2.0).sleep(); - - while (ros::ok()) - { - - /*** example 1: position control ***/ - std::cout << "\033[42m" - << "Position Control to (2,0,1) meters" - << "\033[0m" << std::endl; - for (int i = 0; i < 500; i++) - { - quadrotor_msgs::PositionCommand cmd; - cmd.position.x = 2.0; - cmd.position.y = 0.0; - cmd.position.z = 1.0; - cmd_pub.publish(cmd); - - ros::Duration(0.01).sleep(); - ros::spinOnce(); - } - - /*** example 1: position control ***/ - std::cout << "\033[42m" - << "Velocity Control to (-1,0,0) meters/second" - << "\033[0m" << std::endl; - for (int i = 0; i < 500; i++) - { - quadrotor_msgs::PositionCommand cmd; - cmd.position.x = std::numeric_limits::quiet_NaN(); // lower-order commands must be disabled by nan - cmd.position.y = std::numeric_limits::quiet_NaN(); // lower-order commands must be disabled by nan - cmd.position.z = std::numeric_limits::quiet_NaN(); // lower-order commands must be disabled by nan - cmd.velocity.x = -1.0; - cmd.velocity.y = 0.0; - cmd.velocity.z = 0.0; - cmd_pub.publish(cmd); - - ros::Duration(0.01).sleep(); - ros::spinOnce(); - } - - /*** example 1: accelleration control ***/ - std::cout << "\033[42m" - << "Accelleration Control to (1,0,0) meters/second^2" - << "\033[0m" << std::endl; - for (int i = 0; i < 500; i++) - { - quadrotor_msgs::PositionCommand cmd; - cmd.position.x = std::numeric_limits::quiet_NaN(); // lower-order commands must be disabled by nan - cmd.position.y = std::numeric_limits::quiet_NaN(); // lower-order commands must be disabled by nan - cmd.position.z = std::numeric_limits::quiet_NaN(); // lower-order commands must be disabled by nan - cmd.velocity.x = std::numeric_limits::quiet_NaN(); - cmd.velocity.y = std::numeric_limits::quiet_NaN(); - cmd.velocity.z = std::numeric_limits::quiet_NaN(); - cmd.acceleration.x = 1.0; - cmd.acceleration.y = 0.0; - cmd.acceleration.z = 0.0; - cmd_pub.publish(cmd); - - ros::Duration(0.01).sleep(); - ros::spinOnce(); - } - - } - - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/src/so3_control_nodelet.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/src/so3_control_nodelet.cpp deleted file mode 100644 index 8135ed2..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_control/src/so3_control_nodelet.cpp +++ /dev/null @@ -1,245 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -class SO3ControlNodelet : public nodelet::Nodelet -{ -public: - SO3ControlNodelet() - : position_cmd_updated_(false) - , position_cmd_init_(false) - , des_yaw_(0) - , des_yaw_dot_(0) - , current_yaw_(0) - , enable_motors_(true) - , // FIXME - use_external_yaw_(false) - { - } - - void onInit(void); - - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - -private: - void publishSO3Command(void); - void position_cmd_callback( - const quadrotor_msgs::PositionCommand::ConstPtr& cmd); - void odom_callback(const nav_msgs::Odometry::ConstPtr& odom); - void enable_motors_callback(const std_msgs::Bool::ConstPtr& msg); - void corrections_callback(const quadrotor_msgs::Corrections::ConstPtr& msg); - void imu_callback(const sensor_msgs::Imu& imu); - - SO3Control controller_; - ros::Publisher so3_command_pub_; - ros::Subscriber odom_sub_; - ros::Subscriber position_cmd_sub_; - ros::Subscriber enable_motors_sub_; - ros::Subscriber corrections_sub_; - ros::Subscriber imu_sub_; - - bool position_cmd_updated_, position_cmd_init_; - std::string frame_id_; - - Eigen::Vector3d des_pos_, des_vel_, des_acc_, kx_, kv_; - double des_yaw_, des_yaw_dot_; - double current_yaw_; - bool enable_motors_; - bool use_external_yaw_; - double kR_[3], kOm_[3], corrections_[3]; - double init_x_, init_y_, init_z_; -}; - -void -SO3ControlNodelet::publishSO3Command(void) -{ - controller_.calculateControl(des_pos_, des_vel_, des_acc_, des_yaw_, - des_yaw_dot_, kx_, kv_); - - const Eigen::Vector3d& force = controller_.getComputedForce(); - const Eigen::Quaterniond& orientation = controller_.getComputedOrientation(); - - quadrotor_msgs::SO3Command::Ptr so3_command( - new quadrotor_msgs::SO3Command); //! @note memory leak? - so3_command->header.stamp = ros::Time::now(); - so3_command->header.frame_id = frame_id_; - so3_command->force.x = force(0); - so3_command->force.y = force(1); - so3_command->force.z = force(2); - so3_command->orientation.x = orientation.x(); - so3_command->orientation.y = orientation.y(); - so3_command->orientation.z = orientation.z(); - so3_command->orientation.w = orientation.w(); - for (int i = 0; i < 3; i++) - { - so3_command->kR[i] = kR_[i]; - so3_command->kOm[i] = kOm_[i]; - } - so3_command->aux.current_yaw = current_yaw_; - so3_command->aux.kf_correction = corrections_[0]; - so3_command->aux.angle_corrections[0] = corrections_[1]; - so3_command->aux.angle_corrections[1] = corrections_[2]; - so3_command->aux.enable_motors = enable_motors_; - so3_command->aux.use_external_yaw = use_external_yaw_; - so3_command_pub_.publish(so3_command); -} - -void -SO3ControlNodelet::position_cmd_callback( - const quadrotor_msgs::PositionCommand::ConstPtr& cmd) -{ - des_pos_ = Eigen::Vector3d(cmd->position.x, cmd->position.y, cmd->position.z); - des_vel_ = Eigen::Vector3d(cmd->velocity.x, cmd->velocity.y, cmd->velocity.z); - des_acc_ = Eigen::Vector3d(cmd->acceleration.x, cmd->acceleration.y, - cmd->acceleration.z); - - if ( cmd->kx[0] > 1e-5 || cmd->kx[1] > 1e-5 || cmd->kx[2] > 1e-5 ) - { - kx_ = Eigen::Vector3d(cmd->kx[0], cmd->kx[1], cmd->kx[2]); - } - if ( cmd->kv[0] > 1e-5 || cmd->kv[1] > 1e-5 || cmd->kv[2] > 1e-5 ) - { - kv_ = Eigen::Vector3d(cmd->kv[0], cmd->kv[1], cmd->kv[2]); - } - - des_yaw_ = cmd->yaw; - des_yaw_dot_ = cmd->yaw_dot; - position_cmd_updated_ = true; - position_cmd_init_ = true; - - publishSO3Command(); -} - -void -SO3ControlNodelet::odom_callback(const nav_msgs::Odometry::ConstPtr& odom) -{ - const Eigen::Vector3d position(odom->pose.pose.position.x, - odom->pose.pose.position.y, - odom->pose.pose.position.z); - const Eigen::Vector3d velocity(odom->twist.twist.linear.x, - odom->twist.twist.linear.y, - odom->twist.twist.linear.z); - - current_yaw_ = tf::getYaw(odom->pose.pose.orientation); - - controller_.setPosition(position); - controller_.setVelocity(velocity); - - if (position_cmd_init_) - { - // We set position_cmd_updated_ = false and expect that the - // position_cmd_callback would set it to true since typically a position_cmd - // message would follow an odom message. If not, the position_cmd_callback - // hasn't been called and we publish the so3 command ourselves - // TODO: Fallback to hover if position_cmd hasn't been received for some - // time - if (!position_cmd_updated_) - publishSO3Command(); - position_cmd_updated_ = false; - } - else if ( init_z_ > -9999.0 ) - { - des_pos_ = Eigen::Vector3d(init_x_, init_y_, init_z_); - des_vel_ = Eigen::Vector3d(0,0,0); - des_acc_ = Eigen::Vector3d(0,0,0); - publishSO3Command(); - } - -} - -void -SO3ControlNodelet::enable_motors_callback(const std_msgs::Bool::ConstPtr& msg) -{ - if (msg->data) - ROS_INFO("Enabling motors"); - else - ROS_INFO("Disabling motors"); - - enable_motors_ = msg->data; -} - -void -SO3ControlNodelet::corrections_callback( - const quadrotor_msgs::Corrections::ConstPtr& msg) -{ - corrections_[0] = msg->kf_correction; - corrections_[1] = msg->angle_corrections[0]; - corrections_[2] = msg->angle_corrections[1]; -} - -void -SO3ControlNodelet::imu_callback(const sensor_msgs::Imu& imu) -{ - const Eigen::Vector3d acc(imu.linear_acceleration.x, - imu.linear_acceleration.y, - imu.linear_acceleration.z); - controller_.setAcc(acc); -} - -void -SO3ControlNodelet::onInit(void) -{ - ros::NodeHandle n(getPrivateNodeHandle()); - - std::string quadrotor_name; - n.param("quadrotor_name", quadrotor_name, std::string("quadrotor")); - frame_id_ = "/" + quadrotor_name; - - double mass; - n.param("mass", mass, 0.5); - controller_.setMass(mass); - - n.param("use_external_yaw", use_external_yaw_, true); - - n.param("gains/rot/x", kR_[0], 1.5); - n.param("gains/rot/y", kR_[1], 1.5); - n.param("gains/rot/z", kR_[2], 1.0); - n.param("gains/ang/x", kOm_[0], 0.13); - n.param("gains/ang/y", kOm_[1], 0.13); - n.param("gains/ang/z", kOm_[2], 0.1); - n.param("gains/kx/x", kx_[0], 5.7); - n.param("gains/kx/y", kx_[1], 5.7); - n.param("gains/kx/z", kx_[2], 6.2); - n.param("gains/kv/x", kv_[0], 3.4); - n.param("gains/kv/y", kv_[1], 3.4); - n.param("gains/kv/z", kv_[2], 4.0); - - n.param("corrections/z", corrections_[0], 0.0); - n.param("corrections/r", corrections_[1], 0.0); - n.param("corrections/p", corrections_[2], 0.0); - - n.param("so3_control/init_state_x", init_x_, 0.0); - n.param("so3_control/init_state_y", init_y_, 0.0); - n.param("so3_control/init_state_z", init_z_, -10000.0); - - so3_command_pub_ = n.advertise("so3_cmd", 10); - - odom_sub_ = n.subscribe("odom", 10, &SO3ControlNodelet::odom_callback, this, - ros::TransportHints().tcpNoDelay()); - position_cmd_sub_ = - n.subscribe("position_cmd", 10, &SO3ControlNodelet::position_cmd_callback, - this, ros::TransportHints().tcpNoDelay()); - - enable_motors_sub_ = - n.subscribe("motors", 2, &SO3ControlNodelet::enable_motors_callback, this, - ros::TransportHints().tcpNoDelay()); - corrections_sub_ = - n.subscribe("corrections", 10, &SO3ControlNodelet::corrections_callback, - this, ros::TransportHints().tcpNoDelay()); - - imu_sub_ = n.subscribe("imu", 10, &SO3ControlNodelet::imu_callback, this, - ros::TransportHints().tcpNoDelay()); -} - -#include -//PLUGINLIB_DECLARE_CLASS(so3_control, SO3ControlNodelet, SO3ControlNodelet, -// nodelet::Nodelet); -PLUGINLIB_EXPORT_CLASS(SO3ControlNodelet, nodelet::Nodelet); diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt deleted file mode 100644 index 6fd4e2f..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt +++ /dev/null @@ -1,51 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(so3_quadrotor_simulator) - -add_compile_options(-std=c++11) - -set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") -set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") - -find_package(catkin REQUIRED COMPONENTS - roscpp - quadrotor_msgs - uav_utils - cmake_utils -) - -########### -## Build ## -########### - -find_package(Eigen3 REQUIRED) - -include_directories(${EIGEN3_INCLUDE_DIR}) -include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include/ode) -## -find_package(Armadillo REQUIRED) -include_directories(${ARMADILLO_INCLUDE_DIRS}) - -catkin_package( - INCLUDE_DIRS include -# LIBRARIES irobot_msgs - CATKIN_DEPENDS roscpp quadrotor_msgs uav_utils - DEPENDS Eigen3 system_lib -) - -include_directories(include) -include_directories( - ${catkin_INCLUDE_DIRS} -) - -add_library(quadrotor_dynamics src/dynamics/Quadrotor.cpp) - -## Declare a cpp executable -#add_executable(odom_visualization src/odom_visualization.cpp) -add_executable(quadrotor_simulator_so3 - src/quadrotor_simulator_so3.cpp) - -target_link_libraries(quadrotor_simulator_so3 - ${catkin_LIBRARIES} - quadrotor_dynamics -) diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/config/rviz.rviz b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/config/rviz.rviz deleted file mode 100644 index 0a8060b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/config/rviz.rviz +++ /dev/null @@ -1,212 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /UAV1 - Splitter Ratio: 0.5 - Tree Height: 703 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - - /3D Nav Goal1 - Name: Tool Properties - Splitter Ratio: 0.588679016 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 138; 138; 138 - Enabled: true - Line Style: - Line Width: 0.0299999993 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization/robot - Name: UAV - Namespaces: - mesh: true - Queue Size: 100 - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 85; 255 - Enabled: true - Head Diameter: 0.300000012 - Head Length: 0.200000003 - Length: 0.300000012 - Line Style: Lines - Line Width: 0.0299999993 - Name: Path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Radius: 0.0299999993 - Shaft Diameter: 0.100000001 - Shaft Length: 0.100000001 - Topic: /odom_visualization_1/path - Unreliable: false - Value: true - - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.100000001 - Class: rviz/Pose - Color: 0; 255; 0 - Enabled: true - Head Length: 0.300000012 - Head Radius: 0.100000001 - Name: Pose - Shaft Length: 1 - Shaft Radius: 0.0500000007 - Shape: Arrow - Topic: /odom_visualization_1/pose - Unreliable: false - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /odom_visualization_1/velocity - Name: Velocity - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 85; 255 - Enabled: true - Head Diameter: 0.300000012 - Head Length: 0.200000003 - Length: 0.300000012 - Line Style: Lines - Line Width: 0.0299999993 - Name: Path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Radius: 0.0299999993 - Shaft Diameter: 0.100000001 - Shaft Length: 0.100000001 - Topic: /CircleNode_1/path - Unreliable: false - Value: true - - Class: rviz/Axes - Enabled: true - Length: 1 - Name: Axes - Radius: 0.100000001 - Reference Frame: - Value: true - Enabled: true - Global Options: - Background Color: 89; 89; 89 - Default Light: true - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - - Class: rviz_plugins/GameLikeInput - RangeX_max: 4 - RangeX_min: -4 - RangeY_max: 2.5 - RangeY_min: -2.5 - RangeZ_max: 1.70000005 - RangeZ_min: 0.800000012 - TopicPoint: point_list - TopicSelect: select_list - TopicSwarm: swarm - - Class: rviz_plugins/Goal3DTool - Topic: goal - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 14.550209 - Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.054024078 - Y: -0.301004827 - Z: 2.69711113 - Focal Shape Fixed Size: true - Focal Shape Size: 0.0500000007 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.00999999978 - Pitch: 0.759796858 - Target Frame: - Value: Orbit (rviz) - Yaw: 4.71485233 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 984 - Hide Left Dock: false - Hide Right Dock: true - QMainWindow State: 000000ff00000000fd00000004000000000000016a0000034efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000034e000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000037afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000037a000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005400000003efc0100000002fb0000000800540069006d00650100000000000005400000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003d00000034e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1344 - X: 565 - Y: 24 diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/CHANGELOG b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/CHANGELOG deleted file mode 100644 index b1537eb..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/CHANGELOG +++ /dev/null @@ -1,9 +0,0 @@ -odeint 2.1 - -* versioning system -* generation functions -* bugfixing - -odeint 2.2 (still running) - -* removing same_size and resize from state_wrapper into separate functions diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/Jamroot b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/Jamroot deleted file mode 100644 index db8bfbc..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/Jamroot +++ /dev/null @@ -1,44 +0,0 @@ -# Copyright 2009 Karsten Ahnert and Mario Mulansky. -# Distributed under the Boost Software License, Version 1.0. (See -# accompanying file LICENSE_1_0.txt or copy at -# http://www.boost.org/LICENSE_1_0.txt) - -import os ; -import modules ; -import path ; - -path-constant BOOST_ROOT : [ os.environ BOOST_ROOT ] ; - -project - : requirements - $(BOOST_ROOT) - clang:-Wno-unused-variable - ; - -# tests, regression tests and examples -build-project libs/numeric/odeint/test ; -build-project libs/numeric/odeint/examples ; - - -# additional tests with external libraries : -# build-project libs/numeric/odeint/test_external/gmp ; -# build-project libs/numeric/odeint/test_external/mkl ; -# build-project libs/numeric/odeint/test_external/gsl ; - - -# docs: -# build-project libs/numeric/odeint/doc ; - - - - - - -###### The following is copied from another sandbox project ##### -###### to get the quickbook and boostbook working ... ##### - -# local boost-root = [ modules.peek : BOOST_ROOT ] ; -# local explore-header-include = $(top)/../.. ; -# use-project /boost/regex : $(boost-root)/libs/regex/build ; - -################################################################## diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/README b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/README deleted file mode 100644 index f34601f..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/README +++ /dev/null @@ -1 +0,0 @@ -odeint is a highly flexible library for solving ordinary differential equations. diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint.hpp deleted file mode 100644 index 3200fbe..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint.hpp +++ /dev/null @@ -1,75 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint.hpp - - [begin_description] - Forward include for odeint. Includes nearly everything. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_HPP_INCLUDED - -#include -#include - -// start with ublas wrapper because we need its specializations before including state_wrapper.hpp -#include - -#include -#include -#include -#include -#include -#include -#include - -#include - -#include - -#include - -#ifndef __CUDACC__ -/* Bulirsch Stoer with Dense Output does not compile with nvcc - * because of the binomial library used there which relies on unsupported SSE functions - */ -#include -#endif - -#include -#include - -#include - -#include -#include -#include -#include - -/* - * Including this algebra slows down the compilation time - */ -// #include -#include - -#include -#include -#include -#include -#include - -#include - -#include - - -#endif // BOOST_NUMERIC_ODEINT_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp deleted file mode 100644 index 096e427..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp +++ /dev/null @@ -1,265 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/algebra/array_algebra.hpp - - [begin_description] - Algebra for boost::array. Highly specialized for odeint. Const arguments are introduce to work with odeint. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_ARRAY_ALGEBRA_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_ALGEBRA_ARRAY_ALGEBRA_HPP_INCLUDED - -#include - -namespace boost { -namespace numeric { -namespace odeint { - -struct array_algebra -{ - template< typename T , size_t dim , class Op > - static void for_each1( boost::array< T , dim > &s1 , Op op ) - { - for( size_t i=0 ; i - static void for_each2( boost::array< T1 , dim > &s1 , - const boost::array< T2 , dim > &s2 , Op op ) - { - for( size_t i=0 ; i - static void for_each3( boost::array< T , dim > &s1 , - const boost::array< T , dim > &s2 , - const boost::array< T , dim > &s3 , Op op ) - { - for( size_t i=0 ; i - static void for_each3( boost::array< T , dim > &s1 , - boost::array< T , dim > &s2 , - const boost::array< T , dim > &s3 , Op op ) - { - for( size_t i=0 ; i - static void for_each4( boost::array< T , dim > &s1 , - const boost::array< T , dim > &s2 , - const boost::array< T , dim > &s3 , - const boost::array< T , dim > &s4 , Op op ) - { - for( size_t i=0 ; i - static void for_each5( boost::array< T , dim > &s1 , - const boost::array< T , dim > &s2 , - const boost::array< T , dim > &s3 , - const boost::array< T , dim > &s4 , - const boost::array< T , dim > &s5 , Op op ) - { - for( size_t i=0 ; i - static void for_each6( boost::array< T , dim > &s1 , - const boost::array< T , dim > &s2 , - const boost::array< T , dim > &s3 , - const boost::array< T , dim > &s4 , - const boost::array< T , dim > &s5 , - const boost::array< T , dim > &s6 , Op op ) - { - for( size_t i=0 ; i - static void for_each7( boost::array< T , dim > &s1 , - const boost::array< T , dim > &s2 , - const boost::array< T , dim > &s3 , - const boost::array< T , dim > &s4 , - const boost::array< T , dim > &s5 , - const boost::array< T , dim > &s6 , - const boost::array< T , dim > &s7 , Op op ) - { - for( size_t i=0 ; i - static void for_each8( boost::array< T , dim > &s1 , - const boost::array< T , dim > &s2 , - const boost::array< T , dim > &s3 , - const boost::array< T , dim > &s4 , - const boost::array< T , dim > &s5 , - const boost::array< T , dim > &s6 , - const boost::array< T , dim > &s7 , - const boost::array< T , dim > &s8 , Op op ) - { - for( size_t i=0 ; i - static void for_each9( boost::array< T , dim > &s1 , - const boost::array< T , dim > &s2 , - const boost::array< T , dim > &s3 , - const boost::array< T , dim > &s4 , - const boost::array< T , dim > &s5 , - const boost::array< T , dim > &s6 , - const boost::array< T , dim > &s7 , - const boost::array< T , dim > &s8 , - const boost::array< T , dim > &s9 , Op op ) - { - for( size_t i=0 ; i - static void for_each10( boost::array< T , dim > &s1 , - const boost::array< T , dim > &s2 , - const boost::array< T , dim > &s3 , - const boost::array< T , dim > &s4 , - const boost::array< T , dim > &s5 , - const boost::array< T , dim > &s6 , - const boost::array< T , dim > &s7 , - const boost::array< T , dim > &s8 , - const boost::array< T , dim > &s9 , - const boost::array< T , dim > &s10 , Op op ) - { - for( size_t i=0 ; i - static void for_each11( boost::array< T , dim > &s1 , - const boost::array< T , dim > &s2 , - const boost::array< T , dim > &s3 , - const boost::array< T , dim > &s4 , - const boost::array< T , dim > &s5 , - const boost::array< T , dim > &s6 , - const boost::array< T , dim > &s7 , - const boost::array< T , dim > &s8 , - const boost::array< T , dim > &s9 , - const boost::array< T , dim > &s10 , - const boost::array< T , dim > &s11 , Op op ) - { - for( size_t i=0 ; i - static void for_each12( boost::array< T , dim > &s1 , - const boost::array< T , dim > &s2 , - const boost::array< T , dim > &s3 , - const boost::array< T , dim > &s4 , - const boost::array< T , dim > &s5 , - const boost::array< T , dim > &s6 , - const boost::array< T , dim > &s7 , - const boost::array< T , dim > &s8 , - const boost::array< T , dim > &s9 , - const boost::array< T , dim > &s10 , - const boost::array< T , dim > &s11 , - const boost::array< T , dim > &s12 , Op op ) - { - for( size_t i=0 ; i - static void for_each13( boost::array< T , dim > &s1 , - const boost::array< T , dim > &s2 , - const boost::array< T , dim > &s3 , - const boost::array< T , dim > &s4 , - const boost::array< T , dim > &s5 , - const boost::array< T , dim > &s6 , - const boost::array< T , dim > &s7 , - const boost::array< T , dim > &s8 , - const boost::array< T , dim > &s9 , - const boost::array< T , dim > &s10 , - const boost::array< T , dim > &s11 , - const boost::array< T , dim > &s12 , - const boost::array< T , dim > &s13 , Op op ) - { - for( size_t i=0 ; i - static void for_each14( boost::array< T , dim > &s1 , - const boost::array< T , dim > &s2 , - const boost::array< T , dim > &s3 , - const boost::array< T , dim > &s4 , - const boost::array< T , dim > &s5 , - const boost::array< T , dim > &s6 , - const boost::array< T , dim > &s7 , - const boost::array< T , dim > &s8 , - const boost::array< T , dim > &s9 , - const boost::array< T , dim > &s10 , - const boost::array< T , dim > &s11 , - const boost::array< T , dim > &s12 , - const boost::array< T , dim > &s13 , - const boost::array< T , dim > &s14 , Op op ) - { - for( size_t i=0 ; i - static void for_each15( boost::array< T , dim > &s1 , - const boost::array< T , dim > &s2 , - const boost::array< T , dim > &s3 , - const boost::array< T , dim > &s4 , - const boost::array< T , dim > &s5 , - const boost::array< T , dim > &s6 , - const boost::array< T , dim > &s7 , - const boost::array< T , dim > &s8 , - const boost::array< T , dim > &s9 , - const boost::array< T , dim > &s10 , - const boost::array< T , dim > &s11 , - const boost::array< T , dim > &s12 , - const boost::array< T , dim > &s13 , - const boost::array< T , dim > &s14 , - const boost::array< T , dim > &s15 , Op op ) - { - for( size_t i=0 ; i - static Value reduce( const boost::array< T , dim > &s , Red red , Value init) - { - for( size_t i=0 ; i ... - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_DEFAULT_OPERATIONS_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_ALGEBRA_DEFAULT_OPERATIONS_HPP_INCLUDED - -#include - -#include -#include - -#include - - -namespace boost { -namespace numeric { -namespace odeint { - - - -/* - * Notes: - * - * * the results structs are needed in order to work with fusion_algebra - */ -struct default_operations -{ - - template< class Fac1 = double > - struct scale - { - const Fac1 m_alpha1; - - scale( Fac1 alpha1 ) : m_alpha1( alpha1 ) { } - - template< class T1 > - void operator()( T1 &t1 ) const - { - t1 *= m_alpha1; - } - - typedef void result_type; - }; - - template< class Fac1 = double > - struct scale_sum1 - { - const Fac1 m_alpha1; - - scale_sum1( Fac1 alpha1 ) : m_alpha1( alpha1 ) { } - - template< class T1 , class T2 > - void operator()( T1 &t1 , const T2 &t2 ) const - { - t1 = m_alpha1 * t2; - } - - typedef void result_type; - }; - - - template< class Fac1 = double , class Fac2 = Fac1 > - struct scale_sum2 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - - scale_sum2( Fac1 alpha1 , Fac2 alpha2 ) : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) { } - - template< class T1 , class T2 , class T3 > - void operator()( T1 &t1 , const T2 &t2 , const T3 &t3) const - { - t1 = m_alpha1 * t2 + m_alpha2 * t3; - } - - typedef void result_type; - }; - - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 > - struct scale_sum3 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - - scale_sum3( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) { } - - template< class T1 , class T2 , class T3 , class T4 > - void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 ) const - { - t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4; - } - - typedef void result_type; - }; - - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 > - struct scale_sum4 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - - scale_sum4( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) { } - - template< class T1 , class T2 , class T3 , class T4 , class T5 > - void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5) const - { - t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5; - } - - typedef void result_type; - }; - - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 > - struct scale_sum5 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - const Fac5 m_alpha5; - - scale_sum5( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , Fac5 alpha5 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) { } - - template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 > - void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6) const - { - t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6; - } - - typedef void result_type; - }; - - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 > - struct scale_sum6 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - const Fac5 m_alpha5; - const Fac6 m_alpha6; - - scale_sum6( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , Fac5 alpha5 , Fac6 alpha6 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ){ } - - template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 > - void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 ,const T7 &t7) const - { - t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7; - } - - typedef void result_type; - }; - - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 > - struct scale_sum7 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - const Fac5 m_alpha5; - const Fac6 m_alpha6; - const Fac7 m_alpha7; - - scale_sum7( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , - Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) { } - - template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 > - void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 ) const - { - t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8; - } - - typedef void result_type; - }; - - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 > - struct scale_sum8 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - const Fac5 m_alpha5; - const Fac6 m_alpha6; - const Fac7 m_alpha7; - const Fac8 m_alpha8; - - scale_sum8( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , - Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) { } - - template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 > - void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 ) const - { - t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9; - } - - typedef void result_type; - }; - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 , class Fac9 = Fac8 > - struct scale_sum9 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - const Fac5 m_alpha5; - const Fac6 m_alpha6; - const Fac7 m_alpha7; - const Fac8 m_alpha8; - const Fac9 m_alpha9; - - scale_sum9( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , - Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 , Fac9 alpha9 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) , m_alpha9( alpha9 ) { } - - template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 , class T10 > - void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 , const T10 &t10 ) const - { - t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9 + m_alpha9 * t10; - } - - typedef void result_type; - }; - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 , class Fac9 = Fac8 , class Fac10 = Fac9 > - struct scale_sum10 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - const Fac5 m_alpha5; - const Fac6 m_alpha6; - const Fac7 m_alpha7; - const Fac8 m_alpha8; - const Fac9 m_alpha9; - const Fac10 m_alpha10; - - scale_sum10( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , - Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 , Fac9 alpha9 , Fac10 alpha10 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) , m_alpha9( alpha9 ) , m_alpha10( alpha10 ) { } - - template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 , class T10 , class T11 > - void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 , const T10 &t10 , const T11 &t11 ) const - { - t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9 + m_alpha9 * t10 + m_alpha10 * t11; - } - - typedef void result_type; - }; - - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 , class Fac9 = Fac8 , class Fac10 = Fac9 , class Fac11 = Fac10 > - struct scale_sum11 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - const Fac5 m_alpha5; - const Fac6 m_alpha6; - const Fac7 m_alpha7; - const Fac8 m_alpha8; - const Fac9 m_alpha9; - const Fac10 m_alpha10; - const Fac11 m_alpha11; - - scale_sum11( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , - Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 , Fac9 alpha9 , - Fac10 alpha10 , Fac11 alpha11 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) , m_alpha9( alpha9 ) , m_alpha10( alpha10 ) , m_alpha11( alpha11 ) { } - - template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 , class T10 , class T11 , class T12 > - void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 , const T10 &t10 , const T11 &t11 , const T12 &t12 ) const - { - t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9 + m_alpha9 * t10 + m_alpha10 * t11 + m_alpha11 * t12; - } - - typedef void result_type; - }; - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 , class Fac9 = Fac8 , class Fac10 = Fac9 , class Fac11 = Fac10 , class Fac12 = Fac11 > - struct scale_sum12 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - const Fac5 m_alpha5; - const Fac6 m_alpha6; - const Fac7 m_alpha7; - const Fac8 m_alpha8; - const Fac9 m_alpha9; - const Fac10 m_alpha10; - const Fac11 m_alpha11; - const Fac12 m_alpha12; - - scale_sum12( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , - Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 , Fac9 alpha9 , - Fac10 alpha10 , Fac11 alpha11 , Fac12 alpha12 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) , m_alpha9( alpha9 ) , m_alpha10( alpha10 ) , m_alpha11( alpha11 ) , m_alpha12( alpha12 ) { } - - template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 , class T10 , class T11 , class T12 , class T13 > - void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 , const T10 &t10 , const T11 &t11 , const T12 &t12 , const T13 &t13 ) const - { - t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9 + m_alpha9 * t10 + m_alpha10 * t11 + m_alpha11 * t12 + m_alpha12 * t13; - } - - typedef void result_type; - }; - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 , class Fac9 = Fac8 , class Fac10 = Fac9 , class Fac11 = Fac10 , class Fac12 = Fac11 , class Fac13 = Fac12 > - struct scale_sum13 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - const Fac5 m_alpha5; - const Fac6 m_alpha6; - const Fac7 m_alpha7; - const Fac8 m_alpha8; - const Fac9 m_alpha9; - const Fac10 m_alpha10; - const Fac11 m_alpha11; - const Fac12 m_alpha12; - const Fac13 m_alpha13; - - scale_sum13( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , - Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 , Fac9 alpha9 , - Fac10 alpha10 , Fac11 alpha11 , Fac12 alpha12 , Fac13 alpha13 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) , m_alpha9( alpha9 ) , m_alpha10( alpha10 ) , m_alpha11( alpha11 ) , m_alpha12( alpha12 ) , m_alpha13( alpha13 ) { } - - template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 , class T10 , class T11 , class T12 , class T13 , class T14 > - void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 , const T10 &t10 , const T11 &t11 , const T12 &t12 , const T13 &t13 , const T14 &t14 ) const - { - t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9 + m_alpha9 * t10 + m_alpha10 * t11 + m_alpha11 * t12 + m_alpha12 * t13 + m_alpha13 * t14; - } - - typedef void result_type; - }; - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 , class Fac9 = Fac8 , class Fac10 = Fac9 , class Fac11 = Fac10 , class Fac12 = Fac11 , class Fac13 = Fac12 , class Fac14 = Fac13 > - struct scale_sum14 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - const Fac5 m_alpha5; - const Fac6 m_alpha6; - const Fac7 m_alpha7; - const Fac8 m_alpha8; - const Fac9 m_alpha9; - const Fac10 m_alpha10; - const Fac11 m_alpha11; - const Fac12 m_alpha12; - const Fac13 m_alpha13; - const Fac14 m_alpha14; - - scale_sum14( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , - Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 , Fac9 alpha9 , - Fac10 alpha10 , Fac11 alpha11 , Fac12 alpha12 , Fac13 alpha13 , Fac14 alpha14 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) , m_alpha9( alpha9 ) , m_alpha10( alpha10 ) , m_alpha11( alpha11 ) , m_alpha12( alpha12 ) , m_alpha13( alpha13 ) , m_alpha14( alpha14 ) { } - - template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 , class T10 , class T11 , class T12 , class T13 , class T14 , class T15 > - void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 , const T10 &t10 , const T11 &t11 , const T12 &t12 , const T13 &t13 , const T14 &t14 , const T15 &t15 ) const - { - t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9 + m_alpha9 * t10 + m_alpha10 * t11 + m_alpha11 * t12 + m_alpha12 * t13 + m_alpha13 * t14 + m_alpha14 * t15; - } - - typedef void result_type; - }; - - template< class Fac1 = double , class Fac2 = Fac1 > - struct scale_sum_swap2 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - - scale_sum_swap2( Fac1 alpha1 , Fac2 alpha2 ) : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) { } - - template< class T1 , class T2 , class T3 > - void operator()( T1 &t1 , T2 &t2 , const T3 &t3) const - { - const T1 tmp( t1 ); - t1 = m_alpha1 * t2 + m_alpha2 * t3; - t2 = tmp; - } - - typedef void result_type; - }; - - /* - * for usage in for_each2 - * - * Works with boost::units by eliminating the unit - */ - template< class Fac1 = double > - struct rel_error - { - const Fac1 m_eps_abs , m_eps_rel , m_a_x , m_a_dxdt; - - rel_error( Fac1 eps_abs , Fac1 eps_rel , Fac1 a_x , Fac1 a_dxdt ) - : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) , m_a_x( a_x ) , m_a_dxdt( a_dxdt ) { } - - - template< class T1 , class T2 , class T3 > - void operator()( T3 &t3 , const T1 &t1 , const T2 &t2 ) const - { - using std::abs; - set_unit_value( t3 , abs( get_unit_value( t3 ) ) / ( m_eps_abs + m_eps_rel * ( m_a_x * abs( get_unit_value( t1 ) ) + m_a_dxdt * abs( get_unit_value( t2 ) ) ) ) ); - } - - typedef void result_type; - }; - - - /* - * for usage in for_each3 - * - * used in the controller for the rosenbrock4 method - * - * Works with boost::units by eliminating the unit - */ - template< class Fac1 = double > - struct default_rel_error - { - const Fac1 m_eps_abs , m_eps_rel ; - - default_rel_error( Fac1 eps_abs , Fac1 eps_rel ) - : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) { } - - - /* - * xerr = xerr / ( eps_abs + eps_rel * max( x , x_old ) ) - */ - template< class T1 , class T2 , class T3 > - void operator()( T3 &t3 , const T1 &t1 , const T2 &t2 ) const - { - BOOST_USING_STD_MAX(); - using std::abs; - Fac1 x1 = abs( get_unit_value( t1 ) ) , x2 = abs( get_unit_value( t2 ) ); - set_unit_value( t3 , abs( get_unit_value( t3 ) ) / ( m_eps_abs + m_eps_rel * max BOOST_PREVENT_MACRO_SUBSTITUTION ( x1 , x2 ) ) ); - } - - typedef void result_type; - }; - - - - /* - * for usage in reduce - */ - - template< class Value > - struct maximum - { - template< class Fac1 , class Fac2 > - Value operator()( Fac1 t1 , const Fac2 t2 ) const - { - using std::abs; - Value a1 = abs( get_unit_value( t1 ) ) , a2 = abs( get_unit_value( t2 ) ); - return ( a1 < a2 ) ? a2 : a1 ; - } - - typedef Value result_type; - }; - - - - - - template< class Fac1 = double > - struct rel_error_max - { - const Fac1 m_eps_abs , m_eps_rel; - - rel_error_max( Fac1 eps_abs , Fac1 eps_rel ) - : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) - { } - - template< class Res , class T1 , class T2 , class T3 > - Res operator()( Res r , const T1 &x_old , const T2 &x , const T3 &x_err ) - { - BOOST_USING_STD_MAX(); - using std::abs; - Res tmp = abs( get_unit_value( x_err ) ) / ( m_eps_abs + m_eps_rel * max BOOST_PREVENT_MACRO_SUBSTITUTION ( abs( x_old ) , abs( x ) ) ); - return max BOOST_PREVENT_MACRO_SUBSTITUTION ( r , tmp ); - } - }; - - - template< class Fac1 = double > - struct rel_error_max2 - { - const Fac1 m_eps_abs , m_eps_rel , m_a_x , m_a_dxdt; - - rel_error_max2( Fac1 eps_abs , Fac1 eps_rel , Fac1 a_x , Fac1 a_dxdt ) - : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) , m_a_x( a_x ) , m_a_dxdt( a_dxdt ) - { } - - template< class Res , class T1 , class T2 , class T3 , class T4 > - Res operator()( Res r , const T1 &x_old , const T2 &x , const T3 &dxdt_old , const T4 &x_err ) - { - BOOST_USING_STD_MAX(); - using std::abs; - Res tmp = abs( get_unit_value( x_err ) ) / - ( m_eps_abs + m_eps_rel * ( m_a_x * abs( get_unit_value( x_old ) ) + m_a_dxdt * abs( get_unit_value( dxdt_old ) ) ) ); - return max BOOST_PREVENT_MACRO_SUBSTITUTION ( r , tmp ); - } - }; - - - - - template< class Fac1 = double > - struct rel_error_l2 - { - const Fac1 m_eps_abs , m_eps_rel; - - rel_error_l2( Fac1 eps_abs , Fac1 eps_rel ) - : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) - { } - - template< class Res , class T1 , class T2 , class T3 > - Res operator()( Res r , const T1 &x_old , const T2 &x , const T3 &x_err ) - { - BOOST_USING_STD_MAX(); - using std::abs; - Res tmp = abs( get_unit_value( x_err ) ) / ( m_eps_abs + m_eps_rel * max BOOST_PREVENT_MACRO_SUBSTITUTION ( abs( x_old ) , abs( x ) ) ); - return r + tmp * tmp; - } - }; - - - - - template< class Fac1 = double > - struct rel_error_l2_2 - { - const Fac1 m_eps_abs , m_eps_rel , m_a_x , m_a_dxdt; - - rel_error_l2_2( Fac1 eps_abs , Fac1 eps_rel , Fac1 a_x , Fac1 a_dxdt ) - : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) , m_a_x( a_x ) , m_a_dxdt( a_dxdt ) - { } - - template< class Res , class T1 , class T2 , class T3 , class T4 > - Res operator()( Res r , const T1 &x_old , const T2 &x , const T3 &dxdt_old , const T4 &x_err ) - { - using std::abs; - Res tmp = abs( get_unit_value( x_err ) ) / - ( m_eps_abs + m_eps_rel * ( m_a_x * abs( get_unit_value( x_old ) ) + m_a_dxdt * abs( get_unit_value( dxdt_old ) ) ) ); - return r + tmp * tmp; - } - }; - - - - - - -}; - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_DEFAULT_OPERATIONS_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/for_each.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/for_each.hpp deleted file mode 100644 index 8693e84..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/for_each.hpp +++ /dev/null @@ -1,165 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/algebra/detail/for_each.hpp - - [begin_description] - Default for_each implementations. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_FOR_EACH_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_FOR_EACH_HPP_INCLUDED - -namespace boost { -namespace numeric { -namespace odeint { -namespace detail { - - - template< class Iterator1 , class Operation > - inline void for_each1( Iterator1 first1 , Iterator1 last1 , Operation op ) - { - for( ; first1 != last1 ; ) - op( *first1++ ); - } - - - template< class Iterator1 , class Iterator2 , class Operation > - inline void for_each2( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Operation op ) - { - for( ; first1 != last1 ; ) - op( *first1++ , *first2++ ); - } - - - template< class Iterator1 , class Iterator2 , class Iterator3 , class Operation > - inline void for_each3( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, Operation op ) - { - for( ; first1 != last1 ; ) - op( *first1++ , *first2++ , *first3++ ); - } - - - template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Operation > - inline void for_each4( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, Iterator4 first4, Operation op ) - { - for( ; first1 != last1 ; ) - op( *first1++ , *first2++ , *first3++ , *first4++ ); - } - - - template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Operation > - inline void for_each5( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, - Iterator4 first4, Iterator5 first5, Operation op ) - { - for( ; first1 != last1 ; ) - op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ ); - } - - - template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Operation > - inline void for_each6( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, - Iterator4 first4, Iterator5 first5, Iterator6 first6 , Operation op ) - { - for( ; first1 != last1 ; ) - op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ ); - } - - - template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Operation > - inline void for_each7( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, - Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Operation op ) - { - for( ; first1 != last1 ; ) - op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ ); - } - - template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Operation > - inline void for_each8( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, - Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 , Operation op ) - { - for( ; first1 != last1 ; ) - op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ ); - } - - template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Operation > - inline void for_each9( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, - Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 , - Iterator9 first9 , Operation op ) - { - for( ; first1 != last1 ; ) - op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ ); - } - - template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Iterator10 , class Operation > - inline void for_each10( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, - Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 , - Iterator9 first9 , Iterator10 first10 , Operation op ) - { - for( ; first1 != last1 ; ) - op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ , *first10++ ); - } - - template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Iterator10 , class Iterator11 , class Operation > - inline void for_each11( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, - Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 , - Iterator9 first9 , Iterator10 first10 , Iterator11 first11 , Operation op ) - { - for( ; first1 != last1 ; ) - op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ , *first10++ , *first11++ ); - } - - template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Iterator10 , class Iterator11 , class Iterator12 , class Operation > - inline void for_each12( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, - Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 , - Iterator9 first9 , Iterator10 first10 , Iterator11 first11 , Iterator12 first12 , Operation op ) - { - for( ; first1 != last1 ; ) - op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ , *first10++ , *first11++ , *first12++ ); - } - - template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Iterator10 , class Iterator11 , class Iterator12 , class Iterator13 , class Operation > - inline void for_each13( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, - Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 , - Iterator9 first9 , Iterator10 first10 , Iterator11 first11 , Iterator12 first12 , Iterator13 first13 , Operation op ) - { - for( ; first1 != last1 ; ) - op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ , *first10++ , *first11++ , *first12++ , *first13++ ); - } - - template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Iterator10 , class Iterator11 , class Iterator12 , class Iterator13 , class Iterator14 , class Operation > - inline void for_each14( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, - Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 , - Iterator9 first9 , Iterator10 first10 , Iterator11 first11 , Iterator12 first12 , Iterator13 first13 , - Iterator14 first14 , Operation op ) - { - for( ; first1 != last1 ; ) - op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ , *first10++ , *first11++ , *first12++ , *first13++ , *first14++ ); - } - - template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Iterator10 , class Iterator11 , class Iterator12 , class Iterator13 , class Iterator14 , class Iterator15 , class Operation > - inline void for_each15( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, - Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 , - Iterator9 first9 , Iterator10 first10 , Iterator11 first11 , Iterator12 first12 , Iterator13 first13 , - Iterator14 first14 , Iterator15 first15 , Operation op ) - { - for( ; first1 != last1 ; ) - op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ , *first10++ , *first11++ , *first12++ , *first13++ , *first14++ , *first15++ ); - } - - -} // detail -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_FOR_EACH_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp deleted file mode 100644 index ef97327..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp +++ /dev/null @@ -1,43 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/algebra/detail/macros.hpp - - [begin_description] - Some macros for type checking. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_MACROS_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_MACROS_HPP_INCLUDED - - -//type traits aren't working with nvcc -#ifndef __CUDACC__ -#include -#include - -#define BOOST_ODEINT_CHECK_CONTAINER_TYPE( Type1 , Type2 ) \ - BOOST_STATIC_ASSERT(( boost::is_same< typename boost::remove_const< Type1 >::type , Type2 >::value )) - -#else -//empty macro for nvcc -#define BOOST_ODEINT_CHECK_CONTAINER_TYPE( Type1 , Type2 ) - -#endif // __CUDACC__ - - - -/* -#define BOOST_ODEINT_CHECK_OPERATION_ARITY( Operation , Arity ) \ - BOOST_STATIC_ASSERT(( boost::function_traits< Operation >::arity == Arity )) - */ - -#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_MACROS_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp deleted file mode 100644 index 247d03d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp +++ /dev/null @@ -1,67 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/algebra/detail/reduce.hpp - - [begin_description] - Default reduce implementation. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_REDUCE_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_REDUCE_HPP_INCLUDED - - -namespace boost { -namespace numeric { -namespace odeint { -namespace detail { - -template< class ValueType , class Iterator1 , class Reduction > -inline ValueType reduce( Iterator1 first1 , Iterator1 last1 , Reduction red, ValueType init) -{ - for( ; first1 != last1 ; ) - init = red( init , *first1++ ); - return init; -} - - -template< class ValueType , class Iterator1 , class Iterator2 , class Reduction > -inline ValueType reduce2( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Reduction red, ValueType init) -{ - for( ; first1 != last1 ; ) - init = red( init , *first1++ , *first2++ ); - return init; -} - -template< class ValueType , class Iterator1 , class Iterator2 , class Iterator3 , class Reduction > -inline ValueType reduce3( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3 , Reduction red, ValueType init) -{ - for( ; first1 != last1 ; ) - init = red( init , *first1++ , *first2++ , *first3++ ); - return init; -} - -template< class ValueType , class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Reduction > -inline ValueType reduce4( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3 , Iterator4 first4 , Reduction red, ValueType init) -{ - for( ; first1 != last1 ; ) - init = red( init , *first1++ , *first2++ , *first3++ , *first4++ ); - return init; -} - - -} // detail -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_REDUCE_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/fusion_algebra.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/fusion_algebra.hpp deleted file mode 100644 index 81c4070..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/fusion_algebra.hpp +++ /dev/null @@ -1,186 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/algebra/fusion_algebra.hpp - - [begin_description] - Algebra for boost::fusion sequences. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_FUSION_ALGEBRA_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_ALGEBRA_FUSION_ALGEBRA_HPP_INCLUDED - - -#include -#include -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - - -struct fusion_algebra -{ - template< class S1 , class Op > - static void for_each1( S1 &s1 , Op op ) - { - boost::fusion::for_each( s1 , op ); - }; - - - template< class S1 , class S2 , class Op > - static void for_each2( S1 &s1 , S2 &s2 , Op op ) - { - typedef boost::fusion::vector< S1& , S2& > Sequences; - Sequences sequences( s1 , s2 ); - boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); - } - - - template< class S1 , class S2 , class S3 , class Op > - static void for_each3( S1 &s1 , S2 &s2 , S3 &s3 , Op op ) - { - typedef boost::fusion::vector< S1& , S2& , S3& > Sequences; - Sequences sequences( s1 , s2 , s3 ); - boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); - } - - template< class S1 , class S2 , class S3 , class S4 , class Op > - static void for_each4( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , Op op ) - { - typedef boost::fusion::vector< S1& , S2& , S3& , S4& > Sequences; - Sequences sequences( s1 , s2 , s3 , s4 ); - boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); - } - - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class Op > - static void for_each5( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , Op op ) - { - typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& > Sequences; - Sequences sequences( s1 , s2 , s3 , s4 , s5 ); - boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); - } - - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class Op > - static void for_each6( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , Op op ) - { - typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& > Sequences; - Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 ); - boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); - } - - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class Op > - static void for_each7( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , Op op ) - { - typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& > Sequences; - Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 ); - boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); - } - - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class Op > - static void for_each8( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , Op op ) - { - BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 8 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" ); - typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& > Sequences; - Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 ); - boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class Op > - static void for_each9( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , Op op ) - { - BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 9 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" ); - typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& > Sequences; - Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 ); - boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class S10 , class Op > - static void for_each10( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , Op op ) - { - BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 10 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" ); - typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& , S10& > Sequences; - Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 ); - boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class S10 , class S11 , class Op > - static void for_each11( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , Op op ) - { - BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 11 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" ); - BOOST_STATIC_ASSERT_MSG( BOOST_RESULT_OF_NUM_ARGS >= 11 , "Macro Parameter BOOST_RESULT_OF_NUM_ARGS to small!" ); - typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& , S10& , S11& > Sequences; - Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 ); - boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class Op > - static void for_each12( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , Op op ) - { - BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 12 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" ); - BOOST_STATIC_ASSERT_MSG( BOOST_RESULT_OF_NUM_ARGS >= 12 , "Macro Parameter BOOST_RESULT_OF_NUM_ARGS to small!" ); - typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& , S10& , S11& , S12& > Sequences; - Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 ); - boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class Op > - static void for_each13( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , Op op ) - { - BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 13 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" ); - BOOST_STATIC_ASSERT_MSG( BOOST_RESULT_OF_NUM_ARGS >= 13 , "Macro Parameter BOOST_RESULT_OF_NUM_ARGS to small!" ); - typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& , S10& , S11& , S12& , S13& > Sequences; - Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 , s13 ); - boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class S14 , class Op > - static void for_each14( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , S14 &s14 , Op op ) - { - BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 14 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" ); - BOOST_STATIC_ASSERT_MSG( BOOST_RESULT_OF_NUM_ARGS >= 14 , "Macro Parameter BOOST_RESULT_OF_NUM_ARGS to small!" ); - typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& , S10& , S11& , S12& , S13& , S14& > Sequences; - Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 , s13 , s14 ); - boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class S14 , class S15 , class Op > - static void for_each15( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , S14 &s14 , S15 &s15 , Op op ) - { - BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 15 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" ); - BOOST_STATIC_ASSERT_MSG( BOOST_RESULT_OF_NUM_ARGS >= 15 , "Macro Parameter BOOST_RESULT_OF_NUM_ARGS to small!" ); - typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& , S10& , S11& , S12& , S13& , S14& , S15& > Sequences; - Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 , s13 , s14 , s15 ); - boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); - } - - template< class Value , class S , class Reduction > - static Value reduce( const S &s , Reduction red , Value init) - { - return boost::fusion::accumulate( s , init , red ); - } -}; - - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_FUSION_ALGEBRA_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/range_algebra.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/range_algebra.hpp deleted file mode 100644 index c54e09b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/range_algebra.hpp +++ /dev/null @@ -1,159 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/algebra/range_algebra.hpp - - [begin_description] - Default algebra, which works with the most state types, like vector< double >, boost::array< double >, boost::range. - Internally is uses boost::range to obtain the begin and end iterator of the according sequence. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_RANGE_ALGEBRA_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_ALGEBRA_RANGE_ALGEBRA_HPP_INCLUDED - -#include -#include - -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - -struct range_algebra -{ - template< class S1 , class Op > - static void for_each1( S1 &s1 , Op op ) - { - detail::for_each1( boost::begin( s1 ) , boost::end( s1 ) , - op ); - } - - template< class S1 , class S2 , class Op > - static void for_each2( S1 &s1 , S2 &s2 , Op op ) - { - detail::for_each2( boost::begin( s1 ) , boost::end( s1 ) , - boost::begin( s2 ) , op ); - } - - template< class S1 , class S2 , class S3 , class Op > - static void for_each3( S1 &s1 , S2 &s2 , S3 &s3 , Op op ) - { - detail::for_each3( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , op ); - } - - template< class S1 , class S2 , class S3 , class S4 , class Op > - static void for_each4( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , Op op ) - { - detail::for_each4( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , op ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class Op > - static void for_each5( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , Op op ) - { - detail::for_each5( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , op ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class Op > - static void for_each6( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , Op op ) - { - detail::for_each6( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , op ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class Op > - static void for_each7( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , Op op ) - { - detail::for_each7( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , op ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class Op > - static void for_each8( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , Op op ) - { - detail::for_each8( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , op ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class Op > - static void for_each9( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , Op op ) - { - detail::for_each9( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , op ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class Op > - static void for_each10( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , Op op ) - { - detail::for_each10( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , boost::begin( s10 ) , op ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class Op > - static void for_each11( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , Op op ) - { - detail::for_each11( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , boost::begin( s10 ) , boost::begin( s11 ) , op ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class Op > - static void for_each12( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , Op op ) - { - detail::for_each12( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , boost::begin( s10 ) , boost::begin( s11 ) , boost::begin( s12 ) , op ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class Op > - static void for_each13( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , Op op ) - { - detail::for_each13( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , boost::begin( s10 ) , boost::begin( s11 ) , boost::begin( s12 ) , boost::begin( s13 ) , op ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class S14 , class Op > - static void for_each14( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , S14 &s14 , Op op ) - { - detail::for_each14( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , boost::begin( s10 ) , boost::begin( s11 ) , boost::begin( s12 ) , boost::begin( s13 ) , boost::begin( s14 ) , op ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class S14 , class S15 , class Op > - static void for_each15( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , S14 &s14 , S15 &s15 , Op op ) - { - detail::for_each15( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , boost::begin( s10 ) , boost::begin( s11 ) , boost::begin( s12 ) , boost::begin( s13 ) , boost::begin( s14 ) , boost::begin( s15 ) , op ); - } - - template< class Value , class S , class Red > - static Value reduce( const S &s , Red red , Value init) - { - return detail::reduce( boost::begin( s ) , boost::end( s ) , red , init ); - } - - template< class Value , class S1 , class S2 , class Red > - static Value reduce2( const S1 &s1 , const S2 &s2 , Red red , Value init ) - { - return detail::reduce2( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , red , init ); - } - - template< class Value , class S1 , class S2 , class S3 , class Red > - static Value reduce3( const S1 &s1 , const S2 &s2 , const S3 &s3 , Red red , Value init ) - { - return detail::reduce3( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , red , init ); - } - - template< class Value , class S1 , class S2 , class S3 , class S4 , class Red > - static Value reduce4( const S1 &s1 , const S2 &s2 , const S3 &s3 , const S4 &s4 , Red red , Value init ) - { - return detail::reduce4( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , red , init ); - } - - -}; - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_RANGE_ALGEBRA_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/vector_space_algebra.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/vector_space_algebra.hpp deleted file mode 100644 index 4673b9b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/vector_space_algebra.hpp +++ /dev/null @@ -1,156 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/algebra/vector_space_algebra.hpp - - [begin_description] - An algebra for types which have vector space semantics, hence types on which the operators +,-,* are well defined. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_VECTOR_SPACE_ALGEBRA_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_ALGEBRA_VECTOR_SPACE_ALGEBRA_HPP_INCLUDED - -#include - - -namespace boost { -namespace numeric { -namespace odeint { - - -/* - * This class template has to be overload in order to call vector_space_algebra::reduce - */ -template< class State > struct vector_space_reduce; - -/* - * Example: instantiation for sole doubles - */ -template<> -struct vector_space_reduce< double > -{ - template< class Op > - double operator()( double x , Op op , double init ) const - { - init = op( init , x ); - return init; - } -}; - - -struct vector_space_algebra -{ - template< class S1 , class Op > - static void for_each1( S1 &s1 , Op op ) - { - // ToDo : build checks, that the +-*/ operators are well defined - op( s1 ); - } - - template< class S1 , class S2 , class Op > - static void for_each2( S1 &s1 , S2 &s2 , Op op ) - { - op( s1 , s2 ); - } - - template< class S1 , class S2 , class S3 , class Op > - static void for_each3( S1 &s1 , S2 &s2 , S3 &s3 , Op op ) - { - op( s1 , s2 , s3 ); - } - - template< class S1 , class S2 , class S3 , class S4 , class Op > - static void for_each4( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , Op op ) - { - op( s1 , s2 , s3 , s4 ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class Op > - static void for_each5( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , Op op ) - { - op( s1 , s2 , s3 , s4 , s5 ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class Op > - static void for_each6( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , Op op ) - { - op( s1 , s2 , s3 , s4 , s5 , s6 ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class Op > - static void for_each7( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , Op op ) - { - op( s1 , s2 , s3 , s4 , s5 , s6 , s7 ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class Op > - static void for_each8( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , Op op ) - { - op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class Op > - static void for_each9( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , Op op ) - { - op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class Op > - static void for_each10( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , Op op ) - { - op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class Op > - static void for_each11( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , Op op ) - { - op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class Op > - static void for_each12( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , Op op ) - { - op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class Op > - static void for_each13( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , Op op ) - { - op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 , s13 ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class S14 , class Op > - static void for_each14( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , S14 &s14 , Op op ) - { - op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 , s13 , s14 ); - } - - template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class S14 , class S15 , class Op > - static void for_each15( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , S14 &s14 , S15 &s15 , Op op ) - { - op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 , s13 , s14 , s15 ); - } - - template< class Value , class S , class Red > - static Value reduce( const S &s , Red red , Value init ) - { - boost::numeric::odeint::vector_space_reduce< S > r; - return r( s , red , init ); - } -}; - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_VECTOR_SPACE_ALGEBRA_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/config.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/config.hpp deleted file mode 100644 index 0d08982..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/config.hpp +++ /dev/null @@ -1,47 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/config.hpp - - [begin_description] - Sets configurations for odeint and used libraries. Should be included before any other odeint library - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#ifndef BOOST_NUMERIC_ODEINT_CONFIG_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_CONFIG_HPP_INCLUDED - -//increase macro variable to allow rk78 scheme -#ifndef FUSION_MAX_VECTOR_SIZE -#define FUSION_MAX_VECTOR_SIZE 15 -#endif - -/* - * the following definitions are only required if fusion vectors are used as state types - * in the rk78 scheme - * they should be defined by the user if required, see e.g. libs/numeric/examples/harmonic_oscillator_units.cpp - */ -#ifndef BOOST_FUSION_INVOKE_MAX_ARITY -#define BOOST_FUSION_INVOKE_MAX_ARITY 15 -#endif - -#ifndef BOOST_RESULT_OF_NUM_ARGS -#define BOOST_RESULT_OF_NUM_ARGS 15 -#endif -/* - */ - -#include - -#if __cplusplus >= 201103L -#define BOOST_NUMERIC_ODEINT_CXX11 1 -#endif - - -#endif // BOOST_NUMERIC_ODEINT_CONFIG_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp deleted file mode 100644 index c961a89..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp +++ /dev/null @@ -1,229 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/external/gsl/gsl_wrapper.hpp - - [begin_description] - Wrapper for gsl_vector. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_GSL_GSL_WRAPPER_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_EXTERNAL_GSL_GSL_WRAPPER_HPP_INCLUDED - -#include - -#include - -#include -#include -#include - - -#include -#include -#include - -class const_gsl_vector_iterator; - -/* - * defines an iterator for gsl_vector - */ -class gsl_vector_iterator : public boost::iterator_facade< gsl_vector_iterator , double , boost::random_access_traversal_tag > -{ -public : - - gsl_vector_iterator( void ): m_p(0) , m_stride( 0 ) { } - explicit gsl_vector_iterator( gsl_vector *p ) : m_p( p->data ) , m_stride( p->stride ) { } - friend gsl_vector_iterator end_iterator( gsl_vector * ); - -private : - - friend class boost::iterator_core_access; - friend class const_gsl_vector_iterator; - - void increment( void ) { m_p += m_stride; } - void decrement( void ) { m_p -= m_stride; } - void advance( ptrdiff_t n ) { m_p += n*m_stride; } - bool equal( const gsl_vector_iterator &other ) const { return this->m_p == other.m_p; } - bool equal( const const_gsl_vector_iterator &other ) const; - double& dereference( void ) const { return *m_p; } - - double *m_p; - size_t m_stride; -}; - - - -/* - * defines an const iterator for gsl_vector - */ -class const_gsl_vector_iterator : public boost::iterator_facade< const_gsl_vector_iterator , const double , boost::random_access_traversal_tag > -{ -public : - - const_gsl_vector_iterator( void ): m_p(0) , m_stride( 0 ) { } - explicit const_gsl_vector_iterator( const gsl_vector *p ) : m_p( p->data ) , m_stride( p->stride ) { } - const_gsl_vector_iterator( const gsl_vector_iterator &p ) : m_p( p.m_p ) , m_stride( p.m_stride ) { } - -private : - - friend class boost::iterator_core_access; - friend class gsl_vector_iterator; - friend const_gsl_vector_iterator end_iterator( const gsl_vector * ); - - void increment( void ) { m_p += m_stride; } - void decrement( void ) { m_p -= m_stride; } - void advance( ptrdiff_t n ) { m_p += n*m_stride; } - bool equal( const const_gsl_vector_iterator &other ) const { return this->m_p == other.m_p; } - bool equal( const gsl_vector_iterator &other ) const { return this->m_p == other.m_p; } - const double& dereference( void ) const { return *m_p; } - - const double *m_p; - size_t m_stride; -}; - - -bool gsl_vector_iterator::equal( const const_gsl_vector_iterator &other ) const { return this->m_p == other.m_p; } - - -gsl_vector_iterator end_iterator( gsl_vector *x ) -{ - gsl_vector_iterator iter( x ); - iter.m_p += iter.m_stride * x->size; - return iter; -} - -const_gsl_vector_iterator end_iterator( const gsl_vector *x ) -{ - const_gsl_vector_iterator iter( x ); - iter.m_p += iter.m_stride * x->size; - return iter; -} - - - - -namespace boost -{ -template<> -struct range_mutable_iterator< gsl_vector* > -{ - typedef gsl_vector_iterator type; -}; - -template<> -struct range_const_iterator< gsl_vector* > -{ - typedef const_gsl_vector_iterator type; -}; -} // namespace boost - - - - -// template<> -inline gsl_vector_iterator range_begin( gsl_vector *x ) -{ - return gsl_vector_iterator( x ); -} - -// template<> -inline const_gsl_vector_iterator range_begin( const gsl_vector *x ) -{ - return const_gsl_vector_iterator( x ); -} - -// template<> -inline gsl_vector_iterator range_end( gsl_vector *x ) -{ - return end_iterator( x ); -} - -// template<> -inline const_gsl_vector_iterator range_end( const gsl_vector *x ) -{ - return end_iterator( x ); -} - - - - - - - -namespace boost { -namespace numeric { -namespace odeint { - - -template<> -struct is_resizeable< gsl_vector* > -{ - //struct type : public boost::true_type { }; - typedef boost::true_type type; - const static bool value = type::value; -}; - -template <> -struct same_size_impl< gsl_vector* , gsl_vector* > -{ - static bool same_size( const gsl_vector* x , const gsl_vector* y ) - { - return x->size == y->size; - } -}; - -template <> -struct resize_impl< gsl_vector* , gsl_vector* > -{ - static void resize( gsl_vector* x , const gsl_vector* y ) - { - gsl_vector_free( x ); - x = gsl_vector_alloc( y->size ); - } -}; - -template<> -struct state_wrapper< gsl_vector* > -{ - typedef double value_type; - typedef gsl_vector* state_type; - typedef state_wrapper< gsl_vector* > state_wrapper_type; - - state_type m_v; - - state_wrapper( ) - { - m_v = gsl_vector_alloc( 1 ); - } - - state_wrapper( const state_wrapper_type &x ) - { - resize( m_v , x.m_v ); - gsl_vector_memcpy( m_v , x.m_v ); - } - - - ~state_wrapper() - { - gsl_vector_free( m_v ); - } - -}; - -} // odeint -} // numeric -} // boost - - - - -#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_GSL_GSL_WRAPPER_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mkl/mkl_operations.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mkl/mkl_operations.hpp deleted file mode 100644 index c1e0891..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mkl/mkl_operations.hpp +++ /dev/null @@ -1,181 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/external/mkl/mkl_operations.hpp - - [begin_description] - Wrapper classes for intel math kernel library types. - Get a free, non-commercial download of MKL at - http://software.intel.com/en-us/articles/non-commercial-software-download/ - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_MKL_MKL_OPERATIONS_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_EXTERNAL_MKL_MKL_OPERATIONS_HPP_INCLUDED - -#include - -#include -#include - -/* exemplary example for writing bindings to the Intel MKL library - * see test/mkl for how to use mkl with odeint - * this is a quick and dirty implementation showing the general possibility. - * It works only with containers based on double and sequential memory allocation. - */ - -namespace boost { -namespace numeric { -namespace odeint { - -/* only defined for doubles */ -struct mkl_operations -{ - //template< class Fac1 , class Fac2 > struct scale_sum2; - - template< class F1 = double , class F2 = F1 > - struct scale_sum2 - { - typedef double Fac1; - typedef double Fac2; - const Fac1 m_alpha1; - const Fac2 m_alpha2; - - scale_sum2( const Fac1 alpha1 , const Fac2 alpha2 ) : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) { } - - template< class T1 , class T2 , class T3 > - void operator()( T1 &t1 , const T2 &t2 , const T3 &t3) const - { // t1 = m_alpha1 * t2 + m_alpha2 * t3; - // we get Containers that have size() and [i]-access - - const int n = t1.size(); - //boost::numeric::odeint::copy( t1 , t3 ); - if( &(t2[0]) != &(t1[0]) ) - { - cblas_dcopy( n , &(t2[0]) , 1 , &(t1[0]) , 1 ); - } - cblas_dscal( n , m_alpha1 , &(t1[0]) , 1 ); - cblas_daxpy( n , m_alpha2 , &(t3[0]) , 1 , &(t1[0]) , 1 ); - //daxpby( &n , &m_alpha2 , &(t3[0]) , &one , &m_alpha1 , &(t1[0]) , &one ); - } - }; - - template< class F1 = double , class F2 = F1 , class F3 = F2 > - struct scale_sum3 - { - typedef double Fac1; - typedef double Fac2; - typedef double Fac3; - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - - scale_sum3( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) { } - - template< class T1 , class T2 , class T3 , class T4 > - void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 ) const - { // t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4; - // we get Containers that have size() and [i]-access - - const int n = t1.size(); - //boost::numeric::odeint::copy( t1 , t3 ); - if( &(t2[0]) != &(t1[0]) ) - { - cblas_dcopy( n , &(t2[0]) , 1 , &(t1[0]) , 1 ); - } - cblas_dscal( n , m_alpha1 , &(t1[0]) , 1 ); - cblas_daxpy( n , m_alpha2 , &(t3[0]) , 1 , &(t1[0]) , 1 ); - //daxpby( &n , &m_alpha2 , &(t3[0]) , &one , &m_alpha1 , &(t1[0]) , &one ); - cblas_daxpy( n , m_alpha3 , &(t4[0]) , 1 , &(t1[0]) , 1 ); - } - }; - - template< class F1 = double , class F2 = F1 , class F3 = F2 , class F4 = F3 > - struct scale_sum4 - { - typedef double Fac1; - typedef double Fac2; - typedef double Fac3; - typedef double Fac4; - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - - scale_sum4( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 , const Fac4 alpha4 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) { } - - template< class T1 , class T2 , class T3 , class T4 , class T5 > - void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 ) const - { // t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5; - // we get Containers that have size() and [i]-access - - const int n = t1.size(); - //boost::numeric::odeint::copy( t1 , t3 ); - if( &(t2[0]) != &(t1[0]) ) - { - cblas_dcopy( n , &(t2[0]) , 1 , &(t1[0]) , 1 ); - } - - cblas_dscal( n , m_alpha1 , &(t1[0]) , 1 ); - cblas_daxpy( n , m_alpha2 , &(t3[0]) , 1 , &(t1[0]) , 1 ); - //daxpby( &n , &m_alpha2 , &(t3[0]) , &one , &m_alpha1 , &(t1[0]) , &one ); - cblas_daxpy( n , m_alpha3 , &(t4[0]) , 1 , &(t1[0]) , 1 ); - cblas_daxpy( n , m_alpha4 , &(t5[0]) , 1 , &(t1[0]) , 1 ); - } - }; - - - template< class F1 = double , class F2 = F1 , class F3 = F2 , class F4 = F3 , class F5 = F4 > - struct scale_sum5 - { - typedef double Fac1; - typedef double Fac2; - typedef double Fac3; - typedef double Fac4; - typedef double Fac5; - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - const Fac5 m_alpha5; - - scale_sum5( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 , const Fac4 alpha4 , const Fac5 alpha5 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) { } - - template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 > - void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 ) const - { // t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6; - // we get Containers that have size() and [i]-access - - const int n = t1.size(); - //boost::numeric::odeint::copy( t1 , t3 ); - if( &(t2[0]) != &(t1[0]) ) - { - cblas_dcopy( n , &(t2[0]) , 1 , &(t1[0]) , 1 ); - } - - cblas_dscal( n , m_alpha1 , &(t1[0]) , 1 ); - cblas_daxpy( n , m_alpha2 , &(t3[0]) , 1 , &(t1[0]) , 1 ); - //daxpby( &n , &m_alpha2 , &(t3[0]) , &one , &m_alpha1 , &(t1[0]) , &one ); - cblas_daxpy( n , m_alpha3 , &(t4[0]) , 1 , &(t1[0]) , 1 ); - cblas_daxpy( n , m_alpha4 , &(t5[0]) , 1 , &(t1[0]) , 1 ); - cblas_daxpy( n , m_alpha5 , &(t6[0]) , 1 , &(t1[0]) , 1 ); - } - }; - -}; - -} // odeint -} // numeric -} // boost - -#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_MKL_MKL_OPERATIONS_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp deleted file mode 100644 index 1e7afe6..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp +++ /dev/null @@ -1,162 +0,0 @@ -/* -[begin_description] -Modification of the implicit Euler method, works with the MTL4 matrix library only. -[end_description] - -Copyright 2009-2011 Karsten Ahnert -Copyright 2009-2011 Mario Mulansky -Copyright 2012 Andreas Angelopoulos - -Distributed under the Boost Software License, Version 1.0. -(See accompanying file LICENSE_1_0.txt or -copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - - -#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_IMPLICIT_EULER_MTL4_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_EXTERNAL_IMPLICIT_EULER_MTL4_HPP_INCLUDED - - -#include - -#include -#include -#include - -#include - -#include -#include - - - - -namespace boost { -namespace numeric { -namespace odeint { - - -template< class ValueType , class Resizer = initially_resizer > -class implicit_euler_mtl4 -{ - -public: - - typedef ValueType value_type; - typedef value_type time_type; - typedef mtl::dense_vector state_type; - - typedef state_wrapper< state_type > wrapped_state_type; - typedef state_type deriv_type; - typedef state_wrapper< deriv_type > wrapped_deriv_type; - typedef mtl::compressed2D< value_type > matrix_type; - typedef state_wrapper< matrix_type > wrapped_matrix_type; - - typedef Resizer resizer_type; - typedef stepper_tag stepper_category; - - typedef implicit_euler_mtl4< ValueType , Resizer > stepper_type; - - - implicit_euler_mtl4( const value_type epsilon = 1E-6 ) - : m_epsilon( epsilon ) , m_resizer() , - m_dxdt() , m_x() , - m_identity() , m_jacobi() - { } - - - template< class System > - void do_step( System system , state_type &x , time_type t , time_type dt ) - { - typedef typename odeint::unwrap_reference< System >::type system_type; - typedef typename odeint::unwrap_reference< typename system_type::first_type >::type deriv_func_type; - typedef typename odeint::unwrap_reference< typename system_type::second_type >::type jacobi_func_type; - system_type &sys = system; - deriv_func_type &deriv_func = sys.first; - jacobi_func_type &jacobi_func = sys.second; - - m_resizer.adjust_size( x , detail::bind( - &stepper_type::template resize_impl< state_type > , detail::ref( *this ) , detail::_1 ) ); - - m_identity.m_v = 1; - - t += dt; - m_x.m_v = x; - - deriv_func( x , m_dxdt.m_v , t ); - jacobi_func( x , m_jacobi.m_v , t ); - - - m_dxdt.m_v *= -dt; - - m_jacobi.m_v *= dt; - m_jacobi.m_v -= m_identity.m_v ; - - - - // using ilu_0 preconditioning -incomplete LU factorisation - // itl::pc::diagonal L(m_jacobi.m_v); - itl::pc::ilu_0 L( m_jacobi.m_v ); - - solve( m_jacobi.m_v , m_x.m_v , m_dxdt.m_v , L ); - x+= m_x.m_v; - - - } - - - template< class StateType > - void adjust_size( const StateType &x ) - { - resize_impl( x ); - } - - -private: - - - /* - Applying approximate iterative linear solvers - default solver is Biconjugate gradient stabilized method - itl::bicgstab(A, x, b, L, iter); - */ - template < class LinearOperator, class HilbertSpaceX, class HilbertSpaceB, class Preconditioner> - void solve(const LinearOperator& A, HilbertSpaceX& x, const HilbertSpaceB& b, - const Preconditioner& L, int max_iteractions =500) - { - // Termination criterion: r < 1e-6 * b or N iterations - itl::basic_iteration< double > iter( b , max_iteractions , 1e-6 ); - itl::bicgstab( A , x , b , L , iter ); - - } - - - template< class StateIn > - bool resize_impl( const StateIn &x ) - { - bool resized = false; - resized |= adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_x , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_identity , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_jacobi , x , typename is_resizeable::type() ); - return resized; - } - - -private: - - value_type m_epsilon; - resizer_type m_resizer; - wrapped_deriv_type m_dxdt; - wrapped_state_type m_x; - wrapped_matrix_type m_identity; - wrapped_matrix_type m_jacobi; -}; - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_IMPLICIT_EULER_MTL4_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/mtl4_resize.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/mtl4_resize.hpp deleted file mode 100644 index b7f94d1..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/mtl4_resize.hpp +++ /dev/null @@ -1,133 +0,0 @@ -/* -[begin_description] -Modification of the implicit Euler method, works with the MTL4 matrix library only. -[end_description] - -Copyright 2009-2011 Karsten Ahnert -Copyright 2009-2011 Mario Mulansky -Copyright 2012 Andreas Angelopoulos - -Distributed under the Boost Software License, Version 1.0. -(See accompanying file LICENSE_1_0.txt or -copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - - -#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_MTL4_RESIZE_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_EXTERNAL_MTL4_RESIZE_HPP_INCLUDED - -#include -#include -#include - -#include -#include -#include - - -namespace boost { -namespace numeric { -namespace odeint { - - -template< class Value , class Parameters > -struct is_resizeable< mtl::dense_vector< Value , Parameters > > -{ - typedef boost::true_type type; - const static bool value = type::value; -}; - -template< class Value , class Parameters > -struct is_resizeable< mtl::dense2D< Value , Parameters > > -{ - typedef boost::true_type type; - const static bool value = type::value; -}; - -template< class Value , class Parameters > -struct is_resizeable< mtl::compressed2D< Value , Parameters > > -{ - typedef boost::true_type type; - const static bool value = type::value; -}; - - - - -template< class Value , class Parameters > -struct same_size_impl< mtl::dense_vector< Value , Parameters > , mtl::dense_vector< Value , Parameters > > -{ - static bool same_size( const mtl::dense_vector< Value , Parameters > &v1 , - const mtl::dense_vector< Value , Parameters > &v2 ) - { - return mtl::size( v1 ) == mtl::size( v2 ); - } -}; - -template< class Value , class Parameters > -struct resize_impl< mtl::dense_vector< Value , Parameters > , mtl::dense_vector< Value , Parameters > > -{ - static void resize( mtl::dense_vector< Value , Parameters > &v1 , - const mtl::dense_vector< Value , Parameters > &v2 ) - { - v1.change_dim( mtl::size( v2 ) ); - } -}; - - - -template< class Value , class MatrixParameters , class VectorParameters > -struct same_size_impl< mtl::dense2D< Value , MatrixParameters > , mtl::dense_vector< Value , VectorParameters > > -{ - static bool same_size( const mtl::dense2D< Value , MatrixParameters > &m , - const mtl::dense_vector< Value , VectorParameters > &v ) - { - return ( ( mtl::size( v ) == m.num_cols() ) && ( mtl::size( v ) == m.num_rows() ) ); - } -}; - -template< class Value , class MatrixParameters , class VectorParameters > -struct resize_impl< mtl::dense2D< Value , MatrixParameters > , mtl::dense_vector< Value , VectorParameters > > -{ - static void resize( mtl::dense2D< Value , MatrixParameters > &m , - const mtl::dense_vector< Value , VectorParameters > &v ) - { - m.change_dim( mtl::size( v ) , mtl::size( v ) , false ); - } -}; - - - - -template< class Value , class MatrixParameters , class VectorParameters > -struct same_size_impl< mtl::compressed2D< Value , MatrixParameters > , mtl::dense_vector< Value , VectorParameters > > -{ - static bool same_size( const mtl::compressed2D< Value , MatrixParameters > &m , - const mtl::dense_vector< Value , VectorParameters > &v ) - { - return ( ( mtl::size( v ) == m.num_cols() ) && ( mtl::size( v ) == m.num_rows() ) ); - } -}; - -template< class Value , class MatrixParameters , class VectorParameters > -struct resize_impl< mtl::compressed2D< Value , MatrixParameters > , mtl::dense_vector< Value , VectorParameters > > -{ - static void resize( mtl::compressed2D< Value , MatrixParameters > &m , - const mtl::dense_vector< Value , VectorParameters > &v ) - { - m.change_dim( mtl::size( v ) , mtl::size( v ) ); - } -}; - - - - - - - - -} // namespace odeint -} // namespace numeric -} // namespace boost - -#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_MTL4_RESIZE_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_algebra.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_algebra.hpp deleted file mode 100644 index 0f6b593..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_algebra.hpp +++ /dev/null @@ -1,198 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/external/thrust/thrust_algebra.hpp - - [begin_description] - An algebra for thrusts device_vectors. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_ALGEBRA_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_ALGEBRA_HPP_INCLUDED - - -#include -#include -#include - -#include - -namespace boost { -namespace numeric { -namespace odeint { - - - -/** ToDO extend until for_each14 for rk78 */ - -/* - * The const versions are needed for boost.range to work, i.e. - * it allows you to do - * for_each1( make_pair( vec1.begin() , vec1.begin() + 10 ) , op ); - */ - -struct thrust_algebra -{ - template< class StateType , class Operation > - static void for_each1( StateType &s , Operation op ) - { - thrust::for_each( boost::begin(s) , boost::begin(s) , op ); - } - - template< class StateType1 , class StateType2 , class Operation > - static void for_each2( StateType1 &s1 , StateType2 &s2 , Operation op ) - { - thrust::for_each( - thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) , - boost::begin(s2) ) ) , - thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) , - boost::end(s2) ) ) , - op); - } - - template< class StateType1 , class StateType2 , class StateType3 , class Operation > - static void for_each3( StateType1 &s1 , StateType2 &s2 , StateType3 &s3 , Operation op ) - { - thrust::for_each( - thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) , - boost::begin(s2) , - boost::begin(s3) ) ) , - thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) , - boost::end(s2) , - boost::end(s3) ) ) , - op); - } - - template< class StateType1 , class StateType2 , class StateType3 , class StateType4 , - class Operation > - static void for_each4( StateType1 &s1 , StateType2 &s2 , StateType3 &s3 , StateType4 &s4 , - Operation op ) - { - thrust::for_each( - thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) , - boost::begin(s2) , - boost::begin(s3) , - boost::begin(s4) ) ) , - thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) , - boost::end(s2) , - boost::end(s3) , - boost::end(s4) ) ) , - op); - } - - template< class StateType1 , class StateType2 , class StateType3 , - class StateType4 , class StateType5 ,class Operation > - static void for_each5( StateType1 &s1 , StateType2 &s2 , StateType3 &s3 , StateType4 &s4 , - StateType5 &s5 , Operation op ) - { - thrust::for_each( - thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) , - boost::begin(s2) , - boost::begin(s3) , - boost::begin(s4) , - boost::begin(s5) ) ) , - thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) , - boost::end(s2) , - boost::end(s3) , - boost::end(s4) , - boost::end(s5) ) ) , - op); - } - - template< class StateType1 , class StateType2 , class StateType3 , - class StateType4 , class StateType5 , class StateType6 , class Operation > - static void for_each6( StateType1 &s1 , StateType2 &s2 , StateType3 &s3 , StateType4 &s4 , - StateType5 &s5 , StateType6 &s6 , Operation op ) - { - thrust::for_each( - thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) , - boost::begin(s2) , - boost::begin(s3) , - boost::begin(s4) , - boost::begin(s5) , - boost::begin(s6) ) ) , - thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) , - boost::end(s2) , - boost::end(s3) , - boost::end(s4) , - boost::end(s5) , - boost::end(s6) ) ) , - op); - } - - template< class StateType1 , class StateType2 , class StateType3 , class StateType4 , - class StateType5 , class StateType6 , class StateType7 , class Operation > - static void for_each7( StateType1 &s1 , StateType2 &s2 , StateType3 &s3 , StateType4 &s4 , - StateType5 &s5 , StateType6 &s6 , StateType7 &s7 , Operation op ) - { - thrust::for_each( - thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) , - boost::begin(s2) , - boost::begin(s3) , - boost::begin(s4) , - boost::begin(s5) , - boost::begin(s6) , - boost::begin(s7) ) ) , - thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) , - boost::end(s2) , - boost::end(s3) , - boost::end(s4) , - boost::end(s5) , - boost::end(s6) , - boost::end(s7) ) ) , - op); - } - - template< class StateType1 , class StateType2 , class StateType3 , class StateType4 , - class StateType5 , class StateType6 , class StateType7 , class StateType8 , class Operation > - static void for_each8( StateType1 &s1 , StateType2 &s2 , StateType3 &s3 , StateType4 &s4 , - StateType5 &s5 , StateType6 &s6 , StateType7 &s7 , StateType8 &s8 , Operation op ) - { - thrust::for_each( - thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) , - boost::begin(s2) , - boost::begin(s3) , - boost::begin(s4) , - boost::begin(s5) , - boost::begin(s6) , - boost::begin(s7) , - boost::begin(s8) ) ) , - thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) , - boost::end(s2) , - boost::end(s3) , - boost::end(s4) , - boost::end(s5) , - boost::end(s6) , - boost::end(s7) , - boost::end(s8) ) ) , - op); - } - - - template< class Value , class S , class Red > - Value reduce( const S &s , Red red , Value init) - { - return thrust::reduce( boost::begin( s ) , boost::end( s ) , init , red ); - } - - - - -}; - - -} // odeint -} // numeric -} // boost - - - -#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_ALGEBRA_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_operations.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_operations.hpp deleted file mode 100644 index 710657a..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_operations.hpp +++ /dev/null @@ -1,252 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/external/thrust/thrust_operations.hpp - - [begin_description] - Operations of thrust zipped iterators. Is the counterpart of the thrust_algebra. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_OPERATIONS_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_OPERATIONS_HPP_INCLUDED - -namespace boost { -namespace numeric { -namespace odeint { - -#include -#include - -/**ToDo extend to scale_sum13 for rk78 */ - -struct thrust_operations -{ - template< class Fac1 = double , class Fac2 = Fac1 > - struct scale_sum2 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - - scale_sum2( const Fac1 alpha1 , const Fac2 alpha2 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) { } - - template< class Tuple > - __host__ __device__ - void operator()( Tuple t ) const - { - thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) + m_alpha2 * thrust::get<2>(t); - } - }; - - template< class Fac1 = double , class Fac2 = Fac1 > - struct scale_sum_swap2 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - - scale_sum_swap2( const Fac1 alpha1 , const Fac2 alpha2 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) { } - - template< class Tuple > - __host__ __device__ - void operator()( Tuple t ) const - { - typename thrust::tuple_element<0,Tuple>::type tmp = thrust::get<0>(t); - thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) + m_alpha2 * thrust::get<2>(t); - thrust::get<1>(t) = tmp; - } - }; - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 > - struct scale_sum3 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - - scale_sum3( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) { } - - template< class Tuple > - __host__ __device__ - void operator()( Tuple t ) const - { - thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) + - m_alpha2 * thrust::get<2>(t) + - m_alpha3 * thrust::get<3>(t); - } - }; - - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 > - struct scale_sum4 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - - scale_sum4( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 , const Fac4 alpha4 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ){ } - - template< class Tuple > - __host__ __device__ - void operator()( Tuple t ) const - { - thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) + - m_alpha2 * thrust::get<2>(t) + - m_alpha3 * thrust::get<3>(t) + - m_alpha4 * thrust::get<4>(t); - } - }; - - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , - class Fac4 = Fac3 , class Fac5 = Fac4 > - struct scale_sum5 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - const Fac5 m_alpha5; - - scale_sum5( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 , - const Fac4 alpha4 , const Fac5 alpha5 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , - m_alpha4( alpha4 ) , m_alpha5( alpha5 ) { } - - template< class Tuple > - __host__ __device__ - void operator()( Tuple t ) const - { - thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) + - m_alpha2 * thrust::get<2>(t) + - m_alpha3 * thrust::get<3>(t) + - m_alpha4 * thrust::get<4>(t) + - m_alpha5 * thrust::get<5>(t); - } - }; - - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , - class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 > - struct scale_sum6 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - const Fac5 m_alpha5; - const Fac6 m_alpha6; - - scale_sum6( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 , - const Fac4 alpha4 , const Fac5 alpha5 , const Fac6 alpha6 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , - m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) { } - - template< class Tuple > - __host__ __device__ - void operator()( Tuple t ) const - { - thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) + - m_alpha2 * thrust::get<2>(t) + - m_alpha3 * thrust::get<3>(t) + - m_alpha4 * thrust::get<4>(t) + - m_alpha5 * thrust::get<5>(t) + - m_alpha6 * thrust::get<6>(t); - } - }; - - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , - class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 > - struct scale_sum7 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - const Fac5 m_alpha5; - const Fac6 m_alpha6; - const Fac7 m_alpha7; - - scale_sum7( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 , - const Fac4 alpha4 , const Fac5 alpha5 , const Fac6 alpha6 , const Fac7 alpha7 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , - m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) { } - - template< class Tuple > - __host__ __device__ - void operator()( Tuple t ) const - { - thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) + - m_alpha2 * thrust::get<2>(t) + - m_alpha3 * thrust::get<3>(t) + - m_alpha4 * thrust::get<4>(t) + - m_alpha5 * thrust::get<5>(t) + - m_alpha6 * thrust::get<6>(t) + - m_alpha7 * thrust::get<7>(t) ; - } - }; - - - - - template< class Fac1 = double > - struct rel_error - { - const Fac1 m_eps_abs , m_eps_rel , m_a_x , m_a_dxdt; - - rel_error( const Fac1 eps_abs , const Fac1 eps_rel , const Fac1 a_x , const Fac1 a_dxdt ) - : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) , m_a_x( a_x ) , m_a_dxdt( a_dxdt ) { } - - - template< class Tuple > - __host__ __device__ - void operator()( Tuple t ) const - { - using std::abs; - thrust::get< 0 >( t ) = abs( thrust::get< 0 >( t ) ) / - ( m_eps_abs + m_eps_rel * ( m_a_x * abs( thrust::get< 1 >( t ) + m_a_dxdt * abs( thrust::get< 2 >( t ) ) ) ) ); - } - - typedef void result_type; - }; - - - /* - * for usage in reduce - */ - - template< class Value > - struct maximum - { - template< class Fac1 , class Fac2 > - __host__ __device__ - Value operator()( const Fac1 t1 , const Fac2 t2 ) const - { - using std::max; - return ( abs( t1 ) < abs( t2 ) ) ? t2 : t1 ; - } - - typedef Value result_type; - }; - - -}; - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_OPERATIONS_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_resize.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_resize.hpp deleted file mode 100644 index 843a100..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_resize.hpp +++ /dev/null @@ -1,119 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/external/thrust/thrust_resize.hpp - - [begin_description] - Enable resizing for thrusts device and host_vector. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_RESIZE_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_RESIZE_HPP_INCLUDED - - -#include -#include - -#include - -namespace boost { -namespace numeric { -namespace odeint { - -template< class T > -struct is_resizeable< thrust::device_vector< T > > -{ - struct type : public boost::true_type { }; - const static bool value = type::value; -}; - -template< class T > -struct same_size_impl< thrust::device_vector< T > , thrust::device_vector< T > > -{ - static bool same_size( const thrust::device_vector< T > &x , const thrust::device_vector< T > &y ) - { - return x.size() == y.size(); - } -}; - -template< class T > -struct resize_impl< thrust::device_vector< T > , thrust::device_vector< T > > -{ - static void resize( thrust::device_vector< T > &x , const thrust::device_vector< T > &y ) - { - x.resize( y.size() ); - } -}; - - -template< class T > -struct is_resizeable< thrust::host_vector< T > > -{ - struct type : public boost::true_type { }; - const static bool value = type::value; -}; - -template< class T > -struct same_size_impl< thrust::host_vector< T > , thrust::host_vector< T > > -{ - static bool same_size( const thrust::host_vector< T > &x , const thrust::host_vector< T > &y ) - { - return x.size() == y.size(); - } -}; - -template< class T > -struct resize_impl< thrust::host_vector< T > , thrust::host_vector< T > > -{ - static void resize( thrust::host_vector< T > &x , const thrust::host_vector< T > &y ) - { - x.resize( y.size() ); - } -}; - - - -template< class Container1, class Value > -struct copy_impl< Container1 , thrust::device_vector< Value > > -{ - static void copy( const Container1 &from , thrust::device_vector< Value > &to ) - { - thrust::copy( boost::begin( from ) , boost::end( from ) , boost::begin( to ) ); - } -}; - -template< class Value , class Container2 > -struct copy_impl< thrust::device_vector< Value > , Container2 > -{ - static void copy( const thrust::device_vector< Value > &from , Container2 &to ) - { - thrust::copy( boost::begin( from ) , boost::end( from ) , boost::begin( to ) ); - } -}; - -template< class Value > -struct copy_impl< thrust::device_vector< Value > , thrust::device_vector< Value > > -{ - static void copy( const thrust::device_vector< Value > &from , thrust::device_vector< Value > &to ) - { - thrust::copy( boost::begin( from ) , boost::end( from ) , boost::begin( to ) ); - } -}; - - - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_RESIZE_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp deleted file mode 100644 index e9cbea3..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp +++ /dev/null @@ -1,92 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/external/vexcl/vexcl_resize.hpp - - [begin_description] - Enable resizing for vexcl vector and multivector. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_VEXCL_VEXCL_RESIZE_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_EXTERNAL_VEXCL_VEXCL_RESIZE_HPP_INCLUDED - -#include - -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - - - -/* - * specializations for vex::vector< T > - */ -template< typename T > -struct is_resizeable< vex::vector< T > > : boost::true_type { }; - -template< typename T > -struct resize_impl< vex::vector< T > , vex::vector< T > > -{ - static void resize( vex::vector< T > &x1 , const vex::vector< T > &x2 ) - { - x1.resize( x2.queue_list() , x2.size() ); - } -}; - -template< typename T > -struct same_size_impl< vex::vector< T > , vex::vector< T > > -{ - static bool same_size( const vex::vector< T > &x1 , const vex::vector< T > &x2 ) - { - return x1.size() == x2.size(); - } -}; - - - - - -/* - * specializations for vex::multivector< T > - */ -template< typename T , size_t N, bool own > -struct is_resizeable< vex::multivector< T , N , own > > : boost::true_type { }; - -template< typename T , size_t N, bool own > -struct resize_impl< vex::multivector< T , N , own > , vex::multivector< T , N , own > > -{ - static void resize( vex::multivector< T , N , own > &x1 , const vex::multivector< T , N , own > &x2 ) - { - x1.resize( x2.queue_list() , x2.size() ); - } -}; - -template< typename T , size_t N, bool own > -struct same_size_impl< vex::multivector< T , N , own > , vex::multivector< T , N , own > > -{ - static bool same_size( const vex::multivector< T , N , own > &x1 , const vex::multivector< T , N , own > &x2 ) - { - return x1.size() == x2.size(); - } -}; - - -} // namespace odeint -} // namespace numeric -} // namespace boost - - - -#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_VEXCL_VEXCL_RESIZE_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_operations.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_operations.hpp deleted file mode 100644 index d621b35..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_operations.hpp +++ /dev/null @@ -1,245 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/external/viennacl_operations.hpp - - [begin_description] - ViennaCL operations. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_VIENNACL_VIENNACL_OPERATIONS_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_EXTERNAL_VIENNACL_VIENNACL_OPERATIONS_HPP_INCLUDED - -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - - - -struct viennacl_operations -{ - - template< class Fac1 = double , class Fac2 = Fac1 > - struct scale_sum2 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - - scale_sum2( Fac1 alpha1 , Fac2 alpha2 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) - { } - - template< class T1 , class T2 , class T3 > - void operator()( viennacl::vector &v1 , - const viennacl::vector &v2 , - const viennacl::vector &v3 - ) const - { - using namespace viennacl; - - static generator::symbolic_vector <0, T1> sym_v1; - static generator::symbolic_vector <1, T2> sym_v2; - static generator::symbolic_vector <2, T3> sym_v3; - static generator::cpu_symbolic_scalar<3, Fac1> sym_a1; - static generator::cpu_symbolic_scalar<4, Fac2> sym_a2; - - static generator::custom_operation op( - sym_v1 = sym_a1 * sym_v2 - + sym_a2 * sym_v3 - ); - - ocl::enqueue( op(v1, - const_cast< viennacl::vector& >(v2), - const_cast< viennacl::vector& >(v3), - const_cast< Fac1& >(m_alpha1), - const_cast< Fac2& >(m_alpha2) - ) ); - } - - typedef void result_type; - }; - - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 > - struct scale_sum3 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - - scale_sum3( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) - { } - - template< class T1 , class T2 , class T3 , class T4 > - void operator()( viennacl::vector &v1 , - const viennacl::vector &v2 , - const viennacl::vector &v3 , - const viennacl::vector &v4 - ) const - { - using namespace viennacl; - - static generator::symbolic_vector <0, T1> sym_v1; - static generator::symbolic_vector <1, T2> sym_v2; - static generator::symbolic_vector <2, T3> sym_v3; - static generator::symbolic_vector <3, T4> sym_v4; - static generator::cpu_symbolic_scalar<4, Fac1> sym_a1; - static generator::cpu_symbolic_scalar<5, Fac2> sym_a2; - static generator::cpu_symbolic_scalar<6, Fac3> sym_a3; - - static generator::custom_operation op( - sym_v1 = sym_a1 * sym_v2 - + sym_a2 * sym_v3 - + sym_a3 * sym_v4 - ); - - ocl::enqueue( op(v1, - const_cast< viennacl::vector& >(v2), - const_cast< viennacl::vector& >(v3), - const_cast< viennacl::vector& >(v4), - const_cast< Fac1& >(m_alpha1), - const_cast< Fac2& >(m_alpha2), - const_cast< Fac3& >(m_alpha3) - ) ); - } - - typedef void result_type; - }; - - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 > - struct scale_sum4 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - - scale_sum4( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) { } - - template< class T1 , class T2 , class T3 , class T4 , class T5 > - void operator()( viennacl::vector &v1 , - const viennacl::vector &v2 , - const viennacl::vector &v3 , - const viennacl::vector &v4 , - const viennacl::vector &v5 - ) const - { - using namespace viennacl; - - static generator::symbolic_vector <0, T1> sym_v1; - static generator::symbolic_vector <1, T2> sym_v2; - static generator::symbolic_vector <2, T3> sym_v3; - static generator::symbolic_vector <3, T4> sym_v4; - static generator::symbolic_vector <4, T5> sym_v5; - static generator::cpu_symbolic_scalar<5, Fac1> sym_a1; - static generator::cpu_symbolic_scalar<6, Fac2> sym_a2; - static generator::cpu_symbolic_scalar<7, Fac3> sym_a3; - static generator::cpu_symbolic_scalar<8, Fac4> sym_a4; - - static generator::custom_operation op( - sym_v1 = sym_a1 * sym_v2 - + sym_a2 * sym_v3 - + sym_a3 * sym_v4 - + sym_a4 * sym_v5 - ); - - ocl::enqueue( op(v1, - const_cast< viennacl::vector& >(v2), - const_cast< viennacl::vector& >(v3), - const_cast< viennacl::vector& >(v4), - const_cast< viennacl::vector& >(v5), - const_cast< Fac1& >(m_alpha1), - const_cast< Fac2& >(m_alpha2), - const_cast< Fac3& >(m_alpha3), - const_cast< Fac4& >(m_alpha4) - ) ); - } - - typedef void result_type; - }; - - - template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 > - struct scale_sum5 - { - const Fac1 m_alpha1; - const Fac2 m_alpha2; - const Fac3 m_alpha3; - const Fac4 m_alpha4; - const Fac5 m_alpha5; - - scale_sum5( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , Fac5 alpha5 ) - : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) { } - - template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 > - void operator()( viennacl::vector &v1 , - const viennacl::vector &v2 , - const viennacl::vector &v3 , - const viennacl::vector &v4 , - const viennacl::vector &v5 , - const viennacl::vector &v6 - ) const - { - using namespace viennacl; - - static generator::symbolic_vector < 0, T1> sym_v1; - static generator::symbolic_vector < 1, T2> sym_v2; - static generator::symbolic_vector < 2, T3> sym_v3; - static generator::symbolic_vector < 3, T4> sym_v4; - static generator::symbolic_vector < 4, T5> sym_v5; - static generator::symbolic_vector < 5, T6> sym_v6; - static generator::cpu_symbolic_scalar< 6, Fac1> sym_a1; - static generator::cpu_symbolic_scalar< 7, Fac2> sym_a2; - static generator::cpu_symbolic_scalar< 8, Fac3> sym_a3; - static generator::cpu_symbolic_scalar< 9, Fac4> sym_a4; - static generator::cpu_symbolic_scalar<10, Fac5> sym_a5; - - static generator::custom_operation op( - sym_v1 = sym_a1 * sym_v2 - + sym_a2 * sym_v3 - + sym_a3 * sym_v4 - + sym_a4 * sym_v5 - + sym_a5 * sym_v6 - ); - - ocl::enqueue( op(v1, - const_cast< viennacl::vector& >(v2), - const_cast< viennacl::vector& >(v3), - const_cast< viennacl::vector& >(v4), - const_cast< viennacl::vector& >(v5), - const_cast< viennacl::vector& >(v6), - const_cast< Fac1& >(m_alpha1), - const_cast< Fac2& >(m_alpha2), - const_cast< Fac3& >(m_alpha3), - const_cast< Fac4& >(m_alpha4), - const_cast< Fac5& >(m_alpha5) - ) ); - } - - typedef void result_type; - }; - - -}; - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_VIENNACL_VIENNACL_OPERATIONS_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_resize.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_resize.hpp deleted file mode 100644 index 677cfce..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_resize.hpp +++ /dev/null @@ -1,65 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/external/viennacl/viennacl_resize.hpp - - [begin_description] - Enable resizing for viennacl vector. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_VIENNACL_VIENNACL_RESIZE_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_EXTERNAL_VIENNACL_VIENNACL_RESIZE_HPP_INCLUDED - -#include - -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - - - -/* - * specializations for viennacl::vector< T > - */ -template< typename T > -struct is_resizeable< viennacl::vector< T > > : boost::true_type { }; - -template< typename T > -struct resize_impl< viennacl::vector< T > , viennacl::vector< T > > -{ - static void resize( viennacl::vector< T > &x1 , const viennacl::vector< T > &x2 ) - { - x1.resize( x2.size() , false ); - } -}; - -template< typename T > -struct same_size_impl< viennacl::vector< T > , viennacl::vector< T > > -{ - static bool same_size( const viennacl::vector< T > &x1 , const viennacl::vector< T > &x2 ) - { - return x1.size() == x2.size(); - } -}; - - - -} // namespace odeint -} // namespace numeric -} // namespace boost - - - -#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_VIENNACL_VIENNACL_RESIZE_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp deleted file mode 100644 index 071159f..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp +++ /dev/null @@ -1,154 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp - - [begin_description] - Default Integrate adaptive implementation. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_ADAPTIVE_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_ADAPTIVE_HPP_INCLUDED - -#include - -#include -#include -#include -#include -#include -#include - -#include - - -#include - -namespace boost { -namespace numeric { -namespace odeint { -namespace detail { - -// forward declaration -template< class Stepper , class System , class State , class Time , class Observer> -size_t integrate_const( - Stepper stepper , System system , State &start_state , - Time start_time , Time end_time , Time dt , - Observer observer , stepper_tag ); - -/* - * integrate_adaptive for simple stepper is basically an integrate_const + some last step - */ -template< class Stepper , class System , class State , class Time , class Observer > -size_t integrate_adaptive( - Stepper stepper , System system , State &start_state , - Time start_time , Time end_time , Time dt , - Observer observer , stepper_tag -) -{ - size_t steps = detail::integrate_const( stepper , system , start_state , start_time , - end_time , dt , observer , stepper_tag() ); - Time end = start_time + dt*steps; - if( less_with_sign( end , end_time , dt ) ) - { //make a last step to end exactly at end_time - stepper.do_step( system , start_state , end , end_time - end ); - steps++; - typename odeint::unwrap_reference< Observer >::type &obs = observer; - obs( start_state , end_time ); - } - return steps; -} - - -/* - * classical integrate adaptive - */ -template< class Stepper , class System , class State , class Time , class Observer > -size_t integrate_adaptive( - Stepper stepper , System system , State &start_state , - Time &start_time , Time end_time , Time &dt , - Observer observer , controlled_stepper_tag -) -{ - typename odeint::unwrap_reference< Observer >::type &obs = observer; - - const size_t max_attempts = 1000; - const char *error_string = "Integrate adaptive : Maximal number of iterations reached. A step size could not be found."; - size_t count = 0; - while( less_with_sign( start_time , end_time , dt ) ) - { - obs( start_state , start_time ); - if( less_with_sign( end_time , start_time + dt , dt ) ) - { - dt = end_time - start_time; - } - - size_t trials = 0; - controlled_step_result res = success; - do - { - res = stepper.try_step( system , start_state , start_time , dt ); - ++trials; - } - while( ( res == fail ) && ( trials < max_attempts ) ); - if( trials == max_attempts ) throw std::overflow_error( error_string ); - - ++count; - } - obs( start_state , start_time ); - return count; -} - - -/* - * integrate adaptive for dense output steppers - * - * step size control is used if the stepper supports it - */ -template< class Stepper , class System , class State , class Time , class Observer > -size_t integrate_adaptive( - Stepper stepper , System system , State &start_state , - Time start_time , Time end_time , Time dt , - Observer observer , dense_output_stepper_tag ) -{ - typename odeint::unwrap_reference< Observer >::type &obs = observer; - - size_t count = 0; - stepper.initialize( start_state , start_time , dt ); - - while( less_with_sign( stepper.current_time() , end_time , stepper.current_time_step() ) ) - { - while( less_eq_with_sign( stepper.current_time() + stepper.current_time_step() , - end_time , - stepper.current_time_step() ) ) - { //make sure we don't go beyond the end_time - obs( stepper.current_state() , stepper.current_time() ); - stepper.do_step( system ); - ++count; - } - stepper.initialize( stepper.current_state() , stepper.current_time() , end_time - stepper.current_time() ); - } - obs( stepper.current_state() , stepper.current_time() ); - // overwrite start_state with the final point - boost::numeric::odeint::copy( stepper.current_state() , start_state ); - return count; -} - - - - -} // namespace detail -} // namespace odeint -} // namespace numeric -} // namespace boost - - -#endif // BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_ADAPTIVE_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_const.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_const.hpp deleted file mode 100644 index 2eb7ae0..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_const.hpp +++ /dev/null @@ -1,159 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/integrate/detail/integrate_const.hpp - - [begin_description] - integrate const implementation - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_CONST_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_CONST_HPP_INCLUDED - -#include -#include -#include -#include - -#include - -namespace boost { -namespace numeric { -namespace odeint { -namespace detail { - -// forward declaration -template< class Stepper , class System , class State , class Time , class Observer > -size_t integrate_adaptive( - Stepper stepper , System system , State &start_state , - Time &start_time , Time end_time , Time &dt , - Observer observer , controlled_stepper_tag -); - - -template< class Stepper , class System , class State , class Time , class Observer > -size_t integrate_const( - Stepper stepper , System system , State &start_state , - Time start_time , Time end_time , Time dt , - Observer observer , stepper_tag -) -{ - typename odeint::unwrap_reference< Observer >::type &obs = observer; - - Time time = start_time; - int step = 0; - - while( less_eq_with_sign( time+dt , end_time , dt ) ) - { - obs( start_state , time ); - stepper.do_step( system , start_state , time , dt ); - // direct computation of the time avoids error propagation happening when using time += dt - // we need clumsy type analysis to get boost units working here - ++step; - time = start_time + static_cast< typename unit_value_typeen.wikipedia.org/wiki/Linear_multistep_method. - * Currently, a maximum of Steps=8 is supported. - * The method is explicit and fulfills the Stepper concept. Step size control - * or continuous output are not provided. - * - * This class derives from algebra_base and inherits its interface via - * CRTP (current recurring template pattern). For more details see - * algebra_stepper_base. - * - * \tparam Steps The number of steps (maximal 8). - * \tparam State The state type. - * \tparam Value The value type. - * \tparam Deriv The type representing the time derivative of the state. - * \tparam Time The time representing the independent variable - the time. - * \tparam Algebra The algebra type. - * \tparam Operations The operations type. - * \tparam Resizer The resizer policy type. - * \tparam InitializingStepper The stepper for the first two steps. - */ - - /** - * \fn adams_bashforth::adams_bashforth( const algebra_type &algebra ) - * \brief Constructs the adams_bashforth class. This constructor can be used as a default - * constructor if the algebra has a default constructor. - * \param algebra A copy of algebra is made and stored. - */ - - /** - * \fn order_type adams_bashforth::order( void ) const - * \brief Returns the order of the algorithm, which is equal to the number of steps. - * \return order of the method. - */ - - /** - * \fn void adams_bashforth::do_step( System system , StateInOut &x , time_type t , time_type dt ) - * \brief This method performs one step. It transforms the result in-place. - * - * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x. - * \param t The value of the time, at which the step should be performed. - * \param dt The step size. - */ - - /** - * \fn void adams_bashforth::do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt ) - * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dt The step size. - */ - - /** - * \fn void adams_bashforth::adjust_size( const StateType &x ) - * \brief Adjust the size of all temporaries in the stepper manually. - * \param x A state from which the size of the temporaries to be resized is deduced. - */ - - - /** - * \fn const step_storage_type& adams_bashforth::step_storage( void ) const - * \brief Returns the storage of intermediate results. - * \return The storage of intermediate results. - */ - - /** - * \fn step_storage_type& adams_bashforth::step_storage( void ) - * \brief Returns the storage of intermediate results. - * \return The storage of intermediate results. - */ - - /** - * \fn void adams_bashforth::initialize( ExplicitStepper explicit_stepper , System system , StateIn &x , time_type &t , time_type dt ) - * \brief Initialized the stepper. Does Steps-1 steps with the explicit_stepper to fill the buffer. - * \param explicit_stepper the stepper used to fill the buffer of previous step results - * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x. - * \param t The value of the time, at which the step should be performed. - * \param dt The step size. - */ - - /** - * \fn void adams_bashforth::initialize( System system , StateIn &x , time_type &t , time_type dt ) - * \brief Initialized the stepper. Does Steps-1 steps with an internal instance of InitializingStepper to fill the buffer. - * \note The state x and time t are updated to the values after Steps-1 initial steps. - * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the - * Simple System concept. - * \param x The initial state of the ODE which should be solved, updated in this method. - * \param t The initial value of the time, updated in this method. - * \param dt The step size. - */ - - /** - * \fn void adams_bashforth::reset( void ) - * \brief Resets the internal buffer of the stepper. - */ - - /** - * \fn bool adams_bashforth::is_initialized( void ) const - * \brief Returns true if the stepper has been initialized. - * \return bool true if stepper is initialized, false otherwise - */ - - /** - * \fn const initializing_stepper_type& adams_bashforth::initializing_stepper( void ) const - * \brief Returns the internal initializing stepper instance. - * \return initializing_stepper - */ - - /** - * \fn const initializing_stepper_type& adams_bashforth::initializing_stepper( void ) const - * \brief Returns the internal initializing stepper instance. - * \return initializing_stepper - */ - - /** - * \fn initializing_stepper_type& adams_bashforth::initializing_stepper( void ) - * \brief Returns the internal initializing stepper instance. - * \return initializing_stepper - */ - -} // odeint -} // numeric -} // boost - - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_ADAMS_BASHFORTH_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp deleted file mode 100644 index e9d96a5..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp +++ /dev/null @@ -1,258 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp - - [begin_description] - Implementation of the Adams-Bashforth-Moulton method, a predictor-corrector multistep method. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_ADAMS_BASHFORTH_MOULTON_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_ADAMS_BASHFORTH_MOULTON_HPP_INCLUDED - - -#include - -#include -#include -#include - -#include -#include - -#include -#include - - -namespace boost { -namespace numeric { -namespace odeint { - - -template< -size_t Steps , -class State , -class Value = double , -class Deriv = State , -class Time = Value , -class Algebra = range_algebra , -class Operations = default_operations , -class Resizer = initially_resizer -> -class adams_bashforth_moulton -{ - -#ifndef DOXYGEN_SKIP - BOOST_STATIC_ASSERT(( Steps > 0 )); - BOOST_STATIC_ASSERT(( Steps < 9 )); -#endif - -public : - - typedef State state_type; - typedef state_wrapper< state_type > wrapped_state_type; - typedef Value value_type; - typedef Deriv deriv_type; - typedef state_wrapper< deriv_type > wrapped_deriv_type; - typedef Time time_type; - typedef Algebra algebra_type; - typedef Operations operations_type; - typedef Resizer resizer_type; - typedef stepper_tag stepper_category; - - static const size_t steps = Steps; -#ifndef DOXYGEN_SKIP - typedef adams_bashforth< steps , state_type , value_type , deriv_type , time_type , algebra_type , operations_type , resizer_type > adams_bashforth_type; - typedef adams_moulton< steps , state_type , value_type , deriv_type , time_type , algebra_type , operations_type , resizer_type > adams_moulton_type; -#endif //DOXYGEN_SKIP - typedef unsigned short order_type; - static const order_type order_value = steps + 1; - - /** \brief Constructs the adams_bashforth class. */ - adams_bashforth_moulton( void ) - : m_adams_bashforth() , m_adams_moulton( m_adams_bashforth.algebra() ) - { } - - adams_bashforth_moulton( const algebra_type &algebra ) - : m_adams_bashforth( algebra ) , m_adams_moulton( m_adams_bashforth.algebra() ) - { } - - order_type order( void ) const { return order_value; } - - template< class System , class StateInOut > - void do_step( System system , StateInOut &x , time_type t , time_type dt ) - { - m_adams_bashforth.do_step( system , x , t , dt ); - m_adams_moulton.do_step( system , x , t , dt , m_adams_bashforth.step_storage() ); - } - - /** - * \brief Second version to solve the forwarding problem, can be called with Boost.Range as StateInOut. - */ - template< class System , class StateInOut > - void do_step( System system , const StateInOut &x , time_type t , time_type dt ) - { - m_adams_bashforth.do_step( system , x , t , dt ); - m_adams_moulton.do_step( system , x , t , dt , m_adams_bashforth.step_storage() ); - } - - template< class System , class StateIn , class StateOut > - void do_step( System system , const StateIn &in , time_type t , const StateOut &out , time_type dt ) - { - m_adams_bashforth.do_step( system , in , t , out , dt ); - m_adams_moulton.do_step( system , out , t , dt , m_adams_bashforth.step_storage() ); - } - - /** - * \brief Second version to solve the forwarding problem, can be called with Boost.Range as StateOut. - */ - template< class System , class StateIn , class StateOut > - void do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt ) - { - m_adams_bashforth.do_step( system , in , t , out , dt ); - m_adams_moulton.do_step( system , out , t , dt , m_adams_bashforth.step_storage() ); - } - - - template< class StateType > - void adjust_size( const StateType &x ) - { - m_adams_bashforth.adjust_size( x ); - m_adams_moulton.adjust_size( x ); - } - - - template< class ExplicitStepper , class System , class StateIn > - void initialize( ExplicitStepper explicit_stepper , System system , StateIn &x , time_type &t , time_type dt ) - { - m_adams_bashforth.initialize( explicit_stepper , system , x , t , dt ); - } - - - template< class System , class StateIn > - void initialize( System system , StateIn &x , time_type &t , time_type dt ) - { - m_adams_bashforth.initialize( system , x , t , dt ); - } - - - -private: - - adams_bashforth_type m_adams_bashforth; - adams_moulton_type m_adams_moulton; -}; - - -/********* DOXYGEN ********/ - -/** - * \class adams_bashforth_moulton - * \brief The Adams-Bashforth-Moulton multistep algorithm. - * - * The Adams-Bashforth method is a multi-step predictor-corrector algorithm - * with configurable step number. The step number is specified as template - * parameter Steps and it then uses the result from the previous Steps steps. - * See also - * en.wikipedia.org/wiki/Linear_multistep_method. - * Currently, a maximum of Steps=8 is supported. - * The method is explicit and fulfills the Stepper concept. Step size control - * or continuous output are not provided. - * - * This class derives from algebra_base and inherits its interface via - * CRTP (current recurring template pattern). For more details see - * algebra_stepper_base. - * - * \tparam Steps The number of steps (maximal 8). - * \tparam State The state type. - * \tparam Value The value type. - * \tparam Deriv The type representing the time derivative of the state. - * \tparam Time The time representing the independent variable - the time. - * \tparam Algebra The algebra type. - * \tparam Operations The operations type. - * \tparam Resizer The resizer policy type. - * \tparam InitializingStepper The stepper for the first two steps. - */ - - /** - * \fn adams_bashforth_moulton::adams_bashforth_moulton( const algebra_type &algebra ) - * \brief Constructs the adams_bashforth class. This constructor can be used as a default - * constructor if the algebra has a default constructor. - * \param algebra A copy of algebra is made and stored. - */ - - /** - * \fn adams_bashforth_moulton::order( void ) const - * \brief Returns the order of the algorithm, which is equal to the number of steps+1. - * \return order of the method. - */ - - /** - * \fn adams_bashforth_moulton::do_step( System system , StateInOut &x , time_type t , time_type dt ) - * \brief This method performs one step. It transforms the result in-place. - * - * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x. - * \param t The value of the time, at which the step should be performed. - * \param dt The step size. - */ - - - /** - * \fn adams_bashforth_moulton::do_step( System system , const StateIn &in , time_type t , const StateOut &out , time_type dt ) - * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dt The step size. - */ - - /** - * \fn adams_bashforth_moulton::adjust_size( const StateType &x ) - * \brief Adjust the size of all temporaries in the stepper manually. - * \param x A state from which the size of the temporaries to be resized is deduced. - */ - - /** - * \fn adams_bashforth_moulton::initialize( ExplicitStepper explicit_stepper , System system , StateIn &x , time_type &t , time_type dt ) - * \brief Initialized the stepper. Does Steps-1 steps with the explicit_stepper to fill the buffer. - * \note The state x and time t are updated to the values after Steps-1 initial steps. - * \param explicit_stepper the stepper used to fill the buffer of previous step results - * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the - * Simple System concept. - * \param x The initial state of the ODE which should be solved, updated after in this method. - * \param t The initial time, updated in this method. - * \param dt The step size. - */ - - /** - * \fn adams_bashforth_moulton::initialize( System system , StateIn &x , time_type &t , time_type dt ) - * \brief Initialized the stepper. Does Steps-1 steps using the standard initializing stepper - * of the underlying adams_bashforth stepper. - * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x. - * \param t The value of the time, at which the step should be performed. - * \param dt The step size. - */ - - -} // odeint -} // numeric -} // boost - - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_ADAMS_BASHFORTH_MOULTON_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_moulton.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_moulton.hpp deleted file mode 100644 index eecd098..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_moulton.hpp +++ /dev/null @@ -1,195 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/adams_moulton.hpp - - [begin_description] - Implementation of the Adams-Moulton method. This is method is not a real stepper, it is more a helper class - which computes the corrector step in the Adams-Bashforth-Moulton method. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_ADAMS_MOULTON_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_ADAMS_MOULTON_HPP_INCLUDED - - -#include - -#include -#include - -#include -#include -#include - -#include -#include - -#include -#include -#include - - - - - - -namespace boost { -namespace numeric { -namespace odeint { - - -/* - * Static implicit Adams-Moulton multistep-solver without step size control and without dense output. - */ -template< -size_t Steps , -class State , -class Value = double , -class Deriv = State , -class Time = Value , -class Algebra = range_algebra , -class Operations = default_operations , -class Resizer = initially_resizer -> -class adams_moulton -{ -private: - - -public : - - typedef State state_type; - typedef state_wrapper< state_type > wrapped_state_type; - typedef Value value_type; - typedef Deriv deriv_type; - typedef state_wrapper< deriv_type > wrapped_deriv_type; - typedef Time time_type; - typedef Algebra algebra_type; - typedef Operations operations_type; - typedef Resizer resizer_type; - typedef stepper_tag stepper_category; - - typedef adams_moulton< Steps , State , Value , Deriv , Time , Algebra , Operations , Resizer > stepper_type; - - static const size_t steps = Steps; - - typedef unsigned short order_type; - static const order_type order_value = steps + 1; - - typedef detail::rotating_buffer< wrapped_deriv_type , steps > step_storage_type; - - adams_moulton( ) - : m_coefficients() , m_dxdt() , m_resizer() , - m_algebra_instance() , m_algebra( m_algebra_instance ) - { } - - adams_moulton( algebra_type &algebra ) - : m_coefficients() , m_dxdt() , m_resizer() , - m_algebra_instance() , m_algebra( algebra ) - { } - - adams_moulton& operator=( const adams_moulton &stepper ) - { - m_dxdt = stepper.m_dxdt; - m_resizer = stepper.m_resizer; - m_algebra = stepper.m_algebra; - return *this; - } - - order_type order( void ) const { return order_value; } - - - /* - * Version 1 : do_step( system , x , t , dt , buf ); - * - * solves the forwarding problem - */ - template< class System , class StateInOut , class ABBuf > - void do_step( System system , StateInOut &in , time_type t , time_type dt , const ABBuf &buf ) - { - do_step( system , in , t , in , dt , buf ); - } - - template< class System , class StateInOut , class ABBuf > - void do_step( System system , const StateInOut &in , time_type t , time_type dt , const ABBuf &buf ) - { - do_step( system , in , t , in , dt , buf ); - } - - - - /* - * Version 2 : do_step( system , in , t , out , dt , buf ); - * - * solves the forwarding problem - */ - template< class System , class StateIn , class StateOut , class ABBuf > - void do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt , const ABBuf &buf ) - { - typename odeint::unwrap_reference< System >::type &sys = system; - m_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_impl , detail::ref( *this ) , detail::_1 ) ); - sys( in , m_dxdt.m_v , t ); - detail::adams_moulton_call_algebra< steps , algebra_type , operations_type >()( m_algebra , in , out , m_dxdt.m_v , buf , m_coefficients , dt ); - } - - template< class System , class StateIn , class StateOut , class ABBuf > - void do_step( System system , const StateIn &in , time_type t , const StateOut &out , time_type dt , const ABBuf &buf ) - { - typename odeint::unwrap_reference< System >::type &sys = system; - m_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_impl , detail::ref( *this ) , detail::_1 ) ); - sys( in , m_dxdt.m_v , t ); - detail::adams_moulton_call_algebra< steps , algebra_type , operations_type >()( m_algebra , in , out , m_dxdt.m_v , buf , m_coefficients , dt ); - } - - - - template< class StateType > - void adjust_size( const StateType &x ) - { - resize_impl( x ); - } - - algebra_type& algebra() - { return m_algebra; } - - const algebra_type& algebra() const - { return m_algebra; } - - -private: - - template< class StateIn > - bool resize_impl( const StateIn &x ) - { - return adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable::type() ); - } - - - const detail::adams_moulton_coefficients< value_type , steps > m_coefficients; - wrapped_deriv_type m_dxdt; - resizer_type m_resizer; - -protected: - - algebra_type m_algebra_instance; - algebra_type &m_algebra; -}; - - - - -} // odeint -} // numeric -} // boost - - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_ADAMS_MOULTON_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp deleted file mode 100644 index db363ff..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp +++ /dev/null @@ -1,91 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp - - [begin_description] - Base class for all steppers with an algebra and operations. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_BASE_ALGEBRA_STEPPER_BASE_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_BASE_ALGEBRA_STEPPER_BASE_HPP_INCLUDED - - -namespace boost { -namespace numeric { -namespace odeint { - -template< class Algebra , class Operations > -class algebra_stepper_base -{ -public: - - typedef Algebra algebra_type; - typedef Operations operations_type; - - algebra_stepper_base( const algebra_type &algebra = algebra_type() ) - : m_algebra( algebra ) { } - - algebra_type& algebra() - { - return m_algebra; - } - - const algebra_type& algebra() const - { - return m_algebra; - } - -protected: - - algebra_type m_algebra; -}; - - -/******* DOXYGEN *******/ - -/** - * \class algebra_stepper_base - * \brief Base class for all steppers with algebra and operations. - * - * This class serves a base class for all steppers with algebra and operations. It holds the - * algebra and provides access to the algebra. The operations are not instantiated, since they are - * static classes inside the operations class. - * - * \tparam Algebra The type of the algebra. Must fulfill the Algebra Concept, at least partially to work - * with the stepper. - * \tparam Operations The type of the operations. Must fulfill the Operations Concept, at least partially - * to work with the stepper. - */ - - /** - * \fn algebra_stepper_base::algebra_stepper_base( const algebra_type &algebra = algebra_type() ) - * \brief Constructs a algebra_stepper_base and creates the algebra. This constructor can be used as a default - * constructor if the algebra has a default constructor. - * \param algebra The algebra_stepper_base stores and uses a copy of algebra. - */ - - /** - * \fn algebra_type& algebra_stepper_base::algebra() - * \return A reference to the algebra which is held by this class. - */ - - /** - * \fn const algebra_type& algebra_stepper_base::algebra() const - * \return A const reference to the algebra which is held by this class. - */ - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_BASE_ALGEBRA_STEPPER_BASE_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp deleted file mode 100644 index cf158cf..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp +++ /dev/null @@ -1,560 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp - - [begin_description] - Base class for all explicit Runge Kutta stepper which are also error steppers. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_BASE_EXPLICIT_ERROR_STEPPER_BASE_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_BASE_EXPLICIT_ERROR_STEPPER_BASE_HPP_INCLUDED - -#include -#include - - -#include -#include -#include -#include -#include - -#include - -#include - -namespace boost { -namespace numeric { -namespace odeint { - - -/* - * base class for explicit stepper and error steppers - * models the stepper AND the error stepper concept - * - * this class provides the following do_step variants: - * do_step( sys , x , t , dt ) - * do_step( sys , x , dxdt , t , dt ) - * do_step( sys , in , t , out , dt ) - * do_step( sys , in , dxdt , t , out , dt ) - * do_step( sys , x , t , dt , xerr ) - * do_step( sys , x , dxdt , t , dt , xerr ) - * do_step( sys , in , t , out , dt , xerr ) - * do_step( sys , in , dxdt , t , out , dt , xerr ) - */ -template< -class Stepper , -unsigned short Order , -unsigned short StepperOrder , -unsigned short ErrorOrder , -class State , -class Value , -class Deriv , -class Time , -class Algebra , -class Operations , -class Resizer -> -class explicit_error_stepper_base : public algebra_stepper_base< Algebra , Operations > -{ -public: - - typedef algebra_stepper_base< Algebra , Operations > algebra_stepper_base_type; - typedef typename algebra_stepper_base_type::algebra_type algebra_type; - - - typedef State state_type; - typedef Value value_type; - typedef Deriv deriv_type; - typedef Time time_type; - typedef Resizer resizer_type; - typedef Stepper stepper_type; - typedef explicit_error_stepper_tag stepper_category; - #ifndef DOXYGEN_SKIP - typedef state_wrapper< state_type > wrapped_state_type; - typedef state_wrapper< deriv_type > wrapped_deriv_type; - typedef explicit_error_stepper_base< Stepper , Order , StepperOrder , ErrorOrder , - State , Value , Deriv , Time , Algebra , Operations , Resizer > internal_stepper_base_type; - #endif - - typedef unsigned short order_type; - static const order_type order_value = Order; - static const order_type stepper_order_value = StepperOrder; - static const order_type error_order_value = ErrorOrder; - - - explicit_error_stepper_base( const algebra_type &algebra = algebra_type() ) - : algebra_stepper_base_type( algebra ) - { } - - order_type order( void ) const - { - return order_value; - } - - order_type stepper_order( void ) const - { - return stepper_order_value; - } - - order_type error_order( void ) const - { - return error_order_value; - } - - - - /* - * Version 1 : do_step( sys , x , t , dt ) - * - * the two overloads are needed in order to solve the forwarding problem - */ - template< class System , class StateInOut > - void do_step( System system , StateInOut &x , time_type t , time_type dt ) - { - do_step_v1( system , x , t , dt ); - } - - /** - * \brief Second version to solve the forwarding problem, can be called with Boost.Range as StateInOut. - */ - template< class System , class StateInOut > - void do_step( System system , const StateInOut &x , time_type t , time_type dt ) - { - do_step_v1( system , x , t , dt ); - } - - - - /* - * Version 2 : do_step( sys , x , dxdt , t , dt ) - * - * this version does not solve the forwarding problem, boost.range can not be used - * - * the disable is needed to avoid ambiguous overloads if state_type = time_type - */ - template< class System , class StateInOut , class DerivIn > - typename boost::disable_if< boost::is_same< DerivIn , time_type > , void >::type - do_step( System system , StateInOut &x , const DerivIn &dxdt , time_type t , time_type dt ) - { - this->stepper().do_step_impl( system , x , dxdt , t , x , dt ); - } - - - /* - * Version 3 : do_step( sys , in , t , out , dt ) - * - * this version does not solve the forwarding problem, boost.range can not be used - * - * the disable is needed to avoid ambiguous overloads if state_type = time_type - */ - template< class System , class StateIn , class StateOut > - typename boost::disable_if< boost::is_same< StateIn , time_type > , void >::type - do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt ) - { - typename odeint::unwrap_reference< System >::type &sys = system; - m_resizer.adjust_size( in , detail::bind( &internal_stepper_base_type::template resize_impl , detail::ref( *this ) , detail::_1 ) ); - sys( in , m_dxdt.m_v ,t ); - this->stepper().do_step_impl( system , in , m_dxdt.m_v , t , out , dt ); - } - - /* - * Version 4 :do_step( sys , in , dxdt , t , out , dt ) - * - * this version does not solve the forwarding problem, boost.range can not be used - * - * the disable is needed to avoid ambiguous overloads if state_type = time_type - */ - template< class System , class StateIn , class DerivIn , class StateOut > - typename boost::disable_if< boost::is_same< DerivIn , time_type > , void >::type - do_step( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt ) - { - this->stepper().do_step_impl( system , in , dxdt , t , out , dt ); - } - - - - - - /* - * Version 5 :do_step( sys , x , t , dt , xerr ) - * - * the two overloads are needed in order to solve the forwarding problem - */ - template< class System , class StateInOut , class Err > - void do_step( System system , StateInOut &x , time_type t , time_type dt , Err &xerr ) - { - do_step_v5( system , x , t , dt , xerr ); - } - - /** - * \brief Second version to solve the forwarding problem, can be called with Boost.Range as StateInOut. - */ - template< class System , class StateInOut , class Err > - void do_step( System system , const StateInOut &x , time_type t , time_type dt , Err &xerr ) - { - do_step_v5( system , x , t , dt , xerr ); - } - - - /* - * Version 6 :do_step( sys , x , dxdt , t , dt , xerr ) - * - * this version does not solve the forwarding problem, boost.range can not be used - * - * the disable is needed to avoid ambiguous overloads if state_type = time_type - */ - template< class System , class StateInOut , class DerivIn , class Err > - typename boost::disable_if< boost::is_same< DerivIn , time_type > , void >::type - do_step( System system , StateInOut &x , const DerivIn &dxdt , time_type t , time_type dt , Err &xerr ) - { - this->stepper().do_step_impl( system , x , dxdt , t , x , dt , xerr ); - } - - - /* - * Version 7 : do_step( sys , in , t , out , dt , xerr ) - * - * this version does not solve the forwarding problem, boost.range can not be used - */ - template< class System , class StateIn , class StateOut , class Err > - void do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt , Err &xerr ) - { - typename odeint::unwrap_reference< System >::type &sys = system; - m_resizer.adjust_size( in , detail::bind( &internal_stepper_base_type::template resize_impl , detail::ref( *this ) , detail::_1 ) ); - sys( in , m_dxdt.m_v ,t ); - this->stepper().do_step_impl( system , in , m_dxdt.m_v , t , out , dt , xerr ); - } - - - /* - * Version 8 : do_step( sys , in , dxdt , t , out , dt , xerr ) - * - * this version does not solve the forwarding problem, boost.range can not be used - */ - template< class System , class StateIn , class DerivIn , class StateOut , class Err > - void do_step( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt , Err &xerr ) - { - this->stepper().do_step_impl( system , in , dxdt , t , out , dt , xerr ); - } - - template< class StateIn > - void adjust_size( const StateIn &x ) - { - resize_impl( x ); - } - - - -private: - - template< class System , class StateInOut > - void do_step_v1( System system , StateInOut &x , time_type t , time_type dt ) - { - typename odeint::unwrap_reference< System >::type &sys = system; - m_resizer.adjust_size( x , detail::bind( &internal_stepper_base_type::template resize_impl , detail::ref( *this ) , detail::_1 ) ); - sys( x , m_dxdt.m_v ,t ); - this->stepper().do_step_impl( system , x , m_dxdt.m_v , t , x , dt ); - } - - template< class System , class StateInOut , class Err > - void do_step_v5( System system , StateInOut &x , time_type t , time_type dt , Err &xerr ) - { - typename odeint::unwrap_reference< System >::type &sys = system; - m_resizer.adjust_size( x , detail::bind( &internal_stepper_base_type::template resize_impl , detail::ref( *this ) , detail::_1 ) ); - sys( x , m_dxdt.m_v ,t ); - this->stepper().do_step_impl( system , x , m_dxdt.m_v , t , x , dt , xerr ); - } - - template< class StateIn > - bool resize_impl( const StateIn &x ) - { - return adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable::type() ); - } - - stepper_type& stepper( void ) - { - return *static_cast< stepper_type* >( this ); - } - - const stepper_type& stepper( void ) const - { - return *static_cast< const stepper_type* >( this ); - } - - - resizer_type m_resizer; - -protected: - - wrapped_deriv_type m_dxdt; -}; - - - - -/******** DOXYGEN *******/ - -/** - * \class explicit_error_stepper_base - * \brief Base class for explicit steppers with error estimation. This class can used with - * controlled steppers for step size control. - * - * This class serves as the base class for all explicit steppers with algebra and operations. In contrast to - * explicit_stepper_base it also estimates the error and can be used in a controlled stepper to provide - * step size control. - * - * \note This stepper provides `do_step` methods with and without error estimation. It has therefore three orders, - * one for the order of a step if the error is not estimated. The other two orders are the orders of the step and - * the error step if the error estimation is performed. - * - * explicit_error_stepper_base is used as the interface in a CRTP (currently recurring template - * pattern). In order to work correctly the parent class needs to have a method - * `do_step_impl( system , in , dxdt_in , t , out , dt , xerr )`. - * explicit_error_stepper_base derives from algebra_stepper_base. - * - * explicit_error_stepper_base provides several overloaded `do_step` methods, see the list below. Only two of them - * are needed to fulfill the Error Stepper concept. The other ones are for convenience and for performance. Some - * of them simply update the state out-of-place, while other expect that the first derivative at `t` is passed to the - * stepper. - * - * - `do_step( sys , x , t , dt )` - The classical `do_step` method needed to fulfill the Error Stepper concept. The - * state is updated in-place. A type modelling a Boost.Range can be used for x. - * - `do_step( sys , x , dxdt , t , dt )` - This method updates the state in-place, but the derivative at the point `t` - * must be explicitly passed in `dxdt`. - * - `do_step( sys , in , t , out , dt )` - This method updates the state out-of-place, hence the result of the step - * is stored in `out`. - * - `do_step( sys , in , dxdt , t , out , dt )` - This method update the state out-of-place and expects that the - * derivative at the point `t` is explicitly passed in `dxdt`. It is a combination of the two `do_step` methods - * above. - * - `do_step( sys , x , t , dt , xerr )` - This `do_step` method is needed to fulfill the Error Stepper concept. The - * state is updated in-place and an error estimate is calculated. A type modelling a Boost.Range can be used for x. - * - `do_step( sys , x , dxdt , t , dt , xerr )` - This method updates the state in-place, but the derivative at the - * point `t` must be passed in `dxdt`. An error estimate is calculated. - * - `do_step( sys , in , t , out , dt , xerr )` - This method updates the state out-of-place and estimates the error - * during the step. - * - `do_step( sys , in , dxdt , t , out , dt , xerr )` - This methods updates the state out-of-place and estimates - * the error during the step. Furthermore, the derivative at `t` must be passed in `dxdt`. - * - * \note The system is always passed as value, which might result in poor performance if it contains data. In this - * case it can be used with `boost::ref` or `std::ref`, for example `stepper.do_step( boost::ref( sys ) , x , t , dt );` - * - * \note The time `t` is not advanced by the stepper. This has to done manually, or by the appropriate `integrate` - * routines or `iterator`s. - * - * \tparam Stepper The stepper on which this class should work. It is used via CRTP, hence explicit_stepper_base - * provides the interface for the Stepper. - * \tparam Order The order of a stepper if the stepper is used without error estimation. - * \tparam StepperOrder The order of a step if the stepper is used with error estimation. Usually Order and StepperOrder have - * the same value. - * \tparam ErrorOrder The order of the error step if the stepper is used with error estimation. - * \tparam State The state type for the stepper. - * \tparam Value The value type for the stepper. This should be a floating point type, like float, - * double, or a multiprecision type. It must not necessary be the value_type of the State. For example - * the State can be a `vector< complex< double > >` in this case the Value must be double. - * The default value is double. - * \tparam Deriv The type representing time derivatives of the state type. It is usually the same type as the - * state type, only if used with Boost.Units both types differ. - * \tparam Time The type representing the time. Usually the same type as the value type. When Boost.Units is - * used, this type has usually a unit. - * \tparam Algebra The algebra type which must fulfill the Algebra Concept. - * \tparam Operations The type for the operations which must fulfill the Operations Concept. - * \tparam Resizer The resizer policy class. - */ - - - /** - * \fn explicit_error_stepper_base::explicit_error_stepper_base( const algebra_type &algebra = algebra_type() ) - * - * \brief Constructs a explicit_error_stepper_base class. This constructor can be used as a default - * constructor if the algebra has a default constructor. - * \param algebra A copy of algebra is made and stored inside explicit_stepper_base. - */ - - /** - * \fn explicit_error_stepper_base::order( void ) const - * \return Returns the order of the stepper if it used without error estimation. - */ - - /** - * \fn explicit_error_stepper_base::stepper_order( void ) const - * \return Returns the order of a step if the stepper is used without error estimation. - */ - - /** - * \fn explicit_error_stepper_base::error_order( void ) const - * \return Returns the order of an error step if the stepper is used without error estimation. - */ - - /** - * \fn explicit_error_stepper_base::do_step( System system , StateInOut &x , time_type t , time_type dt ) - * \brief This method performs one step. It transforms the result in-place. - * - * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x. - * \param t The value of the time, at which the step should be performed. - * \param dt The step size. - */ - - /** - * \fn explicit_error_stepper_base::do_step( System system , StateInOut &x , const DerivIn &dxdt , time_type t , time_type dt ) - * \brief The method performs one step with the stepper passed by Stepper. Additionally to the other method - * the derivative of x is also passed to this method. It is supposed to be used in the following way: - * - * \code - * sys( x , dxdt , t ); - * stepper.do_step( sys , x , dxdt , t , dt ); - * \endcode - * - * The result is updated in place in x. This method is disabled if Time and Deriv are of the same type. In this - * case the method could not be distinguished from other `do_step` versions. - * - * \note This method does not solve the forwarding problem. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x. - * \param dxdt The derivative of x at t. - * \param t The value of the time, at which the step should be performed. - * \param dt The step size. - */ - - /** - * \fn explicit_error_stepper_base::do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt ) - * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place. - * This method is disabled if StateIn and Time are the same type. In this case the method can not be distinguished from - * other `do_step` variants. - * \note This method does not solve the forwarding problem. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dt The step size. - */ - - - /** - * \fn explicit_error_stepper_base::do_step( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt ) - * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place. - * Furthermore, the derivative of x at t is passed to the stepper. It is supposed to be used in the following way: - * - * \code - * sys( in , dxdt , t ); - * stepper.do_step( sys , in , dxdt , t , out , dt ); - * \endcode - * - * This method is disabled if DerivIn and Time are of same type. - * - * \note This method does not solve the forwarding problem. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param dxdt The derivative of x at t. - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dt The step size. - */ - - /** - * \fn explicit_error_stepper_base::do_step( System system , StateInOut &x , time_type t , time_type dt , Err &xerr ) - * \brief The method performs one step with the stepper passed by Stepper and estimates the error. The state of the ODE - * is updated in-place. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. x is updated by this method. - * \param t The value of the time, at which the step should be performed. - * \param dt The step size. - * \param xerr The estimation of the error is stored in xerr. - */ - - /** - * \fn explicit_error_stepper_base::do_step( System system , StateInOut &x , const DerivIn &dxdt , time_type t , time_type dt , Err &xerr ) - * \brief The method performs one step with the stepper passed by Stepper. Additionally to the other method - * the derivative of x is also passed to this method. It is supposed to be used in the following way: - * - * \code - * sys( x , dxdt , t ); - * stepper.do_step( sys , x , dxdt , t , dt , xerr ); - * \endcode - * - * The result is updated in place in x. This method is disabled if Time and DerivIn are of the same type. In this - * case the method could not be distinguished from other `do_step` versions. - * - * \note This method does not solve the forwarding problem. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x. - * \param dxdt The derivative of x at t. - * \param t The value of the time, at which the step should be performed. - * \param dt The step size. - * \param xerr The error estimate is stored in xerr. - */ - - /** - * \fn explicit_error_stepper_base::do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt , Err &xerr ) - * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place. - * Furthermore, the error is estimated. - * - * \note This method does not solve the forwarding problem. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dt The step size. - * \param xerr The error estimate. - */ - - - /** - * \fn explicit_error_stepper_base::do_step( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt , Err &xerr ) - * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place. - * Furthermore, the derivative of x at t is passed to the stepper and the error is estimated. It is supposed to be used in the following way: - * - * \code - * sys( in , dxdt , t ); - * stepper.do_step( sys , in , dxdt , t , out , dt ); - * \endcode - * - * This method is disabled if DerivIn and Time are of same type. - * - * \note This method does not solve the forwarding problem. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param dxdt The derivative of x at t. - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dt The step size. - * \param xerr The error estimate. - */ - - - /** - * \fn explicit_error_stepper_base::adjust_size( const StateIn &x ) - * \brief Adjust the size of all temporaries in the stepper manually. - * \param x A state from which the size of the temporaries to be resized is deduced. - */ - -} // odeint -} // numeric -} // boost - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_BASE_EXPLICIT_ERROR_STEPPER_BASE_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp deleted file mode 100644 index 7bff0fb..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp +++ /dev/null @@ -1,658 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp - - [begin_description] - Base class for all explicit first-same-as-last Runge Kutta steppers. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_BASE_EXPLICIT_ERROR_STEPPER_FSAL_BASE_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_BASE_EXPLICIT_ERROR_STEPPER_FSAL_BASE_HPP_INCLUDED - -#include -#include - - -#include -#include -#include -#include -#include -#include - -#include - -#include - -namespace boost { -namespace numeric { -namespace odeint { - -/* - * base class for explicit stepper and error steppers with the fsal property - * models the stepper AND the error stepper fsal concept - * - * this class provides the following do_step overloads - * do_step( sys , x , t , dt ) - * do_step( sys , x , dxdt , t , dt ) - * do_step( sys , in , t , out , dt ) - * do_step( sys , in , dxdt_in , t , out , dxdt_out , dt ) - * do_step( sys , x , t , dt , xerr ) - * do_step( sys , x , dxdt , t , dt , xerr ) - * do_step( sys , in , t , out , dt , xerr ) - * do_step( sys , in , dxdt_in , t , out , dxdt_out , dt , xerr ) - */ -template< -class Stepper , -unsigned short Order , -unsigned short StepperOrder , -unsigned short ErrorOrder , -class State , -class Value , -class Deriv , -class Time , -class Algebra , -class Operations , -class Resizer -> -class explicit_error_stepper_fsal_base : public algebra_stepper_base< Algebra , Operations > -{ -public: - - typedef algebra_stepper_base< Algebra , Operations > algebra_stepper_base_type; - typedef typename algebra_stepper_base_type::algebra_type algebra_type; - - typedef State state_type; - typedef Value value_type; - typedef Deriv deriv_type; - typedef Time time_type; - typedef Resizer resizer_type; - typedef Stepper stepper_type; - typedef explicit_error_stepper_fsal_tag stepper_category; - - #ifndef DOXYGEN_SKIP - typedef state_wrapper< state_type > wrapped_state_type; - typedef state_wrapper< deriv_type > wrapped_deriv_type; - typedef explicit_error_stepper_fsal_base< Stepper , Order , StepperOrder , ErrorOrder , - State , Value , Deriv , Time , Algebra , Operations , Resizer > internal_stepper_base_type; - #endif - - - typedef unsigned short order_type; - static const order_type order_value = Order; - static const order_type stepper_order_value = StepperOrder; - static const order_type error_order_value = ErrorOrder; - - explicit_error_stepper_fsal_base( const algebra_type &algebra = algebra_type() ) - : algebra_stepper_base_type( algebra ) , m_first_call( true ) - { } - - order_type order( void ) const - { - return order_value; - } - - order_type stepper_order( void ) const - { - return stepper_order_value; - } - - order_type error_order( void ) const - { - return error_order_value; - } - - - /* - * version 1 : do_step( sys , x , t , dt ) - * - * the two overloads are needed in order to solve the forwarding problem - */ - template< class System , class StateInOut > - void do_step( System system , StateInOut &x , time_type t , time_type dt ) - { - do_step_v1( system , x , t , dt ); - } - - /** - * \brief Second version to solve the forwarding problem, can be called with Boost.Range as StateInOut. - */ - template< class System , class StateInOut > - void do_step( System system , const StateInOut &x , time_type t , time_type dt ) - { - do_step_v1( system , x , t , dt ); - } - - - /* - * version 2 : do_step( sys , x , dxdt , t , dt ) - * - * this version does not solve the forwarding problem, boost.range can not be used - * - * the disable is needed to avoid ambiguous overloads if state_type = time_type - */ - template< class System , class StateInOut , class DerivInOut > - typename boost::disable_if< boost::is_same< StateInOut , time_type > , void >::type - do_step( System system , StateInOut &x , DerivInOut &dxdt , time_type t , time_type dt ) - { - m_first_call = true; - this->stepper().do_step_impl( system , x , dxdt , t , x , dxdt , dt ); - } - - - /* - * version 3 : do_step( sys , in , t , out , dt ) - * - * this version does not solve the forwarding problem, boost.range can not be used - * - * the disable is needed to avoid ambiguous overloads if state_type = time_type - */ - template< class System , class StateIn , class StateOut > - typename boost::disable_if< boost::is_same< StateIn , time_type > , void >::type - do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt ) - { - if( m_resizer.adjust_size( in , detail::bind( &internal_stepper_base_type::template resize_impl< StateIn > , detail::ref( *this ) , detail::_1 ) ) || m_first_call ) - { - initialize( system , in , t ); - } - this->stepper().do_step_impl( system , in , m_dxdt.m_v , t , out , m_dxdt.m_v , dt ); - } - - - /* - * version 4 : do_step( sys , in , dxdt_in , t , out , dxdt_out , dt ) - * - * this version does not solve the forwarding problem, boost.range can not be used - */ - template< class System , class StateIn , class DerivIn , class StateOut , class DerivOut > - void do_step( System system , const StateIn &in , const DerivIn &dxdt_in , time_type t , - StateOut &out , DerivOut &dxdt_out , time_type dt ) - { - m_first_call = true; - this->stepper().do_step_impl( system , in , dxdt_in , t , out , dxdt_out , dt ); - } - - - - - - /* - * version 5 : do_step( sys , x , t , dt , xerr ) - * - * the two overloads are needed in order to solve the forwarding problem - */ - template< class System , class StateInOut , class Err > - void do_step( System system , StateInOut &x , time_type t , time_type dt , Err &xerr ) - { - do_step_v5( system , x , t , dt , xerr ); - } - - /** - * \brief Second version to solve the forwarding problem, can be called with Boost.Range as StateInOut. - */ - template< class System , class StateInOut , class Err > - void do_step( System system , const StateInOut &x , time_type t , time_type dt , Err &xerr ) - { - do_step_v5( system , x , t , dt , xerr ); - } - - - /* - * version 6 : do_step( sys , x , dxdt , t , dt , xerr ) - * - * this version does not solve the forwarding problem, boost.range can not be used - * - * the disable is needed to avoid ambiguous overloads if state_type = time_type - */ - template< class System , class StateInOut , class DerivInOut , class Err > - typename boost::disable_if< boost::is_same< StateInOut , time_type > , void >::type - do_step( System system , StateInOut &x , DerivInOut &dxdt , time_type t , time_type dt , Err &xerr ) - { - m_first_call = true; - this->stepper().do_step_impl( system , x , dxdt , t , x , dxdt , dt , xerr ); - } - - - - - /* - * version 7 : do_step( sys , in , t , out , dt , xerr ) - * - * this version does not solve the forwarding problem, boost.range can not be used - */ - template< class System , class StateIn , class StateOut , class Err > - void do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt , Err &xerr ) - { - if( m_resizer.adjust_size( in , detail::bind( &internal_stepper_base_type::template resize_impl< StateIn > , detail::ref( *this ) , detail::_1 ) ) || m_first_call ) - { - initialize( system , in , t ); - } - this->stepper().do_step_impl( system , in , m_dxdt.m_v , t , out , m_dxdt.m_v , dt , xerr ); - } - - - /* - * version 8 : do_step( sys , in , dxdt_in , t , out , dxdt_out , dt , xerr ) - * - * this version does not solve the forwarding problem, boost.range can not be used - */ - template< class System , class StateIn , class DerivIn , class StateOut , class DerivOut , class Err > - void do_step( System system , const StateIn &in , const DerivIn &dxdt_in , time_type t , - StateOut &out , DerivOut &dxdt_out , time_type dt , Err &xerr ) - { - m_first_call = true; - this->stepper().do_step_impl( system , in , dxdt_in , t , out , dxdt_out , dt , xerr ); - } - - template< class StateIn > - void adjust_size( const StateIn &x ) - { - resize_impl( x ); - } - - void reset( void ) - { - m_first_call = true; - } - - template< class DerivIn > - void initialize( const DerivIn &deriv ) - { - boost::numeric::odeint::copy( deriv , m_dxdt.m_v ); - m_first_call = false; - } - - template< class System , class StateIn > - void initialize( System system , const StateIn &x , time_type t ) - { - typename odeint::unwrap_reference< System >::type &sys = system; - sys( x , m_dxdt.m_v , t ); - m_first_call = false; - } - - bool is_initialized( void ) const - { - return ! m_first_call; - } - - - -private: - - template< class System , class StateInOut > - void do_step_v1( System system , StateInOut &x , time_type t , time_type dt ) - { - if( m_resizer.adjust_size( x , detail::bind( &internal_stepper_base_type::template resize_impl< StateInOut > , detail::ref( *this ) , detail::_1 ) ) || m_first_call ) - { - initialize( system , x , t ); - } - this->stepper().do_step_impl( system , x , m_dxdt.m_v , t , x , m_dxdt.m_v , dt ); - } - - template< class System , class StateInOut , class Err > - void do_step_v5( System system , StateInOut &x , time_type t , time_type dt , Err &xerr ) - { - if( m_resizer.adjust_size( x , detail::bind( &internal_stepper_base_type::template resize_impl< StateInOut > , detail::ref( *this ) , detail::_1 ) ) || m_first_call ) - { - initialize( system , x , t ); - } - this->stepper().do_step_impl( system , x , m_dxdt.m_v , t , x , m_dxdt.m_v , dt , xerr ); - } - - template< class StateIn > - bool resize_impl( const StateIn &x ) - { - return adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable::type() ); - } - - - stepper_type& stepper( void ) - { - return *static_cast< stepper_type* >( this ); - } - - const stepper_type& stepper( void ) const - { - return *static_cast< const stepper_type* >( this ); - } - - - resizer_type m_resizer; - bool m_first_call; - -protected: - - - wrapped_deriv_type m_dxdt; -}; - - -/******* DOXYGEN *******/ - -/** - * \class explicit_error_stepper_fsal_base - * \brief Base class for explicit steppers with error estimation and stepper fulfilling the FSAL (first-same-as-last) - * property. This class can be used with controlled steppers for step size control. - * - * This class serves as the base class for all explicit steppers with algebra and operations and which fulfill the FSAL - * property. In contrast to explicit_stepper_base it also estimates the error and can be used in a controlled stepper - * to provide step size control. - * - * The FSAL property means that the derivative of the system at t+dt is already used in the current step going from - * t to t +dt. Therefore, some more do_steps method can be introduced and the controlled steppers can explicitly make use - * of this property. - * - * \note This stepper provides `do_step` methods with and without error estimation. It has therefore three orders, - * one for the order of a step if the error is not estimated. The other two orders are the orders of the step and - * the error step if the error estimation is performed. - * - * explicit_error_stepper_fsal_base is used as the interface in a CRTP (currently recurring template - * pattern). In order to work correctly the parent class needs to have a method - * `do_step_impl( system , in , dxdt_in , t , out , dxdt_out , dt , xerr )`. - * explicit_error_stepper_fsal_base derives from algebra_stepper_base. - * - * This class can have an intrinsic state depending on the explicit usage of the `do_step` method. This means that some - * `do_step` methods are expected to be called in order. For example the `do_step( sys , x , t , dt , xerr )` will keep track - * of the derivative of `x` which is the internal state. The first call of this method is recognized such that one - * does not explicitly initialize the internal state, so it is safe to use this method like - * - * \code - * stepper_type stepper; - * stepper.do_step( sys , x , t , dt , xerr ); - * stepper.do_step( sys , x , t , dt , xerr ); - * stepper.do_step( sys , x , t , dt , xerr ); - * \endcode - * - * But it is unsafe to call this method with different system functions after each other. Do do so, one must initialize the - * internal state with the `initialize` method or reset the internal state with the `reset` method. - * - * explicit_error_stepper_fsal_base provides several overloaded `do_step` methods, see the list below. Only two of them are needed - * to fulfill the Error Stepper concept. The other ones are for convenience and for better performance. Some of them - * simply update the state out-of-place, while other expect that the first derivative at `t` is passed to the stepper. - * - * - `do_step( sys , x , t , dt )` - The classical `do_step` method needed to fulfill the Error Stepper concept. The - * state is updated in-place. A type modelling a Boost.Range can be used for x. - * - `do_step( sys , x , dxdt , t , dt )` - This method updates the state x and the derivative dxdt in-place. It is expected - * that dxdt has the value of the derivative of x at time t. - * - `do_step( sys , in , t , out , dt )` - This method updates the state out-of-place, hence the result of the step - * is stored in `out`. - * - `do_step( sys , in , dxdt_in , t , out , dxdt_out , dt )` - This method updates the state and the derivative - * out-of-place. It expects that the derivative at the point `t` is explicitly passed in `dxdt_in`. - * - `do_step( sys , x , t , dt , xerr )` - This `do_step` method is needed to fulfill the Error Stepper concept. The - * state is updated in-place and an error estimate is calculated. A type modelling a Boost.Range can be used for x. - * - `do_step( sys , x , dxdt , t , dt , xerr )` - This method updates the state and the derivative in-place. It is assumed - * that the dxdt has the value of the derivative of x at time t. An error estimate is calculated. - * - `do_step( sys , in , t , out , dt , xerr )` - This method updates the state out-of-place and estimates the error - * during the step. - * - `do_step( sys , in , dxdt_in , t , out , dxdt_out , dt , xerr )` - This methods updates the state and the derivative - * out-of-place and estimates the error during the step. It is assumed the dxdt_in is derivative of in at time t. - * - * \note The system is always passed as value, which might result in poor performance if it contains data. In this - * case it can be used with `boost::ref` or `std::ref`, for example `stepper.do_step( boost::ref( sys ) , x , t , dt );` - * - * \note The time `t` is not advanced by the stepper. This has to done manually, or by the appropriate `integrate` - * routines or `iterator`s. - * - * \tparam Stepper The stepper on which this class should work. It is used via CRTP, hence explicit_stepper_base - * provides the interface for the Stepper. - * \tparam Order The order of a stepper if the stepper is used without error estimation. - * \tparam StepperOrder The order of a step if the stepper is used with error estimation. Usually Order and StepperOrder have - * the same value. - * \tparam ErrorOrder The order of the error step if the stepper is used with error estimation. - * \tparam State The state type for the stepper. - * \tparam Value The value type for the stepper. This should be a floating point type, like float, - * double, or a multiprecision type. It must not necessary be the value_type of the State. For example - * the State can be a `vector< complex< double > >` in this case the Value must be double. - * The default value is double. - * \tparam Deriv The type representing time derivatives of the state type. It is usually the same type as the - * state type, only if used with Boost.Units both types differ. - * \tparam Time The type representing the time. Usually the same type as the value type. When Boost.Units is - * used, this type has usually a unit. - * \tparam Algebra The algebra type which must fulfill the Algebra Concept. - * \tparam Operations The type for the operations which must fulfill the Operations Concept. - * \tparam Resizer The resizer policy class. - */ - - - - /** - * \fn explicit_error_stepper_fsal_base::explicit_error_stepper_fsal_base( const algebra_type &algebra ) - * \brief Constructs a explicit_stepper_fsal_base class. This constructor can be used as a default - * constructor if the algebra has a default constructor. - * \param algebra A copy of algebra is made and stored inside explicit_stepper_base. - */ - - - /** - * \fn explicit_error_stepper_fsal_base::order( void ) const - * \return Returns the order of the stepper if it used without error estimation. - */ - - /** - * \fn explicit_error_stepper_fsal_base::stepper_order( void ) const - * \return Returns the order of a step if the stepper is used without error estimation. - */ - - - /** - * \fn explicit_error_stepper_fsal_base::error_order( void ) const - * \return Returns the order of an error step if the stepper is used without error estimation. - */ - - /** - * \fn explicit_error_stepper_fsal_base::do_step( System system , StateInOut &x , time_type t , time_type dt ) - * \brief This method performs one step. It transforms the result in-place. - * - * \note This method uses the internal state of the stepper. - * - * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x. - * \param t The value of the time, at which the step should be performed. - * \param dt The step size. - */ - - - /** - * \fn explicit_error_stepper_fsal_base::do_step( System system , StateInOut &x , DerivInOut &dxdt , time_type t , time_type dt ) - * \brief The method performs one step with the stepper passed by Stepper. Additionally to the other methods - * the derivative of x is also passed to this method. Therefore, dxdt must be evaluated initially: - * - * \code - * ode( x , dxdt , t ); - * for( ... ) - * { - * stepper.do_step( ode , x , dxdt , t , dt ); - * t += dt; - * } - * \endcode - * - * \note This method does NOT use the initial state, since the first derivative is explicitly passed to this method. - * - * The result is updated in place in x as well as the derivative dxdt. This method is disabled if - * Time and StateInOut are of the same type. In this case the method could not be distinguished from other `do_step` - * versions. - * - * \note This method does not solve the forwarding problem. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x. - * \param dxdt The derivative of x at t. After calling `do_step` dxdt is updated to the new value. - * \param t The value of the time, at which the step should be performed. - * \param dt The step size. - */ - - /** - * \fn explicit_error_stepper_fsal_base::do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt ) - * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place. - * This method is disabled if StateIn and Time are the same type. In this case the method can not be distinguished from - * other `do_step` variants. - * - * \note This method uses the internal state of the stepper. - * - * \note This method does not solve the forwarding problem. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dt The step size. - */ - - /** - * \fn explicit_error_stepper_fsal_base::do_step( System system , const StateIn &in , const DerivIn &dxdt_in , time_type t , StateOut &out , DerivOut &dxdt_out , time_type dt ) - * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place. - * Furthermore, the derivative of x at t is passed to the stepper and updated by the stepper to its new value at - * t+dt. - * - * \note This method does not solve the forwarding problem. - * - * \note This method does NOT use the internal state of the stepper. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param dxdt_in The derivative of x at t. - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dxdt_out The updated derivative of `out` at `t+dt`. - * \param dt The step size. - */ - - /** - * \fn explicit_error_stepper_fsal_base::do_step( System system , StateInOut &x , time_type t , time_type dt , Err &xerr ) - * \brief The method performs one step with the stepper passed by Stepper and estimates the error. The state of the ODE - * is updated in-place. - * - * - * \note This method uses the internal state of the stepper. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. x is updated by this method. - * \param t The value of the time, at which the step should be performed. - * \param dt The step size. - * \param xerr The estimation of the error is stored in xerr. - */ - - /** - * \fn explicit_error_stepper_fsal_base::do_step( System system , StateInOut &x , DerivInOut &dxdt , time_type t , time_type dt , Err &xerr ) - * \brief The method performs one step with the stepper passed by Stepper. Additionally to the other method - * the derivative of x is also passed to this method and updated by this method. - * - * \note This method does NOT use the internal state of the stepper. - * - * The result is updated in place in x. This method is disabled if Time and Deriv are of the same type. In this - * case the method could not be distinguished from other `do_step` versions. This method is disabled if StateInOut and - * Time are of the same type. - * - * \note This method does NOT use the internal state of the stepper. - * - * \note This method does not solve the forwarding problem. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x. - * \param dxdt The derivative of x at t. After calling `do_step` this value is updated to the new value at `t+dt`. - * \param t The value of the time, at which the step should be performed. - * \param dt The step size. - * \param xerr The error estimate is stored in xerr. - */ - - - /** - * \fn explicit_error_stepper_fsal_base::do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt , Err &xerr ) - * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place. - * Furthermore, the error is estimated. - * - * \note This method uses the internal state of the stepper. - * - * \note This method does not solve the forwarding problem. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dt The step size. - * \param xerr The error estimate. - */ - - /** - * \fn explicit_error_stepper_fsal_base::do_step( System system , const StateIn &in , const DerivIn &dxdt_in , time_type t , StateOut &out , DerivOut &dxdt_out , time_type dt , Err &xerr ) - * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place. - * Furthermore, the derivative of x at t is passed to the stepper and the error is estimated. - * - * \note This method does NOT use the internal state of the stepper. - * - * \note This method does not solve the forwarding problem. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param dxdt_in The derivative of x at t. - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dxdt_out The new derivative at `t+dt` is written into this variable. - * \param dt The step size. - * \param xerr The error estimate. - */ - - /** - * \fn explicit_error_stepper_fsal_base::adjust_size( const StateIn &x ) - * \brief Adjust the size of all temporaries in the stepper manually. - * \param x A state from which the size of the temporaries to be resized is deduced. - */ - - /** - * \fn explicit_error_stepper_fsal_base::reset( void ) - * \brief Resets the internal state of this stepper. After calling this method it is safe to use all - * `do_step` method without explicitly initializing the stepper. - */ - - /** - * \fn explicit_error_stepper_fsal_base::initialize( const DerivIn &deriv ) - * \brief Initializes the internal state of the stepper. - * \param deriv The derivative of x. The next call of `do_step` expects that the derivative of `x` passed to `do_step` - * has the value of `deriv`. - */ - - /** - * \fn explicit_error_stepper_fsal_base::initialize( System system , const StateIn &x , time_type t ) - * \brief Initializes the internal state of the stepper. - * - * This method is equivalent to - * \code - * Deriv dxdt; - * system( x , dxdt , t ); - * stepper.initialize( dxdt ); - * \endcode - * - * \param system The system function for the next calls of `do_step`. - * \param x The current state of the ODE. - * \param t The current time of the ODE. - */ - - /** - * \fn explicit_error_stepper_fsal_base::is_initialized( void ) const - * \brief Returns if the stepper is already initialized. If the stepper is not initialized, the first - * call of `do_step` will initialize the state of the stepper. If the stepper is already initialized - * the system function can not be safely exchanged between consecutive `do_step` calls. - */ - -} // odeint -} // numeric -} // boost - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_BASE_EXPLICIT_ERROR_STEPPER_FSAL_BASE_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp deleted file mode 100644 index 6e2c9cd..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp +++ /dev/null @@ -1,383 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp - - [begin_description] - Base class for all explicit Runge Kutta steppers. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_BASE_EXPLICIT_STEPPER_BASE_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_BASE_EXPLICIT_STEPPER_BASE_HPP_INCLUDED - - -#include -#include - -#include -#include - -#include -#include -#include - -#include - -#include - -namespace boost { -namespace numeric { -namespace odeint { - -/* - * base class for explicit steppers - * models the stepper concept - * - * this class provides the following overloads - * do_step( sys , x , t , dt ) - * do_step( sys , in , t , out , dt ) - * do_step( sys , x , dxdt_in , t , dt ) - * do_step( sys , in , dxdt_in , t , out , dt ) - */ - -template< -class Stepper , -unsigned short Order , -class State , -class Value , -class Deriv , -class Time , -class Algebra , -class Operations , -class Resizer -> -class explicit_stepper_base : public algebra_stepper_base< Algebra , Operations > -{ -public: - - #ifndef DOXYGEN_SKIP - typedef explicit_stepper_base< Stepper , Order , State , Value , Deriv , Time , Algebra , Operations , Resizer > internal_stepper_base_type; - #endif // DOXYGEN_SKIP - - - typedef State state_type; - typedef Value value_type; - typedef Deriv deriv_type; - typedef Time time_type; - typedef Resizer resizer_type; - typedef Stepper stepper_type; - typedef stepper_tag stepper_category; - typedef algebra_stepper_base< Algebra , Operations > algebra_stepper_base_type; - typedef typename algebra_stepper_base_type::algebra_type algebra_type; - typedef typename algebra_stepper_base_type::operations_type operations_type; - typedef unsigned short order_type; - - #ifndef DOXYGEN_SKIP - typedef state_wrapper< state_type > wrapped_state_type; - typedef state_wrapper< deriv_type > wrapped_deriv_type; - #endif // DOXYGEN_SKIP - - - static const order_type order_value = Order; - - - explicit_stepper_base( const algebra_type &algebra = algebra_type() ) - : algebra_stepper_base_type( algebra ) - { } - - /** - * \return Returns the order of the stepper. - */ - order_type order( void ) const - { - return order_value; - } - - - /* - * Version 1 : do_step( sys , x , t , dt ) - * - * the two overloads are needed in order to solve the forwarding problem - */ - template< class System , class StateInOut > - void do_step( System system , StateInOut &x , time_type t , time_type dt ) - { - do_step_v1( system , x , t , dt ); - } - - /** - * \brief Second version to solve the forwarding problem, can be called with Boost.Range as StateInOut. - */ - template< class System , class StateInOut > - void do_step( System system , const StateInOut &x , time_type t , time_type dt ) - { - do_step_v1( system , x , t , dt ); - } - - /* - * Version 2 : do_step( sys , x , dxdt , t , dt ) - * - * this version does not solve the forwarding problem, boost.range can not be used - * - * the disable is needed to avoid ambiguous overloads if state_type = time_type - */ - template< class System , class StateInOut , class DerivIn > - typename boost::disable_if< boost::is_same< DerivIn , time_type > , void >::type - do_step( System system , StateInOut &x , const DerivIn &dxdt , time_type t , time_type dt ) - { - this->stepper().do_step_impl( system , x , dxdt , t , x , dt ); - } - - - /* - * Version 3 : do_step( sys , in , t , out , dt ) - * - * this version does not solve the forwarding problem, boost.range can not be used - */ - template< class System , class StateIn , class StateOut > - void do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt ) - { - typename odeint::unwrap_reference< System >::type &sys = system; - m_resizer.adjust_size( in , detail::bind( &internal_stepper_base_type::template resize_impl , detail::ref( *this ) , detail::_1 ) ); - sys( in , m_dxdt.m_v ,t ); - this->stepper().do_step_impl( system , in , m_dxdt.m_v , t , out , dt ); - } - - - /* - * Version 4 : do_step( sys , in , dxdt , t , out , dt ) - * - * this version does not solve the forwarding problem, boost.range can not be used - */ - template< class System , class StateIn , class DerivIn , class StateOut > - void do_step( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt ) - { - this->stepper().do_step_impl( system , in , dxdt , t , out , dt ); - } - - template< class StateIn > - void adjust_size( const StateIn &x ) - { - resize_impl( x ); - } - -private: - - stepper_type& stepper( void ) - { - return *static_cast< stepper_type* >( this ); - } - - const stepper_type& stepper( void ) const - { - return *static_cast< const stepper_type* >( this ); - } - - - template< class StateIn > - bool resize_impl( const StateIn &x ) - { - return adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable::type() ); - } - - - template< class System , class StateInOut > - void do_step_v1( System system , StateInOut &x , time_type t , time_type dt ) - { - typename odeint::unwrap_reference< System >::type &sys = system; - m_resizer.adjust_size( x , detail::bind( &internal_stepper_base_type::template resize_impl< StateInOut > , detail::ref( *this ) , detail::_1 ) ); - sys( x , m_dxdt.m_v ,t ); - this->stepper().do_step_impl( system , x , m_dxdt.m_v , t , x , dt ); - } - - - resizer_type m_resizer; - -protected: - - wrapped_deriv_type m_dxdt; -}; - - -/******* DOXYGEN *********/ - -/** - * \class explicit_stepper_base - * \brief Base class for explicit steppers without step size control and without dense output. - * - * This class serves as the base class for all explicit steppers with algebra and operations. - * Step size control and error estimation as well as dense output are not provided. explicit_stepper_base - * is used as the interface in a CRTP (currently recurring template pattern). In order to work - * correctly the parent class needs to have a method `do_step_impl( system , in , dxdt_in , t , out , dt )`. - * This is method is used by explicit_stepper_base. explicit_stepper_base derives from - * algebra_stepper_base. An example how this class can be used is - * - * \code - * template< class State , class Value , class Deriv , class Time , class Algebra , class Operations , class Resizer > - * class custom_euler : public explicit_stepper_base< 1 , State , Value , Deriv , Time , Algebra , Operations , Resizer > - * { - * public: - * - * typedef explicit_stepper_base< 1 , State , Value , Deriv , Time , Algebra , Operations , Resizer > base_type; - * - * custom_euler( const Algebra &algebra = Algebra() ) { } - * - * template< class Sys , class StateIn , class DerivIn , class StateOut > - * void do_step_impl( Sys sys , const StateIn &in , const DerivIn &dxdt , Time t , StateOut &out , Time dt ) - * { - * m_algebra.for_each3( out , in , dxdt , Operations::scale_sum2< Value , Time >( 1.0 , dt ); - * } - * - * template< class State > - * void adjust_size( const State &x ) - * { - * base_type::adjust_size( x ); - * } - * }; - * \endcode - * - * For the Stepper concept only the `do_step( sys , x , t , dt )` needs to be implemented. But this class - * provides additional `do_step` variants since the stepper is explicit. These methods can be used to increase - * the performance in some situation, for example if one needs to analyze `dxdt` during each step. In this case - * one can use - * - * \code - * sys( x , dxdt , t ); - * stepper.do_step( sys , x , dxdt , t , dt ); // the value of dxdt is used here - * t += dt; - * \endcode - * - * In detail explicit_stepper_base provides the following `do_step` variants - * - `do_step( sys , x , t , dt )` - The classical `do_step` method needed to fulfill the Stepper concept. The state is updated in-place. - * A type modelling a Boost.Range can be used for x. - * - `do_step( sys , in , t , out , dt )` - This method updates the state out-of-place, hence the result of the step is stored in `out`. - * - `do_step( sys , x , dxdt , t , dt )` - This method updates the state in-place, but the derivative at the point `t` must be - * explicitly passed in `dxdt`. For an example see the code snippet above. - * - `do_step( sys , in , dxdt , t , out , dt )` - This method update the state out-of-place and expects that the derivative at the point - * `t` is explicitly passed in `dxdt`. It is a combination of the two `do_step` methods above. - * - * \note The system is always passed as value, which might result in poor performance if it contains data. In this case it can be used with `boost::ref` - * or `std::ref`, for example `stepper.do_step( boost::ref( sys ) , x , t , dt );` - * - * \note The time `t` is not advanced by the stepper. This has to done manually, or by the appropriate `integrate` routines or `iterator`s. - * - * \tparam Stepper The stepper on which this class should work. It is used via CRTP, hence explicit_stepper_base - * provides the interface for the Stepper. - * \tparam Order The order of the stepper. - * \tparam State The state type for the stepper. - * \tparam Value The value type for the stepper. This should be a floating point type, like float, - * double, or a multiprecision type. It must not necessary be the value_type of the State. For example - * the State can be a `vector< complex< double > >` in this case the Value must be double. - * The default value is double. - * \tparam Deriv The type representing time derivatives of the state type. It is usually the same type as the - * state type, only if used with Boost.Units both types differ. - * \tparam Time The type representing the time. Usually the same type as the value type. When Boost.Units is - * used, this type has usually a unit. - * \tparam Algebra The algebra type which must fulfill the Algebra Concept. - * \tparam Operations The type for the operations which must fulfill the Operations Concept. - * \tparam Resizer The resizer policy class. - */ - - - /** - * \fn explicit_stepper_base::explicit_stepper_base( const algebra_type &algebra ) - * \brief Constructs a explicit_stepper_base class. This constructor can be used as a default - * constructor if the algebra has a default constructor. - * \param algebra A copy of algebra is made and stored inside explicit_stepper_base. - */ - - /** - * \fn explicit_stepper_base::order_type order( void ) const - * \return Returns the order of the stepper. - */ - - /** - * \fn explicit_stepper_base::do_step( System system , StateInOut &x , time_type t , time_type dt ) - * \brief This method performs one step. It transforms the result in-place. - * - * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x. - * \param t The value of the time, at which the step should be performed. - * \param dt The step size. - */ - - - /** - * \fn explicit_stepper_base::do_step( System system , StateInOut &x , const DerivIn &dxdt , time_type t , time_type dt ) - - * \brief The method performs one step. Additionally to the other method - * the derivative of x is also passed to this method. It is supposed to be used in the following way: - * - * \code - * sys( x , dxdt , t ); - * stepper.do_step( sys , x , dxdt , t , dt ); - * \endcode - * - * The result is updated in place in x. This method is disabled if Time and Deriv are of the same type. In this - * case the method could not be distinguished from other `do_step` versions. - * - * \note This method does not solve the forwarding problem. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x. - * \param dxdt The derivative of x at t. - * \param t The value of the time, at which the step should be performed. - * \param dt The step size. - */ - - /** - * \fn void explicit_stepper_base::do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt ) - * \brief The method performs one step. The state of the ODE is updated out-of-place. - * \note This method does not solve the forwarding problem. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dt The step size. - */ - - /** - * \fn void explicit_stepper_base::do_step( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt ) - * \brief The method performs one step. The state of the ODE is updated out-of-place. - * Furthermore, the derivative of x at t is passed to the stepper. - * It is supposed to be used in the following way: - * - * \code - * sys( in , dxdt , t ); - * stepper.do_step( sys , in , dxdt , t , out , dt ); - * \endcode - * - * \note This method does not solve the forwarding problem. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param dxdt The derivative of x at t. - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dt The step size. - */ - - /** - * \fn void explicit_stepper_base::adjust_size( const StateIn &x ) - * \brief Adjust the size of all temporaries in the stepper manually. - * \param x A state from which the size of the temporaries to be resized is deduced. - */ - -} // odeint -} // numeric -} // boost - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_BASE_EXPLICIT_STEPPER_BASE_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp deleted file mode 100644 index 0cdcc4f..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp +++ /dev/null @@ -1,433 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp - - [begin_description] - Base class for symplectic Runge-Kutta-Nystrom steppers. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_BASE_SYMPLECTIC_RKN_STEPPER_BASE_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_BASE_SYMPLECTIC_RKN_STEPPER_BASE_HPP_INCLUDED - -#include - -#include -#include - -#include -#include - -#include -#include - -#include - -#include - - - - -namespace boost { -namespace numeric { -namespace odeint { - - -template< -size_t NumOfStages , -unsigned short Order , -class Coor , -class Momentum , -class Value , -class CoorDeriv , -class MomentumDeriv , -class Time , -class Algebra , -class Operations , -class Resizer -> -class symplectic_nystroem_stepper_base : public algebra_stepper_base< Algebra , Operations > -{ - -public: - - typedef algebra_stepper_base< Algebra , Operations > algebra_stepper_base_type; - typedef typename algebra_stepper_base_type::algebra_type algebra_type; - typedef typename algebra_stepper_base_type::operations_type operations_type; - - const static size_t num_of_stages = NumOfStages; - typedef Coor coor_type; - typedef Momentum momentum_type; - typedef std::pair< coor_type , momentum_type > state_type; - typedef CoorDeriv coor_deriv_type; - typedef state_wrapper< coor_deriv_type> wrapped_coor_deriv_type; - typedef MomentumDeriv momentum_deriv_type; - typedef state_wrapper< momentum_deriv_type > wrapped_momentum_deriv_type; - typedef std::pair< coor_deriv_type , momentum_deriv_type > deriv_type; - typedef Value value_type; - typedef Time time_type; - typedef Resizer resizer_type; - typedef stepper_tag stepper_category; - - #ifndef DOXYGEN_SKIP - typedef symplectic_nystroem_stepper_base< NumOfStages , Order , Coor , Momentum , Value , - CoorDeriv , MomentumDeriv , Time , Algebra , Operations , Resizer > internal_stepper_base_type; - #endif - typedef unsigned short order_type; - - static const order_type order_value = Order; - - typedef boost::array< value_type , num_of_stages > coef_type; - - symplectic_nystroem_stepper_base( const coef_type &coef_a , const coef_type &coef_b , const algebra_type &algebra = algebra_type() ) - : algebra_stepper_base_type( algebra ) , m_coef_a( coef_a ) , m_coef_b( coef_b ) , - m_dqdt_resizer() , m_dpdt_resizer() , m_dqdt() , m_dpdt() - { } - - - order_type order( void ) const - { - return order_value; - } - - /* - * Version 1 : do_step( system , x , t , dt ) - * - * This version does not solve the forwarding problem, boost.range can not be used. - */ - template< class System , class StateInOut > - void do_step( System system , const StateInOut &state , time_type t , time_type dt ) - { - typedef typename odeint::unwrap_reference< System >::type system_type; - do_step_impl( system , state , t , state , dt , typename is_pair< system_type >::type() ); - } - - /** - * \brief Same function as above. It differs only in a different const specifier in order - * to solve the forwarding problem, can be used with Boost.Range. - */ - template< class System , class StateInOut > - void do_step( System system , StateInOut &state , time_type t , time_type dt ) - { - typedef typename odeint::unwrap_reference< System >::type system_type; - do_step_impl( system , state , t , state , dt , typename is_pair< system_type >::type() ); - } - - - - - /* - * Version 2 : do_step( system , q , p , t , dt ); - * - * For Convenience - * - * The two overloads are needed in order to solve the forwarding problem. - */ - template< class System , class CoorInOut , class MomentumInOut > - void do_step( System system , CoorInOut &q , MomentumInOut &p , time_type t , time_type dt ) - { - do_step( system , std::make_pair( detail::ref( q ) , detail::ref( p ) ) , t , dt ); - } - - /** - * \brief Same function as do_step( system , q , p , t , dt ). It differs only in a different const specifier in order - * to solve the forwarding problem, can be called with Boost.Range. - */ - template< class System , class CoorInOut , class MomentumInOut > - void do_step( System system , const CoorInOut &q , const MomentumInOut &p , time_type t , time_type dt ) - { - do_step( system , std::make_pair( detail::ref( q ) , detail::ref( p ) ) , t , dt ); - } - - - - - - /* - * Version 3 : do_step( system , in , t , out , dt ) - * - * The forwarding problem is not solved in this version - */ - template< class System , class StateIn , class StateOut > - void do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt ) - { - typedef typename odeint::unwrap_reference< System >::type system_type; - do_step_impl( system , in , t , out , dt , typename is_pair< system_type >::type() ); - } - - - template< class StateType > - void adjust_size( const StateType &x ) - { - resize_dqdt( x ); - resize_dpdt( x ); - } - - /** \brief Returns the coefficients a. */ - const coef_type& coef_a( void ) const { return m_coef_a; } - - /** \brief Returns the coefficients b. */ - const coef_type& coef_b( void ) const { return m_coef_b; } - -private: - - // stepper for systems with function for dq/dt = f(p) and dp/dt = -f(q) - template< class System , class StateIn , class StateOut > - void do_step_impl( System system , const StateIn &in , time_type t , StateOut &out , time_type dt , boost::mpl::true_ ) - { - typedef typename odeint::unwrap_reference< System >::type system_type; - typedef typename odeint::unwrap_reference< typename system_type::first_type >::type coor_deriv_func_type; - typedef typename odeint::unwrap_reference< typename system_type::second_type >::type momentum_deriv_func_type; - system_type &sys = system; - coor_deriv_func_type &coor_func = sys.first; - momentum_deriv_func_type &momentum_func = sys.second; - - typedef typename odeint::unwrap_reference< StateIn >::type state_in_type; - typedef typename odeint::unwrap_reference< typename state_in_type::first_type >::type coor_in_type; - typedef typename odeint::unwrap_reference< typename state_in_type::second_type >::type momentum_in_type; - const state_in_type &state_in = in; - const coor_in_type &coor_in = state_in.first; - const momentum_in_type &momentum_in = state_in.second; - - typedef typename odeint::unwrap_reference< StateOut >::type state_out_type; - typedef typename odeint::unwrap_reference< typename state_out_type::first_type >::type coor_out_type; - typedef typename odeint::unwrap_reference< typename state_out_type::second_type >::type momentum_out_type; - state_out_type &state_out = out; - coor_out_type &coor_out = state_out.first; - momentum_out_type &momentum_out = state_out.second; - - m_dqdt_resizer.adjust_size( coor_in , detail::bind( &internal_stepper_base_type::template resize_dqdt< coor_in_type > , detail::ref( *this ) , detail::_1 ) ); - m_dpdt_resizer.adjust_size( momentum_in , detail::bind( &internal_stepper_base_type::template resize_dpdt< momentum_in_type > , detail::ref( *this ) , detail::_1 ) ); - - // ToDo: check sizes? - - for( size_t l=0 ; lm_algebra.for_each3( coor_out , coor_in , m_dqdt.m_v , - typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , m_coef_a[l] * dt ) ); - momentum_func( coor_out , m_dpdt.m_v ); - this->m_algebra.for_each3( momentum_out , momentum_in , m_dpdt.m_v , - typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , m_coef_b[l] * dt ) ); - } - else - { - coor_func( momentum_out , m_dqdt.m_v ); - this->m_algebra.for_each3( coor_out , coor_out , m_dqdt.m_v , - typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , m_coef_a[l] * dt ) ); - momentum_func( coor_out , m_dpdt.m_v ); - this->m_algebra.for_each3( momentum_out , momentum_out , m_dpdt.m_v , - typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , m_coef_b[l] * dt ) ); - } - } - } - - - // stepper for systems with only function dp /dt = -f(q), dq/dt = p, time not required but still expected for compatibility reasons - template< class System , class StateIn , class StateOut > - void do_step_impl( System system , const StateIn &in , time_type /* t */ , StateOut &out , time_type dt , boost::mpl::false_ ) - { - typedef typename odeint::unwrap_reference< System >::type momentum_deriv_func_type; - momentum_deriv_func_type &momentum_func = system; - - typedef typename odeint::unwrap_reference< StateIn >::type state_in_type; - typedef typename odeint::unwrap_reference< typename state_in_type::first_type >::type coor_in_type; - typedef typename odeint::unwrap_reference< typename state_in_type::second_type >::type momentum_in_type; - const state_in_type &state_in = in; - const coor_in_type &coor_in = state_in.first; - const momentum_in_type &momentum_in = state_in.second; - - typedef typename odeint::unwrap_reference< StateOut >::type state_out_type; - typedef typename odeint::unwrap_reference< typename state_out_type::first_type >::type coor_out_type; - typedef typename odeint::unwrap_reference< typename state_out_type::second_type >::type momentum_out_type; - state_out_type &state_out = out; - coor_out_type &coor_out = state_out.first; - momentum_out_type &momentum_out = state_out.second; - - - m_dqdt_resizer.adjust_size( coor_in , detail::bind( &internal_stepper_base_type::template resize_dqdt< coor_in_type > , detail::ref( *this ) , detail::_1 ) ); - m_dpdt_resizer.adjust_size( momentum_in , detail::bind( &internal_stepper_base_type::template resize_dpdt< momentum_in_type > , detail::ref( *this ) , detail::_1 ) ); - - - // ToDo: check sizes? - - for( size_t l=0 ; lm_algebra.for_each3( coor_out , coor_in , momentum_in , - typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , m_coef_a[l] * dt ) ); - momentum_func( coor_out , m_dpdt.m_v ); - this->m_algebra.for_each3( momentum_out , momentum_in , m_dpdt.m_v , - typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , m_coef_b[l] * dt ) ); - } - else - { - this->m_algebra.for_each3( coor_out , coor_out , momentum_out , - typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , m_coef_a[l] * dt ) ); - momentum_func( coor_out , m_dpdt.m_v ); - this->m_algebra.for_each3( momentum_out , momentum_out , m_dpdt.m_v , - typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , m_coef_b[l] * dt ) ); - } - } - } - - template< class StateIn > - bool resize_dqdt( const StateIn &x ) - { - return adjust_size_by_resizeability( m_dqdt , x , typename is_resizeable::type() ); - } - - template< class StateIn > - bool resize_dpdt( const StateIn &x ) - { - return adjust_size_by_resizeability( m_dpdt , x , typename is_resizeable::type() ); - } - - - const coef_type m_coef_a; - const coef_type m_coef_b; - - resizer_type m_dqdt_resizer; - resizer_type m_dpdt_resizer; - wrapped_coor_deriv_type m_dqdt; - wrapped_momentum_deriv_type m_dpdt; - -}; - -/********* DOXYGEN *********/ - -/** - * \class symplectic_nystroem_stepper_base - * \brief Base class for all symplectic steppers of Nystroem type. - * - * This class is the base class for the symplectic Runge-Kutta-Nystroem steppers. Symplectic steppers are usually - * used to solve Hamiltonian systems and they conserve the phase space volume, see - * en.wikipedia.org/wiki/Symplectic_integrator. - * Furthermore, the energy is conserved - * in average. In detail this class of steppers can be used to solve separable Hamiltonian systems which can be written - * in the form H(q,p) = H1(p) + H2(q). q is usually called the coordinate, while p is the momentum. The equations of motion - * are dq/dt = dH1/dp, dp/dt = -dH2/dq. - * - * ToDo : add formula for solver and explanation of the coefficients - * - * symplectic_nystroem_stepper_base uses odeints algebra and operation system. Step size and error estimation are not - * provided for this class of solvers. It derives from algebra_stepper_base. Several `do_step` variants are provided: - * - * - `do_step( sys , x , t , dt )` - The classical `do_step` method. The sys can be either a pair of function objects - * for the coordinate or the momentum part or one function object for the momentum part. `x` is a pair of coordinate - * and momentum. The state is updated in-place. - * - `do_step( sys , q , p , t , dt )` - This method is similar to the method above with the difference that the coordinate - * and the momentum are passed explicitly and not packed into a pair. - * - `do_step( sys , x_in , t , x_out , dt )` - This method transforms the state out-of-place. `x_in` and `x_out` are here pairs - * of coordinate and momentum. - * - * \tparam NumOfStages Number of stages. - * \tparam Order The order of the stepper. - * \tparam Coor The type representing the coordinates q. - * \tparam Momentum The type representing the coordinates p. - * \tparam Value The basic value type. Should be something like float, double or a high-precision type. - * \tparam CoorDeriv The type representing the time derivative of the coordinate dq/dt. - * \tparam MomemtnumDeriv The type representing the time derivative of the momentum dp/dt. - * \tparam Time The type representing the time t. - * \tparam Algebra The algebra. - * \tparam Operations The operations. - * \tparam Resizer The resizer policy. - */ - - /** - * \fn symplectic_nystroem_stepper_base::symplectic_nystroem_stepper_base( const coef_type &coef_a , const coef_type &coef_b , const algebra_type &algebra ) - * \brief Constructs a symplectic_nystroem_stepper_base class. The parameters of the specific Nystroem method and the - * algebra have to be passed. - * \param coef_a The coefficients a. - * \param coef_b The coefficients b. - * \param algebra A copy of algebra is made and stored inside explicit_stepper_base. - */ - - /** - * \fn symplectic_nystroem_stepper_base::order( void ) const - * \return Returns the order of the stepper. - */ - - /** - * \fn symplectic_nystroem_stepper_base::do_step( System system , const StateInOut &state , time_type t , time_type dt ) - * \brief This method performs one step. The system can be either a pair of two function object - * describing the momentum part and the coordinate part or one function object describing only - * the momentum part. In this case the coordinate is assumed to be trivial dq/dt = p. The state - * is updated in-place. - * - * \note boost::ref or std::ref can be used for the system as well as for the state. So, it is correct - * to write `stepper.do_step( make_pair( std::ref( fq ) , std::ref( fp ) ) , make_pair( std::ref( q ) , std::ref( p ) ) , t , dt )`. - * - * \note This method solves the forwarding problem. - * - * \param system The system, can be represented as a pair of two function object or one function object. See above. - * \param state The state of the ODE. It is a pair of Coor and Momentum. The state is updated in-place, therefore, the - * new value of the state will be written into this variable. - * \param t The time of the ODE. It is not advanced by this method. - * \param dt The time step. - */ - - /** - * \fn symplectic_nystroem_stepper_base::do_step( System system , CoorInOut &q , MomentumInOut &p , time_type t , time_type dt ) - * \brief This method performs one step. The system can be either a pair of two function object - * describing the momentum part and the coordinate part or one function object describing only - * the momentum part. In this case the coordinate is assumed to be trivial dq/dt = p. The state - * is updated in-place. - * - * \note boost::ref or std::ref can be used for the system. So, it is correct - * to write `stepper.do_step( make_pair( std::ref( fq ) , std::ref( fp ) ) , q , p , t , dt )`. - * - * \note This method solves the forwarding problem. - * - * \param system The system, can be represented as a pair of two function object or one function object. See above. - * \param q The coordinate of the ODE. It is updated in-place. Therefore, the new value of the coordinate will be written - * into this variable. - * \param p The momentum of the ODE. It is updated in-place. Therefore, the new value of the momentum will be written info - * this variable. - * \param t The time of the ODE. It is not advanced by this method. - * \param dt The time step. - */ - - /** - * \fn symplectic_nystroem_stepper_base::do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt ) - * \brief This method performs one step. The system can be either a pair of two function object - * describing the momentum part and the coordinate part or one function object describing only - * the momentum part. In this case the coordinate is assumed to be trivial dq/dt = p. The state - * is updated out-of-place. - * - * \note boost::ref or std::ref can be used for the system. So, it is correct - * to write `stepper.do_step( make_pair( std::ref( fq ) , std::ref( fp ) ) , x_in , t , x_out , dt )`. - * - * \note This method NOT solve the forwarding problem. - * - * \param system The system, can be represented as a pair of two function object or one function object. See above. - * \param in The state of the ODE, which is a pair of coordinate and momentum. The state is updated out-of-place, therefore the - * new value is written into out - * \param t The time of the ODE. It is not advanced by this method. - * \param out The new state of the ODE. - * \param dt The time step. - */ - - /** - * \fn symplectic_nystroem_stepper_base::adjust_size( const StateType &x ) - * \brief Adjust the size of all temporaries in the stepper manually. - * \param x A state from which the size of the temporaries to be resized is deduced. - */ - -} // namespace odeint -} // namespace numeric -} // namespace boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_BASE_SYMPLECTIC_RKN_STEPPER_BASE_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer.hpp deleted file mode 100644 index e7a20d8..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer.hpp +++ /dev/null @@ -1,623 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/bulirsch_stoer.hpp - - [begin_description] - Implementation of the Burlish-Stoer method. As described in - Ernst Hairer, Syvert Paul Norsett, Gerhard Wanner - Solving Ordinary Differential Equations I. Nonstiff Problems. - Springer Series in Comput. Mathematics, Vol. 8, Springer-Verlag 1987, Second revised edition 1993. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_BULIRSCH_STOER_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_BULIRSCH_STOER_HPP_INCLUDED - - -#include - -#include - -#include // for min/max guidelines - -#include -#include - -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - -template< - class State , - class Value = double , - class Deriv = State , - class Time = Value , - class Algebra = range_algebra , - class Operations = default_operations , - class Resizer = initially_resizer - > -class bulirsch_stoer { - -public: - - typedef State state_type; - typedef Value value_type; - typedef Deriv deriv_type; - typedef Time time_type; - typedef Algebra algebra_type; - typedef Operations operations_type; - typedef Resizer resizer_type; -#ifndef DOXYGEN_SKIP - typedef state_wrapper< state_type > wrapped_state_type; - typedef state_wrapper< deriv_type > wrapped_deriv_type; - typedef controlled_stepper_tag stepper_category; - - typedef bulirsch_stoer< State , Value , Deriv , Time , Algebra , Operations , Resizer > controlled_error_bs_type; - - typedef typename inverse_time< time_type >::type inv_time_type; - - typedef std::vector< value_type > value_vector; - typedef std::vector< time_type > time_vector; - typedef std::vector< inv_time_type > inv_time_vector; //should be 1/time_type for boost.units - typedef std::vector< value_vector > value_matrix; - typedef std::vector< size_t > int_vector; - typedef std::vector< wrapped_state_type > state_table_type; -#endif //DOXYGEN_SKIP - const static size_t m_k_max = 8; - - bulirsch_stoer( - value_type eps_abs = 1E-6 , value_type eps_rel = 1E-6 , - value_type factor_x = 1.0 , value_type factor_dxdt = 1.0 ) - : m_error_checker( eps_abs , eps_rel , factor_x, factor_dxdt ) , m_midpoint() , - m_last_step_rejected( false ) , m_first( true ) , - m_interval_sequence( m_k_max+1 ) , - m_coeff( m_k_max+1 ) , - m_cost( m_k_max+1 ) , - m_table( m_k_max ) , - STEPFAC1( 0.65 ) , STEPFAC2( 0.94 ) , STEPFAC3( 0.02 ) , STEPFAC4( 4.0 ) , KFAC1( 0.8 ) , KFAC2( 0.9 ) - { - BOOST_USING_STD_MIN(); - BOOST_USING_STD_MAX(); - /* initialize sequence of stage numbers and work */ - for( unsigned short i = 0; i < m_k_max+1; i++ ) - { - m_interval_sequence[i] = 2 * (i+1); - if( i == 0 ) - m_cost[i] = m_interval_sequence[i]; - else - m_cost[i] = m_cost[i-1] + m_interval_sequence[i]; - m_coeff[i].resize(i); - for( size_t k = 0 ; k < i ; ++k ) - { - const value_type r = static_cast< value_type >( m_interval_sequence[i] ) / static_cast< value_type >( m_interval_sequence[k] ); - m_coeff[i][k] = 1.0 / ( r*r - static_cast< value_type >( 1.0 ) ); // coefficients for extrapolation - } - - // crude estimate of optimal order - - m_current_k_opt = 4; - /* no calculation because log10 might not exist for value_type! - const value_type logfact( -log10( max BOOST_PREVENT_MACRO_SUBSTITUTION( eps_rel , static_cast< value_type >(1.0E-12) ) ) * 0.6 + 0.5 ); - m_current_k_opt = max BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast( 1 ) , min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast( m_k_max-1 ) , logfact )); - */ - } - - } - - - /* - * Version 1 : try_step( sys , x , t , dt ) - * - * The overloads are needed to solve the forwarding problem - */ - template< class System , class StateInOut > - controlled_step_result try_step( System system , StateInOut &x , time_type &t , time_type &dt ) - { - return try_step_v1( system , x , t, dt ); - } - - /** - * \brief Second version to solve the forwarding problem, can be used with Boost.Range as StateInOut. - */ - template< class System , class StateInOut > - controlled_step_result try_step( System system , const StateInOut &x , time_type &t , time_type &dt ) - { - return try_step_v1( system , x , t, dt ); - } - - /* - * Version 2 : try_step( sys , x , dxdt , t , dt ) - * - * this version does not solve the forwarding problem, boost.range can not be used - */ - template< class System , class StateInOut , class DerivIn > - controlled_step_result try_step( System system , StateInOut &x , const DerivIn &dxdt , time_type &t , time_type &dt ) - { - m_xnew_resizer.adjust_size( x , detail::bind( &controlled_error_bs_type::template resize_m_xnew< StateInOut > , detail::ref( *this ) , detail::_1 ) ); - controlled_step_result res = try_step( system , x , dxdt , t , m_xnew.m_v , dt ); - if( res == success ) - { - boost::numeric::odeint::copy( m_xnew.m_v , x ); - } - return res; - } - - /* - * Version 3 : try_step( sys , in , t , out , dt ) - * - * this version does not solve the forwarding problem, boost.range can not be used - */ - template< class System , class StateIn , class StateOut > - typename boost::disable_if< boost::is_same< StateIn , time_type > , controlled_step_result >::type - try_step( System system , const StateIn &in , time_type &t , StateOut &out , time_type &dt ) - { - typename odeint::unwrap_reference< System >::type &sys = system; - m_dxdt_resizer.adjust_size( in , detail::bind( &controlled_error_bs_type::template resize_m_dxdt< StateIn > , detail::ref( *this ) , detail::_1 ) ); - sys( in , m_dxdt.m_v , t ); - return try_step( system , in , m_dxdt.m_v , t , out , dt ); - } - - - /* - * Full version : try_step( sys , in , dxdt_in , t , out , dt ) - * - * contains the actual implementation - */ - template< class System , class StateIn , class DerivIn , class StateOut > - controlled_step_result try_step( System system , const StateIn &in , const DerivIn &dxdt , time_type &t , StateOut &out , time_type &dt ) - { - BOOST_USING_STD_MIN(); - BOOST_USING_STD_MAX(); - - static const value_type val1( 1.0 ); - - typename odeint::unwrap_reference< System >::type &sys = system; - if( m_resizer.adjust_size( in , detail::bind( &controlled_error_bs_type::template resize_impl< StateIn > , detail::ref( *this ) , detail::_1 ) ) ) - { - reset(); // system resized -> reset - } - - if( dt != m_dt_last ) - { - reset(); // step size changed from outside -> reset - } - - bool reject( true ); - - time_vector h_opt( m_k_max+1 ); - inv_time_vector work( m_k_max+1 ); - - time_type new_h = dt; - - /* m_current_k_opt is the estimated current optimal stage number */ - for( size_t k = 0 ; k <= m_current_k_opt+1 ; k++ ) - { - /* the stage counts are stored in m_interval_sequence */ - m_midpoint.set_steps( m_interval_sequence[k] ); - if( k == 0 ) - { - m_midpoint.do_step( sys , in , dxdt , t , out , dt ); - /* the first step, nothing more to do */ - } - else - { - m_midpoint.do_step( sys , in , dxdt , t , m_table[k-1].m_v , dt ); - extrapolate( k , m_table , m_coeff , out ); - // get error estimate - m_algebra.for_each3( m_err.m_v , out , m_table[0].m_v , - typename operations_type::template scale_sum2< value_type , value_type >( val1 , -val1 ) ); - const value_type error = m_error_checker.error( m_algebra , in , dxdt , m_err.m_v , dt ); - h_opt[k] = calc_h_opt( dt , error , k ); - work[k] = static_cast( m_cost[k] ) / h_opt[k]; - - if( (k == m_current_k_opt-1) || m_first ) - { // convergence before k_opt ? - if( error < 1.0 ) - { - //convergence - reject = false; - if( (work[k] < KFAC2*work[k-1]) || (m_current_k_opt <= 2) ) - { - // leave order as is (except we were in first round) - m_current_k_opt = min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast(m_k_max)-1 , max BOOST_PREVENT_MACRO_SUBSTITUTION( 2 , static_cast(k)+1 ) ); - new_h = h_opt[k]; - new_h *= static_cast( m_cost[k+1] ) / static_cast( m_cost[k] ); - } else { - m_current_k_opt = min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast(m_k_max)-1 , max BOOST_PREVENT_MACRO_SUBSTITUTION( 2 , static_cast(k) ) ); - new_h = h_opt[k]; - } - break; - } - else if( should_reject( error , k ) && !m_first ) - { - reject = true; - new_h = h_opt[k]; - break; - } - } - if( k == m_current_k_opt ) - { // convergence at k_opt ? - if( error < 1.0 ) - { - //convergence - reject = false; - if( (work[k-1] < KFAC2*work[k]) ) - { - m_current_k_opt = max BOOST_PREVENT_MACRO_SUBSTITUTION( 2 , static_cast(m_current_k_opt)-1 ); - new_h = h_opt[m_current_k_opt]; - } - else if( (work[k] < KFAC2*work[k-1]) && !m_last_step_rejected ) - { - m_current_k_opt = min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast(m_k_max-1) , static_cast(m_current_k_opt)+1 ); - new_h = h_opt[k]; - new_h *= m_cost[m_current_k_opt]/m_cost[k]; - } else - new_h = h_opt[m_current_k_opt]; - break; - } - else if( should_reject( error , k ) ) - { - reject = true; - new_h = h_opt[m_current_k_opt]; - break; - } - } - if( k == m_current_k_opt+1 ) - { // convergence at k_opt+1 ? - if( error < 1.0 ) - { //convergence - reject = false; - if( work[k-2] < KFAC2*work[k-1] ) - m_current_k_opt = max BOOST_PREVENT_MACRO_SUBSTITUTION( 2 , static_cast(m_current_k_opt)-1 ); - if( (work[k] < KFAC2*work[m_current_k_opt]) && !m_last_step_rejected ) - m_current_k_opt = min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast(m_k_max)-1 , static_cast(k) ); - new_h = h_opt[m_current_k_opt]; - } else - { - reject = true; - new_h = h_opt[m_current_k_opt]; - } - break; - } - } - } - - if( !reject ) - { - t += dt; - } - - if( !m_last_step_rejected || boost::numeric::odeint::detail::less_with_sign(new_h, dt, dt) ) - { - m_dt_last = new_h; - dt = new_h; - } - - m_last_step_rejected = reject; - m_first = false; - - if( reject ) - return fail; - else - return success; - } - - /** \brief Resets the internal state of the stepper */ - void reset() - { - m_first = true; - m_last_step_rejected = false; - } - - - /* Resizer methods */ - - template< class StateIn > - void adjust_size( const StateIn &x ) - { - resize_m_dxdt( x ); - resize_m_xnew( x ); - resize_impl( x ); - m_midpoint.adjust_size(); - } - - -private: - - template< class StateIn > - bool resize_m_dxdt( const StateIn &x ) - { - return adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable::type() ); - } - - template< class StateIn > - bool resize_m_xnew( const StateIn &x ) - { - return adjust_size_by_resizeability( m_xnew , x , typename is_resizeable::type() ); - } - - template< class StateIn > - bool resize_impl( const StateIn &x ) - { - bool resized( false ); - for( size_t i = 0 ; i < m_k_max ; ++i ) - resized |= adjust_size_by_resizeability( m_table[i] , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_err , x , typename is_resizeable::type() ); - return resized; - } - - - template< class System , class StateInOut > - controlled_step_result try_step_v1( System system , StateInOut &x , time_type &t , time_type &dt ) - { - typename odeint::unwrap_reference< System >::type &sys = system; - m_dxdt_resizer.adjust_size( x , detail::bind( &controlled_error_bs_type::template resize_m_dxdt< StateInOut > , detail::ref( *this ) , detail::_1 ) ); - sys( x , m_dxdt.m_v ,t ); - return try_step( system , x , m_dxdt.m_v , t , dt ); - } - - - template< class StateInOut > - void extrapolate( size_t k , state_table_type &table , const value_matrix &coeff , StateInOut &xest ) - /* polynomial extrapolation, see http://www.nr.com/webnotes/nr3web21.pdf - uses the obtained intermediate results to extrapolate to dt->0 - */ - { - static const value_type val1 = static_cast< value_type >( 1.0 ); - for( int j=k-1 ; j>0 ; --j ) - { - m_algebra.for_each3( table[j-1].m_v , table[j].m_v , table[j-1].m_v , - typename operations_type::template scale_sum2< value_type , value_type >( val1 + coeff[k][j] , -coeff[k][j] ) ); - } - m_algebra.for_each3( xest , table[0].m_v , xest , - typename operations_type::template scale_sum2< value_type , value_type >( val1 + coeff[k][0] , -coeff[k][0]) ); - } - - time_type calc_h_opt( time_type h , value_type error , size_t k ) const - /* calculates the optimal step size for a given error and stage number */ - { - BOOST_USING_STD_MIN(); - BOOST_USING_STD_MAX(); - using std::pow; - value_type expo( 1.0/(2*k+1) ); - value_type facmin = pow BOOST_PREVENT_MACRO_SUBSTITUTION( STEPFAC3 , expo ); - value_type fac; - if (error == 0.0) - fac=1.0/facmin; - else - { - fac = STEPFAC2 / pow BOOST_PREVENT_MACRO_SUBSTITUTION( error / STEPFAC1 , expo ); - fac = max BOOST_PREVENT_MACRO_SUBSTITUTION( facmin/STEPFAC4 , min BOOST_PREVENT_MACRO_SUBSTITUTION( 1.0/facmin , fac ) ); - } - return h*fac; - } - - controlled_step_result set_k_opt( size_t k , const inv_time_vector &work , const time_vector &h_opt , time_type &dt ) - /* calculates the optimal stage number */ - { - if( k == 1 ) - { - m_current_k_opt = 2; - return success; - } - if( (work[k-1] < KFAC1*work[k]) || (k == m_k_max) ) - { // order decrease - m_current_k_opt = k-1; - dt = h_opt[ m_current_k_opt ]; - return success; - } - else if( (work[k] < KFAC2*work[k-1]) || m_last_step_rejected || (k == m_k_max-1) ) - { // same order - also do this if last step got rejected - m_current_k_opt = k; - dt = h_opt[ m_current_k_opt ]; - return success; - } - else - { // order increase - only if last step was not rejected - m_current_k_opt = k+1; - dt = h_opt[ m_current_k_opt-1 ] * m_cost[ m_current_k_opt ] / m_cost[ m_current_k_opt-1 ] ; - return success; - } - } - - bool in_convergence_window( size_t k ) const - { - if( (k == m_current_k_opt-1) && !m_last_step_rejected ) - return true; // decrease stepsize only if last step was not rejected - return ( (k == m_current_k_opt) || (k == m_current_k_opt+1) ); - } - - bool should_reject( value_type error , size_t k ) const - { - if( k == m_current_k_opt-1 ) - { - const value_type d = m_interval_sequence[m_current_k_opt] * m_interval_sequence[m_current_k_opt+1] / - (m_interval_sequence[0]*m_interval_sequence[0]); - //step will fail, criterion 17.3.17 in NR - return ( error > d*d ); - } - else if( k == m_current_k_opt ) - { - const value_type d = m_interval_sequence[m_current_k_opt] / m_interval_sequence[0]; - return ( error > d*d ); - } else - return error > 1.0; - } - - default_error_checker< value_type, algebra_type , operations_type > m_error_checker; - modified_midpoint< state_type , value_type , deriv_type , time_type , algebra_type , operations_type , resizer_type > m_midpoint; - - bool m_last_step_rejected; - bool m_first; - - time_type m_dt_last; - time_type m_t_last; - - size_t m_current_k_opt; - - algebra_type m_algebra; - - resizer_type m_dxdt_resizer; - resizer_type m_xnew_resizer; - resizer_type m_resizer; - - wrapped_state_type m_xnew; - wrapped_state_type m_err; - wrapped_deriv_type m_dxdt; - - int_vector m_interval_sequence; // stores the successive interval counts - value_matrix m_coeff; - int_vector m_cost; // costs for interval count - - state_table_type m_table; // sequence of states for extrapolation - - const value_type STEPFAC1 , STEPFAC2 , STEPFAC3 , STEPFAC4 , KFAC1 , KFAC2; -}; - - -/******** DOXYGEN ********/ -/** - * \class bulirsch_stoer - * \brief The Bulirsch-Stoer algorithm. - * - * The Bulirsch-Stoer is a controlled stepper that adjusts both step size - * and order of the method. The algorithm uses the modified midpoint and - * a polynomial extrapolation compute the solution. - * - * \tparam State The state type. - * \tparam Value The value type. - * \tparam Deriv The type representing the time derivative of the state. - * \tparam Time The time representing the independent variable - the time. - * \tparam Algebra The algebra type. - * \tparam Operations The operations type. - * \tparam Resizer The resizer policy type. - */ - - /** - * \fn bulirsch_stoer::bulirsch_stoer( value_type eps_abs , value_type eps_rel , value_type factor_x , value_type factor_dxdt ) - * \brief Constructs the bulirsch_stoer class, including initialization of - * the error bounds. - * - * \param eps_abs Absolute tolerance level. - * \param eps_rel Relative tolerance level. - * \param factor_x Factor for the weight of the state. - * \param factor_dxdt Factor for the weight of the derivative. - */ - - /** - * \fn bulirsch_stoer::try_step( System system , StateInOut &x , time_type &t , time_type &dt ) - * \brief Tries to perform one step. - * - * This method tries to do one step with step size dt. If the error estimate - * is to large, the step is rejected and the method returns fail and the - * step size dt is reduced. If the error estimate is acceptably small, the - * step is performed, success is returned and dt might be increased to make - * the steps as large as possible. This method also updates t if a step is - * performed. Also, the internal order of the stepper is adjusted if required. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. - * It must fulfill the Simple System concept. - * \param x The state of the ODE which should be solved. Overwritten if - * the step is successful. - * \param t The value of the time. Updated if the step is successful. - * \param dt The step size. Updated. - * \return success if the step was accepted, fail otherwise. - */ - - /** - * \fn bulirsch_stoer::try_step( System system , StateInOut &x , const DerivIn &dxdt , time_type &t , time_type &dt ) - * \brief Tries to perform one step. - * - * This method tries to do one step with step size dt. If the error estimate - * is to large, the step is rejected and the method returns fail and the - * step size dt is reduced. If the error estimate is acceptably small, the - * step is performed, success is returned and dt might be increased to make - * the steps as large as possible. This method also updates t if a step is - * performed. Also, the internal order of the stepper is adjusted if required. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. - * It must fulfill the Simple System concept. - * \param x The state of the ODE which should be solved. Overwritten if - * the step is successful. - * \param dxdt The derivative of state. - * \param t The value of the time. Updated if the step is successful. - * \param dt The step size. Updated. - * \return success if the step was accepted, fail otherwise. - */ - - /** - * \fn bulirsch_stoer::try_step( System system , const StateIn &in , time_type &t , StateOut &out , time_type &dt ) - * \brief Tries to perform one step. - * - * \note This method is disabled if state_type=time_type to avoid ambiguity. - * - * This method tries to do one step with step size dt. If the error estimate - * is to large, the step is rejected and the method returns fail and the - * step size dt is reduced. If the error estimate is acceptably small, the - * step is performed, success is returned and dt might be increased to make - * the steps as large as possible. This method also updates t if a step is - * performed. Also, the internal order of the stepper is adjusted if required. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. - * It must fulfill the Simple System concept. - * \param in The state of the ODE which should be solved. - * \param t The value of the time. Updated if the step is successful. - * \param out Used to store the result of the step. - * \param dt The step size. Updated. - * \return success if the step was accepted, fail otherwise. - */ - - - /** - * \fn bulirsch_stoer::try_step( System system , const StateIn &in , const DerivIn &dxdt , time_type &t , StateOut &out , time_type &dt ) - * \brief Tries to perform one step. - * - * This method tries to do one step with step size dt. If the error estimate - * is to large, the step is rejected and the method returns fail and the - * step size dt is reduced. If the error estimate is acceptably small, the - * step is performed, success is returned and dt might be increased to make - * the steps as large as possible. This method also updates t if a step is - * performed. Also, the internal order of the stepper is adjusted if required. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. - * It must fulfill the Simple System concept. - * \param in The state of the ODE which should be solved. - * \param dxdt The derivative of state. - * \param t The value of the time. Updated if the step is successful. - * \param out Used to store the result of the step. - * \param dt The step size. Updated. - * \return success if the step was accepted, fail otherwise. - */ - - - /** - * \fn bulirsch_stoer::adjust_size( const StateIn &x ) - * \brief Adjust the size of all temporaries in the stepper manually. - * \param x A state from which the size of the temporaries to be resized is deduced. - */ - -} -} -} - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_BULIRSCH_STOER_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp deleted file mode 100644 index 36307ba..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp +++ /dev/null @@ -1,812 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp - - [begin_description] - Implementaiton of the Burlish-Stoer method with dense output - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_BULIRSCH_STOER_DENSE_OUT_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_BULIRSCH_STOER_DENSE_OUT_HPP_INCLUDED - - -#include - -#include - -#include // for min/max guidelines - -#include - -#include - -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include - - -namespace boost { -namespace numeric { -namespace odeint { - -template< - class State , - class Value = double , - class Deriv = State , - class Time = Value , - class Algebra = range_algebra , - class Operations = default_operations , - class Resizer = initially_resizer - > -class bulirsch_stoer_dense_out { - - -public: - - typedef State state_type; - typedef Value value_type; - typedef Deriv deriv_type; - typedef Time time_type; - typedef Algebra algebra_type; - typedef Operations operations_type; - typedef Resizer resizer_type; - typedef dense_output_stepper_tag stepper_category; -#ifndef DOXYGEN_SKIP - typedef state_wrapper< state_type > wrapped_state_type; - typedef state_wrapper< deriv_type > wrapped_deriv_type; - - typedef bulirsch_stoer_dense_out< State , Value , Deriv , Time , Algebra , Operations , Resizer > controlled_error_bs_type; - - typedef typename inverse_time< time_type >::type inv_time_type; - - typedef std::vector< value_type > value_vector; - typedef std::vector< time_type > time_vector; - typedef std::vector< inv_time_type > inv_time_vector; //should be 1/time_type for boost.units - typedef std::vector< value_vector > value_matrix; - typedef std::vector< size_t > int_vector; - typedef std::vector< wrapped_state_type > state_vector_type; - typedef std::vector< wrapped_deriv_type > deriv_vector_type; - typedef std::vector< deriv_vector_type > deriv_table_type; -#endif //DOXYGEN_SKIP - - const static size_t m_k_max = 8; - - - - bulirsch_stoer_dense_out( - value_type eps_abs = 1E-6 , value_type eps_rel = 1E-6 , - value_type factor_x = 1.0 , value_type factor_dxdt = 1.0 , - bool control_interpolation = false ) - : m_error_checker( eps_abs , eps_rel , factor_x, factor_dxdt ) , - m_control_interpolation( control_interpolation) , - m_last_step_rejected( false ) , m_first( true ) , - m_current_state_x1( true ) , - m_error( m_k_max ) , - m_interval_sequence( m_k_max+1 ) , - m_coeff( m_k_max+1 ) , - m_cost( m_k_max+1 ) , - m_table( m_k_max ) , - m_mp_states( m_k_max+1 ) , - m_derivs( m_k_max+1 ) , - m_diffs( 2*m_k_max+1 ) , - STEPFAC1( 0.65 ) , STEPFAC2( 0.94 ) , STEPFAC3( 0.02 ) , STEPFAC4( 4.0 ) , KFAC1( 0.8 ) , KFAC2( 0.9 ) - { - BOOST_USING_STD_MIN(); - BOOST_USING_STD_MAX(); - - for( unsigned short i = 0; i < m_k_max+1; i++ ) - { - /* only this specific sequence allows for dense output */ - m_interval_sequence[i] = 2 + 4*i; // 2 6 10 14 ... - m_derivs[i].resize( m_interval_sequence[i] ); - if( i == 0 ) - m_cost[i] = m_interval_sequence[i]; - else - m_cost[i] = m_cost[i-1] + m_interval_sequence[i]; - m_coeff[i].resize(i); - for( size_t k = 0 ; k < i ; ++k ) - { - const value_type r = static_cast< value_type >( m_interval_sequence[i] ) / static_cast< value_type >( m_interval_sequence[k] ); - m_coeff[i][k] = 1.0 / ( r*r - static_cast< value_type >( 1.0 ) ); // coefficients for extrapolation - } - // crude estimate of optimal order - - m_current_k_opt = 4; - /* no calculation because log10 might not exist for value_type! - const value_type logfact( -log10( max BOOST_PREVENT_MACRO_SUBSTITUTION( eps_rel , static_cast< value_type >( 1.0E-12 ) ) ) * 0.6 + 0.5 ); - m_current_k_opt = max BOOST_PREVENT_MACRO_SUBSTITUTION( 1 , min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast( m_k_max-1 ) , static_cast( logfact ) )); - */ - } - int num = 1; - for( int i = 2*(m_k_max) ; i >=0 ; i-- ) - { - m_diffs[i].resize( num ); - num += (i+1)%2; - } - } - - template< class System , class StateIn , class DerivIn , class StateOut , class DerivOut > - controlled_step_result try_step( System system , const StateIn &in , const DerivIn &dxdt , time_type &t , StateOut &out , DerivOut &dxdt_new , time_type &dt ) - { - BOOST_USING_STD_MIN(); - BOOST_USING_STD_MAX(); - using std::pow; - - static const value_type val1( 1.0 ); - - typename odeint::unwrap_reference< System >::type &sys = system; - - bool reject( true ); - - time_vector h_opt( m_k_max+1 ); - inv_time_vector work( m_k_max+1 ); - - m_k_final = 0; - time_type new_h = dt; - - //std::cout << "t=" << t <<", dt=" << dt << ", k_opt=" << m_current_k_opt << ", first: " << m_first << std::endl; - - for( size_t k = 0 ; k <= m_current_k_opt+1 ; k++ ) - { - m_midpoint.set_steps( m_interval_sequence[k] ); - if( k == 0 ) - { - m_midpoint.do_step( sys , in , dxdt , t , out , dt , m_mp_states[k].m_v , m_derivs[k]); - } - else - { - m_midpoint.do_step( sys , in , dxdt , t , m_table[k-1].m_v , dt , m_mp_states[k].m_v , m_derivs[k] ); - extrapolate( k , m_table , m_coeff , out ); - // get error estimate - m_algebra.for_each3( m_err.m_v , out , m_table[0].m_v , - typename operations_type::template scale_sum2< value_type , value_type >( val1 , -val1 ) ); - const value_type error = m_error_checker.error( m_algebra , in , dxdt , m_err.m_v , dt ); - h_opt[k] = calc_h_opt( dt , error , k ); - work[k] = static_cast( m_cost[k] ) / h_opt[k]; - - m_k_final = k; - - if( (k == m_current_k_opt-1) || m_first ) - { // convergence before k_opt ? - if( error < 1.0 ) - { - //convergence - reject = false; - if( (work[k] < KFAC2*work[k-1]) || (m_current_k_opt <= 2) ) - { - // leave order as is (except we were in first round) - m_current_k_opt = min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast(m_k_max)-1 , max BOOST_PREVENT_MACRO_SUBSTITUTION( 2 , static_cast(k)+1 ) ); - new_h = h_opt[k] * static_cast( m_cost[k+1] ) / static_cast( m_cost[k] ); - } else { - m_current_k_opt = min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast(m_k_max)-1 , max BOOST_PREVENT_MACRO_SUBSTITUTION( 2 , static_cast(k) ) ); - new_h = h_opt[k]; - } - break; - } - else if( should_reject( error , k ) && !m_first ) - { - reject = true; - new_h = h_opt[k]; - break; - } - } - if( k == m_current_k_opt ) - { // convergence at k_opt ? - if( error < 1.0 ) - { - //convergence - reject = false; - if( (work[k-1] < KFAC2*work[k]) ) - { - m_current_k_opt = max BOOST_PREVENT_MACRO_SUBSTITUTION( 2 , static_cast(m_current_k_opt)-1 ); - new_h = h_opt[m_current_k_opt]; - } - else if( (work[k] < KFAC2*work[k-1]) && !m_last_step_rejected ) - { - m_current_k_opt = min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast(m_k_max)-1 , static_cast(m_current_k_opt)+1 ); - new_h = h_opt[k]*static_cast( m_cost[m_current_k_opt] ) / static_cast( m_cost[k] ); - } else - new_h = h_opt[m_current_k_opt]; - break; - } - else if( should_reject( error , k ) ) - { - reject = true; - new_h = h_opt[m_current_k_opt]; - break; - } - } - if( k == m_current_k_opt+1 ) - { // convergence at k_opt+1 ? - if( error < 1.0 ) - { //convergence - reject = false; - if( work[k-2] < KFAC2*work[k-1] ) - m_current_k_opt = max BOOST_PREVENT_MACRO_SUBSTITUTION( 2 , static_cast(m_current_k_opt)-1 ); - if( (work[k] < KFAC2*work[m_current_k_opt]) && !m_last_step_rejected ) - m_current_k_opt = min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast(m_k_max)-1 , static_cast(k) ); - new_h = h_opt[m_current_k_opt]; - } else - { - reject = true; - new_h = h_opt[m_current_k_opt]; - } - break; - } - } - } - - if( !reject ) - { - - //calculate dxdt for next step and dense output - sys( out , dxdt_new , t+dt ); - - //prepare dense output - value_type error = prepare_dense_output( m_k_final , in , dxdt , out , dxdt_new , dt ); - - if( error > static_cast(10) ) // we are not as accurate for interpolation as for the steps - { - reject = true; - new_h = dt * pow BOOST_PREVENT_MACRO_SUBSTITUTION( error , static_cast(-1)/(2*m_k_final+2) ); - } else { - t += dt; - } - } - //set next stepsize - if( !m_last_step_rejected || (new_h < dt) ) - dt = new_h; - - m_last_step_rejected = reject; - if( reject ) - return fail; - else - return success; - } - - template< class StateType > - void initialize( const StateType &x0 , const time_type &t0 , const time_type &dt0 ) - { - m_resizer.adjust_size( x0 , detail::bind( &controlled_error_bs_type::template resize_impl< StateType > , detail::ref( *this ) , detail::_1 ) ); - boost::numeric::odeint::copy( x0 , get_current_state() ); - m_t = t0; - m_dt = dt0; - reset(); - } - - - /* ======================================================= - * the actual step method that should be called from outside (maybe make try_step private?) - */ - template< class System > - std::pair< time_type , time_type > do_step( System system ) - { - const size_t max_count = 1000; - - if( m_first ) - { - typename odeint::unwrap_reference< System >::type &sys = system; - sys( get_current_state() , get_current_deriv() , m_t ); - } - - controlled_step_result res = fail; - m_t_last = m_t; - size_t count = 0; - while( res == fail ) - { - res = try_step( system , get_current_state() , get_current_deriv() , m_t , get_old_state() , get_old_deriv() , m_dt ); - m_first = false; - if( count++ == max_count ) - throw std::overflow_error( "bulirsch_stoer : too much iterations!"); - } - toggle_current_state(); - return std::make_pair( m_t_last , m_t ); - } - - /* performs the interpolation from a calculated step */ - template< class StateOut > - void calc_state( time_type t , StateOut &x ) const - { - do_interpolation( t , x ); - } - - const state_type& current_state( void ) const - { - return get_current_state(); - } - - time_type current_time( void ) const - { - return m_t; - } - - const state_type& previous_state( void ) const - { - return get_old_state(); - } - - time_type previous_time( void ) const - { - return m_t_last; - } - - time_type current_time_step( void ) const - { - return m_dt; - } - - /** \brief Resets the internal state of the stepper. */ - void reset() - { - m_first = true; - m_last_step_rejected = false; - } - - template< class StateIn > - void adjust_size( const StateIn &x ) - { - resize_impl( x ); - m_midpoint.adjust_size(); - } - - -private: - - template< class StateInOut , class StateVector > - void extrapolate( size_t k , StateVector &table , const value_matrix &coeff , StateInOut &xest , size_t order_start_index = 0 ) - //polynomial extrapolation, see http://www.nr.com/webnotes/nr3web21.pdf - { - static const value_type val1( 1.0 ); - for( int j=k-1 ; j>0 ; --j ) - { - m_algebra.for_each3( table[j-1].m_v , table[j].m_v , table[j-1].m_v , - typename operations_type::template scale_sum2< value_type , value_type >( val1 + coeff[k + order_start_index][j + order_start_index] , - -coeff[k + order_start_index][j + order_start_index] ) ); - } - m_algebra.for_each3( xest , table[0].m_v , xest , - typename operations_type::template scale_sum2< value_type , value_type >( val1 + coeff[k + order_start_index][0 + order_start_index] , - -coeff[k + order_start_index][0 + order_start_index]) ); - } - - - template< class StateVector > - void extrapolate_dense_out( size_t k , StateVector &table , const value_matrix &coeff , size_t order_start_index = 0 ) - //polynomial extrapolation, see http://www.nr.com/webnotes/nr3web21.pdf - { - // result is written into table[0] - static const value_type val1( 1.0 ); - for( int j=k ; j>1 ; --j ) - { - m_algebra.for_each3( table[j-1].m_v , table[j].m_v , table[j-1].m_v , - typename operations_type::template scale_sum2< value_type , value_type >( val1 + coeff[k + order_start_index][j + order_start_index - 1] , - -coeff[k + order_start_index][j + order_start_index - 1] ) ); - } - m_algebra.for_each3( table[0].m_v , table[1].m_v , table[0].m_v , - typename operations_type::template scale_sum2< value_type , value_type >( val1 + coeff[k + order_start_index][order_start_index] , - -coeff[k + order_start_index][order_start_index]) ); - } - - time_type calc_h_opt( time_type h , value_type error , size_t k ) const - { - BOOST_USING_STD_MIN(); - BOOST_USING_STD_MAX(); - using std::pow; - - value_type expo=1.0/(m_interval_sequence[k-1]); - value_type facmin = pow BOOST_PREVENT_MACRO_SUBSTITUTION( STEPFAC3 , expo ); - value_type fac; - if (error == 0.0) - fac=1.0/facmin; - else - { - fac = STEPFAC2 / pow BOOST_PREVENT_MACRO_SUBSTITUTION( error / STEPFAC1 , expo ); - fac = max BOOST_PREVENT_MACRO_SUBSTITUTION( facmin/STEPFAC4 , min BOOST_PREVENT_MACRO_SUBSTITUTION( 1.0/facmin , fac ) ); - } - return h*fac; - } - - bool in_convergence_window( size_t k ) const - { - if( (k == m_current_k_opt-1) && !m_last_step_rejected ) - return true; // decrease order only if last step was not rejected - return ( (k == m_current_k_opt) || (k == m_current_k_opt+1) ); - } - - bool should_reject( value_type error , size_t k ) const - { - if( k == m_current_k_opt-1 ) - { - const value_type d = m_interval_sequence[m_current_k_opt] * m_interval_sequence[m_current_k_opt+1] / - (m_interval_sequence[0]*m_interval_sequence[0]); - //step will fail, criterion 17.3.17 in NR - return ( error > d*d ); - } - else if( k == m_current_k_opt ) - { - const value_type d = m_interval_sequence[m_current_k_opt+1] / m_interval_sequence[0]; - return ( error > d*d ); - } else - return error > 1.0; - } - - template< class StateIn1 , class DerivIn1 , class StateIn2 , class DerivIn2 > - value_type prepare_dense_output( int k , const StateIn1 &x_start , const DerivIn1 &dxdt_start , - const StateIn2 & /* x_end */ , const DerivIn2 & /*dxdt_end */ , time_type dt ) - /* k is the order to which the result was approximated */ - { - - /* compute the coefficients of the interpolation polynomial - * we parametrize the interval t .. t+dt by theta = -1 .. 1 - * we use 2k+3 values at the interval center theta=0 to obtain the interpolation coefficients - * the values are x(t+dt/2) and the derivatives dx/dt , ... d^(2k+2) x / dt^(2k+2) at the midpoints - * the derivatives are approximated via finite differences - * all values are obtained from interpolation of the results from the increasing orders of the midpoint calls - */ - - // calculate finite difference approximations to derivatives at the midpoint - for( int j = 0 ; j<=k ; j++ ) - { - /* not working with boost units... */ - const value_type d = m_interval_sequence[j] / ( static_cast(2) * dt ); - value_type f = 1.0; //factor 1/2 here because our interpolation interval has length 2 !!! - for( int kappa = 0 ; kappa <= 2*j+1 ; ++kappa ) - { - calculate_finite_difference( j , kappa , f , dxdt_start ); - f *= d; - } - - if( j > 0 ) - extrapolate_dense_out( j , m_mp_states , m_coeff ); - } - - time_type d = dt/2; - - // extrapolate finite differences - for( int kappa = 0 ; kappa<=2*k+1 ; kappa++ ) - { - for( int j=1 ; j<=(k-kappa/2) ; ++j ) - extrapolate_dense_out( j , m_diffs[kappa] , m_coeff , kappa/2 ); - - // extrapolation results are now stored in m_diffs[kappa][0] - - // divide kappa-th derivative by kappa because we need these terms for dense output interpolation - m_algebra.for_each1( m_diffs[kappa][0].m_v , typename operations_type::template scale< time_type >( static_cast(d) ) ); - - d *= dt/(2*(kappa+2)); - } - - // dense output coefficients a_0 is stored in m_mp_states[0], a_i for i = 1...2k are stored in m_diffs[i-1][0] - - // the error is just the highest order coefficient of the interpolation polynomial - // this is because we use only the midpoint theta=0 as support for the interpolation (remember that theta = -1 .. 1) - - value_type error = 0.0; - if( m_control_interpolation ) - { - boost::numeric::odeint::copy( m_diffs[2*k+1][0].m_v , m_err.m_v ); - error = m_error_checker.error( m_algebra , x_start , dxdt_start , m_err.m_v , dt ); - } - - return error; - } - - template< class DerivIn > - void calculate_finite_difference( size_t j , size_t kappa , value_type fac , const DerivIn &dxdt ) - { - const int m = m_interval_sequence[j]/2-1; - if( kappa == 0) // no calculation required for 0th derivative of f - { - m_algebra.for_each2( m_diffs[0][j].m_v , m_derivs[j][m].m_v , - typename operations_type::template scale_sum1< value_type >( fac ) ); - } - else - { - // calculate the index of m_diffs for this kappa-j-combination - const int j_diffs = j - kappa/2; - - m_algebra.for_each2( m_diffs[kappa][j_diffs].m_v , m_derivs[j][m+kappa].m_v , - typename operations_type::template scale_sum1< value_type >( fac ) ); - value_type sign = -1.0; - int c = 1; - //computes the j-th order finite difference for the kappa-th derivative of f at t+dt/2 using function evaluations stored in m_derivs - for( int i = m+static_cast(kappa)-2 ; i >= m-static_cast(kappa) ; i -= 2 ) - { - if( i >= 0 ) - { - m_algebra.for_each3( m_diffs[kappa][j_diffs].m_v , m_diffs[kappa][j_diffs].m_v , m_derivs[j][i].m_v , - typename operations_type::template scale_sum2< value_type , value_type >( 1.0 , - sign * fac * boost::math::binomial_coefficient< value_type >( kappa , c ) ) ); - } - else - { - m_algebra.for_each3( m_diffs[kappa][j_diffs].m_v , m_diffs[kappa][j_diffs].m_v , dxdt , - typename operations_type::template scale_sum2< value_type , value_type >( 1.0 , sign * fac ) ); - } - sign *= -1; - ++c; - } - } - } - - template< class StateOut > - void do_interpolation( time_type t , StateOut &out ) const - { - // interpolation polynomial is defined for theta = -1 ... 1 - // m_k_final is the number of order-iterations done for the last step - it governs the order of the interpolation polynomial - const value_type theta = 2 * get_unit_value( (t - m_t_last) / (m_t - m_t_last) ) - 1; - // we use only values at interval center, that is theta=0, for interpolation - // our interpolation polynomial is thus of order 2k+2, hence we have 2k+3 terms - - boost::numeric::odeint::copy( m_mp_states[0].m_v , out ); - // add remaining terms: x += a_1 theta + a2 theta^2 + ... + a_{2k} theta^{2k} - value_type theta_pow( theta ); - for( size_t i=0 ; i<=2*m_k_final+1 ; ++i ) - { - m_algebra.for_each3( out , out , m_diffs[i][0].m_v , - typename operations_type::template scale_sum2< value_type >( static_cast(1) , theta_pow ) ); - theta_pow *= theta; - } - } - - /* Resizer methods */ - template< class StateIn > - bool resize_impl( const StateIn &x ) - { - bool resized( false ); - - resized |= adjust_size_by_resizeability( m_x1 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_x2 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_dxdt1 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_dxdt2 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_err , x , typename is_resizeable::type() ); - - for( size_t i = 0 ; i < m_k_max ; ++i ) - resized |= adjust_size_by_resizeability( m_table[i] , x , typename is_resizeable::type() ); - for( size_t i = 0 ; i < m_k_max+1 ; ++i ) - resized |= adjust_size_by_resizeability( m_mp_states[i] , x , typename is_resizeable::type() ); - for( size_t i = 0 ; i < m_k_max+1 ; ++i ) - for( size_t j = 0 ; j < m_derivs[i].size() ; ++j ) - resized |= adjust_size_by_resizeability( m_derivs[i][j] , x , typename is_resizeable::type() ); - for( size_t i = 0 ; i < 2*m_k_max+1 ; ++i ) - for( size_t j = 0 ; j < m_diffs[i].size() ; ++j ) - resized |= adjust_size_by_resizeability( m_diffs[i][j] , x , typename is_resizeable::type() ); - - return resized; - } - - - state_type& get_current_state( void ) - { - return m_current_state_x1 ? m_x1.m_v : m_x2.m_v ; - } - - const state_type& get_current_state( void ) const - { - return m_current_state_x1 ? m_x1.m_v : m_x2.m_v ; - } - - state_type& get_old_state( void ) - { - return m_current_state_x1 ? m_x2.m_v : m_x1.m_v ; - } - - const state_type& get_old_state( void ) const - { - return m_current_state_x1 ? m_x2.m_v : m_x1.m_v ; - } - - deriv_type& get_current_deriv( void ) - { - return m_current_state_x1 ? m_dxdt1.m_v : m_dxdt2.m_v ; - } - - const deriv_type& get_current_deriv( void ) const - { - return m_current_state_x1 ? m_dxdt1.m_v : m_dxdt2.m_v ; - } - - deriv_type& get_old_deriv( void ) - { - return m_current_state_x1 ? m_dxdt2.m_v : m_dxdt1.m_v ; - } - - const deriv_type& get_old_deriv( void ) const - { - return m_current_state_x1 ? m_dxdt2.m_v : m_dxdt1.m_v ; - } - - - void toggle_current_state( void ) - { - m_current_state_x1 = ! m_current_state_x1; - } - - - - default_error_checker< value_type, algebra_type , operations_type > m_error_checker; - modified_midpoint_dense_out< state_type , value_type , deriv_type , time_type , algebra_type , operations_type , resizer_type > m_midpoint; - - bool m_control_interpolation; - - bool m_last_step_rejected; - bool m_first; - - time_type m_t; - time_type m_dt; - time_type m_dt_last; - time_type m_t_last; - - size_t m_current_k_opt; - size_t m_k_final; - - algebra_type m_algebra; - - resizer_type m_resizer; - - wrapped_state_type m_x1 , m_x2; - wrapped_deriv_type m_dxdt1 , m_dxdt2; - wrapped_state_type m_err; - bool m_current_state_x1; - - - - value_vector m_error; // errors of repeated midpoint steps and extrapolations - int_vector m_interval_sequence; // stores the successive interval counts - value_matrix m_coeff; - int_vector m_cost; // costs for interval count - - state_vector_type m_table; // sequence of states for extrapolation - - //for dense output: - state_vector_type m_mp_states; // sequence of approximations of x at distance center - deriv_table_type m_derivs; // table of function values - deriv_table_type m_diffs; // table of function values - - //wrapped_state_type m_a1 , m_a2 , m_a3 , m_a4; - - const value_type STEPFAC1 , STEPFAC2 , STEPFAC3 , STEPFAC4 , KFAC1 , KFAC2; -}; - - - -/********** DOXYGEN **********/ - -/** - * \class bulirsch_stoer_dense_out - * \brief The Bulirsch-Stoer algorithm. - * - * The Bulirsch-Stoer is a controlled stepper that adjusts both step size - * and order of the method. The algorithm uses the modified midpoint and - * a polynomial extrapolation compute the solution. This class also provides - * dense output facility. - * - * \tparam State The state type. - * \tparam Value The value type. - * \tparam Deriv The type representing the time derivative of the state. - * \tparam Time The time representing the independent variable - the time. - * \tparam Algebra The algebra type. - * \tparam Operations The operations type. - * \tparam Resizer The resizer policy type. - */ - - /** - * \fn bulirsch_stoer_dense_out::bulirsch_stoer_dense_out( value_type eps_abs , value_type eps_rel , value_type factor_x , value_type factor_dxdt , bool control_interpolation ) - * \brief Constructs the bulirsch_stoer class, including initialization of - * the error bounds. - * - * \param eps_abs Absolute tolerance level. - * \param eps_rel Relative tolerance level. - * \param factor_x Factor for the weight of the state. - * \param factor_dxdt Factor for the weight of the derivative. - * \param control_interpolation Set true to additionally control the error of - * the interpolation. - */ - - /** - * \fn bulirsch_stoer_dense_out::try_step( System system , const StateIn &in , const DerivIn &dxdt , time_type &t , StateOut &out , DerivOut &dxdt_new , time_type &dt ) - * \brief Tries to perform one step. - * - * This method tries to do one step with step size dt. If the error estimate - * is to large, the step is rejected and the method returns fail and the - * step size dt is reduced. If the error estimate is acceptably small, the - * step is performed, success is returned and dt might be increased to make - * the steps as large as possible. This method also updates t if a step is - * performed. Also, the internal order of the stepper is adjusted if required. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. - * It must fulfill the Simple System concept. - * \param in The state of the ODE which should be solved. - * \param dxdt The derivative of state. - * \param t The value of the time. Updated if the step is successful. - * \param out Used to store the result of the step. - * \param dt The step size. Updated. - * \return success if the step was accepted, fail otherwise. - */ - - /** - * \fn bulirsch_stoer_dense_out::initialize( const StateType &x0 , const time_type &t0 , const time_type &dt0 ) - * \brief Initializes the dense output stepper. - * - * \param x0 The initial state. - * \param t0 The initial time. - * \param dt0 The initial time step. - */ - - /** - * \fn bulirsch_stoer_dense_out::do_step( System system ) - * \brief Does one time step. This is the main method that should be used to - * integrate an ODE with this stepper. - * \note initialize has to be called before using this method to set the - * initial conditions x,t and the stepsize. - * \param system The system function to solve, hence the r.h.s. of the - * ordinary differential equation. It must fulfill the Simple System concept. - * \return Pair with start and end time of the integration step. - */ - - /** - * \fn bulirsch_stoer_dense_out::calc_state( time_type t , StateOut &x ) const - * \brief Calculates the solution at an intermediate point within the last step - * \param t The time at which the solution should be calculated, has to be - * in the current time interval. - * \param x The output variable where the result is written into. - */ - - /** - * \fn bulirsch_stoer_dense_out::current_state( void ) const - * \brief Returns the current state of the solution. - * \return The current state of the solution x(t). - */ - - /** - * \fn bulirsch_stoer_dense_out::current_time( void ) const - * \brief Returns the current time of the solution. - * \return The current time of the solution t. - */ - - /** - * \fn bulirsch_stoer_dense_out::previous_state( void ) const - * \brief Returns the last state of the solution. - * \return The last state of the solution x(t-dt). - */ - - /** - * \fn bulirsch_stoer_dense_out::previous_time( void ) const - * \brief Returns the last time of the solution. - * \return The last time of the solution t-dt. - */ - - /** - * \fn bulirsch_stoer_dense_out::current_time_step( void ) const - * \brief Returns the current step size. - * \return The current step size. - */ - - /** - * \fn bulirsch_stoer_dense_out::adjust_size( const StateIn &x ) - * \brief Adjust the size of all temporaries in the stepper manually. - * \param x A state from which the size of the temporaries to be resized is deduced. - */ - -} -} -} - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_BULIRSCH_STOER_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp deleted file mode 100644 index 34439b4..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp +++ /dev/null @@ -1,939 +0,0 @@ -/* [auto_generated] - boost/numeric/odeint/stepper/controlled_runge_kutta.hpp - - [begin_description] - The default controlled stepper which can be used with all explicit Runge-Kutta error steppers. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_CONTROLLED_RUNGE_KUTTA_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_CONTROLLED_RUNGE_KUTTA_HPP_INCLUDED - - - -#include - -#include -#include -#include - -#include -#include -#include - -#include -#include -#include - -#include -#include - -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - - -template -< -class Value , -class Algebra = range_algebra , -class Operations = default_operations -> -class default_error_checker -{ -public: - - typedef Value value_type; - typedef Algebra algebra_type; - typedef Operations operations_type; - - default_error_checker( - value_type eps_abs = static_cast< value_type >( 1.0e-6 ) , - value_type eps_rel = static_cast< value_type >( 1.0e-6 ) , - value_type a_x = static_cast< value_type >( 1 ) , - value_type a_dxdt = static_cast< value_type >( 1 ) ) - : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) , m_a_x( a_x ) , m_a_dxdt( a_dxdt ) - { } - - - template< class State , class Deriv , class Err , class Time > - value_type error( const State &x_old , const Deriv &dxdt_old , Err &x_err , Time dt ) const - { - return error( algebra_type() , x_old , dxdt_old , x_err , dt ); - } - - template< class State , class Deriv , class Err , class Time > - value_type error( algebra_type &algebra , const State &x_old , const Deriv &dxdt_old , Err &x_err , Time dt ) const - { - // this overwrites x_err ! - algebra.for_each3( x_err , x_old , dxdt_old , - typename operations_type::template rel_error< value_type >( m_eps_abs , m_eps_rel , m_a_x , m_a_dxdt * get_unit_value( dt ) ) ); - - value_type res = algebra.reduce( x_err , - typename operations_type::template maximum< value_type >() , static_cast< value_type >( 0 ) ); - return res; - } - -private: - - value_type m_eps_abs; - value_type m_eps_rel; - value_type m_a_x; - value_type m_a_dxdt; - -}; - - - - - - - - -/* - * error stepper category dispatcher - */ -template< -class ErrorStepper , -class ErrorChecker = default_error_checker< typename ErrorStepper::value_type , -typename ErrorStepper::algebra_type , -typename ErrorStepper::operations_type > , -class Resizer = typename ErrorStepper::resizer_type , -class ErrorStepperCategory = typename ErrorStepper::stepper_category -> -class controlled_runge_kutta ; - - - -/* - * explicit stepper version - * - * this class introduces the following try_step overloads - * try_step( sys , x , t , dt ) - * try_step( sys , x , dxdt , t , dt ) - * try_step( sys , in , t , out , dt ) - * try_step( sys , in , dxdt , t , out , dt ) - */ -/** - * \brief Implements step size control for Runge-Kutta steppers with error - * estimation. - * - * This class implements the step size control for standard Runge-Kutta - * steppers with error estimation. - * - * \tparam ErrorStepper The stepper type with error estimation, has to fulfill the ErrorStepper concept. - * \tparam ErrorChecker The error checker - * \tparam Resizer The resizer policy type. - */ -template< -class ErrorStepper , -class ErrorChecker , -class Resizer -> -class controlled_runge_kutta< ErrorStepper , ErrorChecker , Resizer , explicit_error_stepper_tag > -{ - -public: - - typedef ErrorStepper stepper_type; - typedef typename stepper_type::state_type state_type; - typedef typename stepper_type::value_type value_type; - typedef typename stepper_type::deriv_type deriv_type; - typedef typename stepper_type::time_type time_type; - typedef typename stepper_type::algebra_type algebra_type; - typedef typename stepper_type::operations_type operations_type; - typedef Resizer resizer_type; - typedef ErrorChecker error_checker_type; - typedef explicit_controlled_stepper_tag stepper_category; - -#ifndef DOXYGEN_SKIP - typedef typename stepper_type::wrapped_state_type wrapped_state_type; - typedef typename stepper_type::wrapped_deriv_type wrapped_deriv_type; - - typedef controlled_runge_kutta< ErrorStepper , ErrorChecker , Resizer , explicit_error_stepper_tag > controlled_stepper_type; -#endif //DOXYGEN_SKIP - - - /** - * \brief Constructs the controlled Runge-Kutta stepper. - * \param error_checker An instance of the error checker. - * \param stepper An instance of the underlying stepper. - */ - controlled_runge_kutta( - const error_checker_type &error_checker = error_checker_type( ) , - const stepper_type &stepper = stepper_type( ) - ) - : m_stepper( stepper ) , m_error_checker( error_checker ) - { } - - - - /* - * Version 1 : try_step( sys , x , t , dt ) - * - * The overloads are needed to solve the forwarding problem - */ - /** - * \brief Tries to perform one step. - * - * This method tries to do one step with step size dt. If the error estimate - * is to large, the step is rejected and the method returns fail and the - * step size dt is reduced. If the error estimate is acceptably small, the - * step is performed, success is returned and dt might be increased to make - * the steps as large as possible. This method also updates t if a step is - * performed. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. Overwritten if - * the step is successful. - * \param t The value of the time. Updated if the step is successful. - * \param dt The step size. Updated. - * \return success if the step was accepted, fail otherwise. - */ - template< class System , class StateInOut > - controlled_step_result try_step( System system , StateInOut &x , time_type &t , time_type &dt ) - { - return try_step_v1( system , x , t, dt ); - } - - /** - * \brief Tries to perform one step. Solves the forwarding problem and - * allows for using boost range as state_type. - * - * This method tries to do one step with step size dt. If the error estimate - * is to large, the step is rejected and the method returns fail and the - * step size dt is reduced. If the error estimate is acceptably small, the - * step is performed, success is returned and dt might be increased to make - * the steps as large as possible. This method also updates t if a step is - * performed. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. Overwritten if - * the step is successful. Can be a boost range. - * \param t The value of the time. Updated if the step is successful. - * \param dt The step size. Updated. - * \return success if the step was accepted, fail otherwise. - */ - template< class System , class StateInOut > - controlled_step_result try_step( System system , const StateInOut &x , time_type &t , time_type &dt ) - { - return try_step_v1( system , x , t, dt ); - } - - - - /* - * Version 2 : try_step( sys , x , dxdt , t , dt ) - * - * this version does not solve the forwarding problem, boost.range can not be used - */ - /** - * \brief Tries to perform one step. - * - * This method tries to do one step with step size dt. If the error estimate - * is to large, the step is rejected and the method returns fail and the - * step size dt is reduced. If the error estimate is acceptably small, the - * step is performed, success is returned and dt might be increased to make - * the steps as large as possible. This method also updates t if a step is - * performed. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. Overwritten if - * the step is successful. - * \param dxdt The derivative of state. - * \param t The value of the time. Updated if the step is successful. - * \param dt The step size. Updated. - * \return success if the step was accepted, fail otherwise. - */ - template< class System , class StateInOut , class DerivIn > - controlled_step_result try_step( System system , StateInOut &x , const DerivIn &dxdt , time_type &t , time_type &dt ) - { - m_xnew_resizer.adjust_size( x , detail::bind( &controlled_runge_kutta::template resize_m_xnew_impl< StateInOut > , detail::ref( *this ) , detail::_1 ) ); - controlled_step_result res = try_step( system , x , dxdt , t , m_xnew.m_v , dt ); - if( res == success ) - { - boost::numeric::odeint::copy( m_xnew.m_v , x ); - } - return res; - } - - /* - * Version 3 : try_step( sys , in , t , out , dt ) - * - * this version does not solve the forwarding problem, boost.range can not be used - * - * the disable is needed to avoid ambiguous overloads if state_type = time_type - */ - /** - * \brief Tries to perform one step. - * - * \note This method is disabled if state_type=time_type to avoid ambiguity. - * - * This method tries to do one step with step size dt. If the error estimate - * is to large, the step is rejected and the method returns fail and the - * step size dt is reduced. If the error estimate is acceptably small, the - * step is performed, success is returned and dt might be increased to make - * the steps as large as possible. This method also updates t if a step is - * performed. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. - * \param t The value of the time. Updated if the step is successful. - * \param out Used to store the result of the step. - * \param dt The step size. Updated. - * \return success if the step was accepted, fail otherwise. - */ - template< class System , class StateIn , class StateOut > - typename boost::disable_if< boost::is_same< StateIn , time_type > , controlled_step_result >::type - try_step( System system , const StateIn &in , time_type &t , StateOut &out , time_type &dt ) - { - typename odeint::unwrap_reference< System >::type &sys = system; - m_dxdt_resizer.adjust_size( in , detail::bind( &controlled_runge_kutta::template resize_m_dxdt_impl< StateIn > , detail::ref( *this ) , detail::_1 ) ); - sys( in , m_dxdt.m_v , t ); - return try_step( system , in , m_dxdt.m_v , t , out , dt ); - } - - - /* - * Version 4 : try_step( sys , in , dxdt , t , out , dt ) - * - * this version does not solve the forwarding problem, boost.range can not be used - */ - /** - * \brief Tries to perform one step. - * - * This method tries to do one step with step size dt. If the error estimate - * is to large, the step is rejected and the method returns fail and the - * step size dt is reduced. If the error estimate is acceptably small, the - * step is performed, success is returned and dt might be increased to make - * the steps as large as possible. This method also updates t if a step is - * performed. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. - * \param dxdt The derivative of state. - * \param t The value of the time. Updated if the step is successful. - * \param out Used to store the result of the step. - * \param dt The step size. Updated. - * \return success if the step was accepted, fail otherwise. - */ - template< class System , class StateIn , class DerivIn , class StateOut > - controlled_step_result try_step( System system , const StateIn &in , const DerivIn &dxdt , time_type &t , StateOut &out , time_type &dt ) - { - BOOST_USING_STD_MIN(); - BOOST_USING_STD_MAX(); - using std::pow; - - m_xerr_resizer.adjust_size( in , detail::bind( &controlled_runge_kutta::template resize_m_xerr_impl< StateIn > , detail::ref( *this ) , detail::_1 ) ); - - // do one step with error calculation - m_stepper.do_step( system , in , dxdt , t , out , dt , m_xerr.m_v ); - - m_max_rel_error = m_error_checker.error( m_stepper.algebra() , in , dxdt , m_xerr.m_v , dt ); - - if( m_max_rel_error > 1.0 ) - { - // error too large - decrease dt ,limit scaling factor to 0.2 and reset state - dt *= max BOOST_PREVENT_MACRO_SUBSTITUTION ( static_cast(9)/static_cast(10) * pow( m_max_rel_error , - static_cast(-1) / ( m_stepper.error_order() - 1 ) ) , - static_cast(1)/static_cast (5) ); - return fail; - } - else - { - if( m_max_rel_error < 0.5 ) - { - // error should be > 0 - m_max_rel_error = max BOOST_PREVENT_MACRO_SUBSTITUTION ( pow( 5.0 , -m_stepper.stepper_order() ) , m_max_rel_error ); - //error too small - increase dt and keep the evolution and limit scaling factor to 5.0 - t += dt; - dt *= static_cast(9)/static_cast(10) * pow( m_max_rel_error , - static_cast(-1) / m_stepper.stepper_order() ); - return success; - } - else - { - t += dt; - return success; - } - } - } - - /** - * \brief Returns the error of the last step. - * - * returns The last error of the step. - */ - value_type last_error( void ) const - { - return m_max_rel_error; - } - - - /** - * \brief Adjust the size of all temporaries in the stepper manually. - * \param x A state from which the size of the temporaries to be resized is deduced. - */ - template< class StateType > - void adjust_size( const StateType &x ) - { - resize_m_xerr_impl( x ); - resize_m_dxdt_impl( x ); - resize_m_xnew_impl( x ); - m_stepper.adjust_size( x ); - } - - /** - * \brief Returns the instance of the underlying stepper. - * \returns The instance of the underlying stepper. - */ - stepper_type& stepper( void ) - { - return m_stepper; - } - - /** - * \brief Returns the instance of the underlying stepper. - * \returns The instance of the underlying stepper. - */ - const stepper_type& stepper( void ) const - { - return m_stepper; - } - -private: - - - template< class System , class StateInOut > - controlled_step_result try_step_v1( System system , StateInOut &x , time_type &t , time_type &dt ) - { - typename odeint::unwrap_reference< System >::type &sys = system; - m_dxdt_resizer.adjust_size( x , detail::bind( &controlled_runge_kutta::template resize_m_dxdt_impl< StateInOut > , detail::ref( *this ) , detail::_1 ) ); - sys( x , m_dxdt.m_v ,t ); - return try_step( system , x , m_dxdt.m_v , t , dt ); - } - - template< class StateIn > - bool resize_m_xerr_impl( const StateIn &x ) - { - return adjust_size_by_resizeability( m_xerr , x , typename is_resizeable::type() ); - } - - template< class StateIn > - bool resize_m_dxdt_impl( const StateIn &x ) - { - return adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable::type() ); - } - - template< class StateIn > - bool resize_m_xnew_impl( const StateIn &x ) - { - return adjust_size_by_resizeability( m_xnew , x , typename is_resizeable::type() ); - } - - - - stepper_type m_stepper; - error_checker_type m_error_checker; - - resizer_type m_dxdt_resizer; - resizer_type m_xerr_resizer; - resizer_type m_xnew_resizer; - - wrapped_deriv_type m_dxdt; - wrapped_state_type m_xerr; - wrapped_state_type m_xnew; - value_type m_max_rel_error; -}; - - - - - - - - - - -/* - * explicit stepper fsal version - * - * the class introduces the following try_step overloads - * try_step( sys , x , t , dt ) - * try_step( sys , in , t , out , dt ) - * try_step( sys , x , dxdt , t , dt ) - * try_step( sys , in , dxdt_in , t , out , dxdt_out , dt ) - */ -/** - * \brief Implements step size control for Runge-Kutta FSAL steppers with - * error estimation. - * - * This class implements the step size control for FSAL Runge-Kutta - * steppers with error estimation. - * - * \tparam ErrorStepper The stepper type with error estimation, has to fulfill the ErrorStepper concept. - * \tparam ErrorChecker The error checker - * \tparam Resizer The resizer policy type. - */ -template< -class ErrorStepper , -class ErrorChecker , -class Resizer -> -class controlled_runge_kutta< ErrorStepper , ErrorChecker , Resizer , explicit_error_stepper_fsal_tag > -{ - -public: - - typedef ErrorStepper stepper_type; - typedef typename stepper_type::state_type state_type; - typedef typename stepper_type::value_type value_type; - typedef typename stepper_type::deriv_type deriv_type; - typedef typename stepper_type::time_type time_type; - typedef typename stepper_type::algebra_type algebra_type; - typedef typename stepper_type::operations_type operations_type; - typedef Resizer resizer_type; - typedef ErrorChecker error_checker_type; - typedef explicit_controlled_stepper_fsal_tag stepper_category; - -#ifndef DOXYGEN_SKIP - typedef typename stepper_type::wrapped_state_type wrapped_state_type; - typedef typename stepper_type::wrapped_deriv_type wrapped_deriv_type; - - typedef controlled_runge_kutta< ErrorStepper , ErrorChecker , Resizer , explicit_error_stepper_tag > controlled_stepper_type; -#endif // DOXYGEN_SKIP - - /** - * \brief Constructs the controlled Runge-Kutta stepper. - * \param error_checker An instance of the error checker. - * \param stepper An instance of the underlying stepper. - */ - controlled_runge_kutta( - const error_checker_type &error_checker = error_checker_type() , - const stepper_type &stepper = stepper_type() - ) - : m_stepper( stepper ) , m_error_checker( error_checker ) , - m_first_call( true ) - { } - - /* - * Version 1 : try_step( sys , x , t , dt ) - * - * The two overloads are needed in order to solve the forwarding problem - */ - /** - * \brief Tries to perform one step. - * - * This method tries to do one step with step size dt. If the error estimate - * is to large, the step is rejected and the method returns fail and the - * step size dt is reduced. If the error estimate is acceptably small, the - * step is performed, success is returned and dt might be increased to make - * the steps as large as possible. This method also updates t if a step is - * performed. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. Overwritten if - * the step is successful. - * \param t The value of the time. Updated if the step is successful. - * \param dt The step size. Updated. - * \return success if the step was accepted, fail otherwise. - */ - template< class System , class StateInOut > - controlled_step_result try_step( System system , StateInOut &x , time_type &t , time_type &dt ) - { - return try_step_v1( system , x , t , dt ); - } - - - /** - * \brief Tries to perform one step. Solves the forwarding problem and - * allows for using boost range as state_type. - * - * This method tries to do one step with step size dt. If the error estimate - * is to large, the step is rejected and the method returns fail and the - * step size dt is reduced. If the error estimate is acceptably small, the - * step is performed, success is returned and dt might be increased to make - * the steps as large as possible. This method also updates t if a step is - * performed. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. Overwritten if - * the step is successful. Can be a boost range. - * \param t The value of the time. Updated if the step is successful. - * \param dt The step size. Updated. - * \return success if the step was accepted, fail otherwise. - */ - template< class System , class StateInOut > - controlled_step_result try_step( System system , const StateInOut &x , time_type &t , time_type &dt ) - { - return try_step_v1( system , x , t , dt ); - } - - - - /* - * Version 2 : try_step( sys , in , t , out , dt ); - * - * This version does not solve the forwarding problem, boost::range can not be used. - * - * The disabler is needed to solve ambiguous overloads - */ - /** - * \brief Tries to perform one step. - * - * \note This method is disabled if state_type=time_type to avoid ambiguity. - * - * This method tries to do one step with step size dt. If the error estimate - * is to large, the step is rejected and the method returns fail and the - * step size dt is reduced. If the error estimate is acceptably small, the - * step is performed, success is returned and dt might be increased to make - * the steps as large as possible. This method also updates t if a step is - * performed. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. - * \param t The value of the time. Updated if the step is successful. - * \param out Used to store the result of the step. - * \param dt The step size. Updated. - * \return success if the step was accepted, fail otherwise. - */ - template< class System , class StateIn , class StateOut > - typename boost::disable_if< boost::is_same< StateIn , time_type > , controlled_step_result >::type - try_step( System system , const StateIn &in , time_type &t , StateOut &out , time_type &dt ) - { - if( m_dxdt_resizer.adjust_size( in , detail::bind( &controlled_runge_kutta::template resize_m_dxdt_impl< StateIn > , detail::ref( *this ) , detail::_1 ) ) || m_first_call ) - { - initialize( system , in , t ); - } - return try_step( system , in , m_dxdt.m_v , t , out , dt ); - } - - - /* - * Version 3 : try_step( sys , x , dxdt , t , dt ) - * - * This version does not solve the forwarding problem, boost::range can not be used. - */ - /** - * \brief Tries to perform one step. - * - * This method tries to do one step with step size dt. If the error estimate - * is to large, the step is rejected and the method returns fail and the - * step size dt is reduced. If the error estimate is acceptably small, the - * step is performed, success is returned and dt might be increased to make - * the steps as large as possible. This method also updates t if a step is - * performed. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param x The state of the ODE which should be solved. Overwritten if - * the step is successful. - * \param dxdt The derivative of state. - * \param t The value of the time. Updated if the step is successful. - * \param dt The step size. Updated. - * \return success if the step was accepted, fail otherwise. - */ - template< class System , class StateInOut , class DerivInOut > - controlled_step_result try_step( System system , StateInOut &x , DerivInOut &dxdt , time_type &t , time_type &dt ) - { - m_xnew_resizer.adjust_size( x , detail::bind( &controlled_runge_kutta::template resize_m_xnew_impl< StateInOut > , detail::ref( *this ) , detail::_1 ) ); - m_dxdt_new_resizer.adjust_size( x , detail::bind( &controlled_runge_kutta::template resize_m_dxdt_new_impl< StateInOut > , detail::ref( *this ) , detail::_1 ) ); - controlled_step_result res = try_step( system , x , dxdt , t , m_xnew.m_v , m_dxdtnew.m_v , dt ); - if( res == success ) - { - boost::numeric::odeint::copy( m_xnew.m_v , x ); - boost::numeric::odeint::copy( m_dxdtnew.m_v , dxdt ); - } - return res; - } - - - /* - * Version 4 : try_step( sys , in , dxdt_in , t , out , dxdt_out , dt ) - * - * This version does not solve the forwarding problem, boost::range can not be used. - */ - /** - * \brief Tries to perform one step. - * - * This method tries to do one step with step size dt. If the error estimate - * is to large, the step is rejected and the method returns fail and the - * step size dt is reduced. If the error estimate is acceptably small, the - * step is performed, success is returned and dt might be increased to make - * the steps as large as possible. This method also updates t if a step is - * performed. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. - * \param dxdt The derivative of state. - * \param t The value of the time. Updated if the step is successful. - * \param out Used to store the result of the step. - * \param dt The step size. Updated. - * \return success if the step was accepted, fail otherwise. - */ - template< class System , class StateIn , class DerivIn , class StateOut , class DerivOut > - controlled_step_result try_step( System system , const StateIn &in , const DerivIn &dxdt_in , time_type &t , - StateOut &out , DerivOut &dxdt_out , time_type &dt ) - { - BOOST_USING_STD_MIN(); - BOOST_USING_STD_MAX(); - - using std::pow; - - m_xerr_resizer.adjust_size( in , detail::bind( &controlled_runge_kutta::template resize_m_xerr_impl< StateIn > , detail::ref( *this ) , detail::_1 ) ); - - //fsal: m_stepper.get_dxdt( dxdt ); - //fsal: m_stepper.do_step( sys , x , dxdt , t , dt , m_x_err ); - m_stepper.do_step( system , in , dxdt_in , t , out , dxdt_out , dt , m_xerr.m_v ); - - // this potentially overwrites m_x_err! (standard_error_checker does, at least) - value_type max_rel_err = m_error_checker.error( m_stepper.algebra() , in , dxdt_in , m_xerr.m_v , dt ); - - if( max_rel_err > 1.0 ) - { - // error too large - decrease dt ,limit scaling factor to 0.2 and reset state - dt *= max BOOST_PREVENT_MACRO_SUBSTITUTION ( static_cast( static_cast(9)/static_cast(10) * pow( max_rel_err , static_cast(-1) / ( m_stepper.error_order() - 1 ) ) ) , static_cast( static_cast(1)/static_cast (5)) ); - return fail; - } - else - { - if( max_rel_err < 0.5 ) - { //error too small - increase dt and keep the evolution and limit scaling factor to 5.0 - // error should be > 0 - max_rel_err = max BOOST_PREVENT_MACRO_SUBSTITUTION ( pow( 5.0 , -m_stepper.stepper_order() ) , max_rel_err ); - t += dt; - dt *= static_cast( static_cast(9)/static_cast(10) * pow( max_rel_err , static_cast(-1) / m_stepper.stepper_order() ) ); - return success; - } - else - { - t += dt; - return success; - } - } - } - - - /** - * \brief Resets the internal state of the underlying FSAL stepper. - */ - void reset( void ) - { - m_first_call = true; - } - - /** - * \brief Initializes the internal state storing an internal copy of the derivative. - * - * \param deriv The initial derivative of the ODE. - */ - template< class DerivIn > - void initialize( const DerivIn &deriv ) - { - boost::numeric::odeint::copy( deriv , m_dxdt.m_v ); - m_first_call = false; - } - - /** - * \brief Initializes the internal state storing an internal copy of the derivative. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param x The initial state of the ODE which should be solved. - * \param t The initial time. - */ - template< class System , class StateIn > - void initialize( System system , const StateIn &x , time_type t ) - { - typename odeint::unwrap_reference< System >::type &sys = system; - sys( x , m_dxdt.m_v , t ); - m_first_call = false; - } - - /** - * \brief Returns true if the stepper has been initialized, false otherwise. - * - * \return true, if the stepper has been initialized, false otherwise. - */ - bool is_initialized( void ) const - { - return ! m_first_call; - } - - - /** - * \brief Adjust the size of all temporaries in the stepper manually. - * \param x A state from which the size of the temporaries to be resized is deduced. - */ - template< class StateType > - void adjust_size( const StateType &x ) - { - resize_m_xerr_impl( x ); - resize_m_dxdt_impl( x ); - resize_m_dxdt_new_impl( x ); - resize_m_xnew_impl( x ); - } - - - /** - * \brief Returns the instance of the underlying stepper. - * \returns The instance of the underlying stepper. - */ - stepper_type& stepper( void ) - { - return m_stepper; - } - - /** - * \brief Returns the instance of the underlying stepper. - * \returns The instance of the underlying stepper. - */ - const stepper_type& stepper( void ) const - { - return m_stepper; - } - - - -private: - - - template< class StateIn > - bool resize_m_xerr_impl( const StateIn &x ) - { - return adjust_size_by_resizeability( m_xerr , x , typename is_resizeable::type() ); - } - - template< class StateIn > - bool resize_m_dxdt_impl( const StateIn &x ) - { - return adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable::type() ); - } - - template< class StateIn > - bool resize_m_dxdt_new_impl( const StateIn &x ) - { - return adjust_size_by_resizeability( m_dxdtnew , x , typename is_resizeable::type() ); - } - - template< class StateIn > - bool resize_m_xnew_impl( const StateIn &x ) - { - return adjust_size_by_resizeability( m_xnew , x , typename is_resizeable::type() ); - } - - - template< class System , class StateInOut > - controlled_step_result try_step_v1( System system , StateInOut &x , time_type &t , time_type &dt ) - { - if( m_dxdt_resizer.adjust_size( x , detail::bind( &controlled_runge_kutta::template resize_m_dxdt_impl< StateInOut > , detail::ref( *this ) , detail::_1 ) ) || m_first_call ) - { - initialize( system , x , t ); - } - return try_step( system , x , m_dxdt.m_v , t , dt ); - } - - - stepper_type m_stepper; - error_checker_type m_error_checker; - - resizer_type m_dxdt_resizer; - resizer_type m_xerr_resizer; - resizer_type m_xnew_resizer; - resizer_type m_dxdt_new_resizer; - - wrapped_deriv_type m_dxdt; - wrapped_state_type m_xerr; - wrapped_state_type m_xnew; - wrapped_deriv_type m_dxdtnew; - bool m_first_call; -}; - - -/********** DOXYGEN **********/ - -/**** DEFAULT ERROR CHECKER ****/ - -/** - * \class default_error_checker - * \brief The default error checker to be used with Runge-Kutta error steppers - * - * This class provides the default mechanism to compare the error estimates - * reported by Runge-Kutta error steppers with user defined error bounds. - * It is used by the controlled_runge_kutta steppers. - * - * \tparam Value The value type. - * \tparam Algebra The algebra type. - * \tparam Operations The operations type. - */ - - /** - * \fn default_error_checker( value_type eps_abs , value_type eps_rel , value_type a_x , value_type a_dxdt ) - * \brief Constructs the error checker. - * - * The error is calculated as follows: ???? - * - * \param eps_abs Absolute tolerance level. - * \param eps_rel Relative tolerance level. - * \param a_x Factor for the weight of the state. - * \param a_dxdt Factor for the weight of the derivative. - */ - - /** - * \fn error( const State &x_old , const Deriv &dxdt_old , Err &x_err , Time dt ) const - * \brief Calculates the error level. - * - * If the returned error level is greater than 1, the estimated error was - * larger than the permitted error bounds and the step should be repeated - * with a smaller step size. - * - * \param x_old State at the beginning of the step. - * \param dxdt_old Derivative at the beginning of the step. - * \param x_err Error estimate. - * \param dt Time step. - * \return error - */ - - /** - * \fn error( algebra_type &algebra , const State &x_old , const Deriv &dxdt_old , Err &x_err , Time dt ) const - * \brief Calculates the error level using a given algebra. - * - * If the returned error level is greater than 1, the estimated error was - * larger than the permitted error bounds and the step should be repeated - * with a smaller step size. - * - * \param algebra The algebra used for calculation of the error. - * \param x_old State at the beginning of the step. - * \param dxdt_old Derivative at the beginning of the step. - * \param x_err Error estimate. - * \param dt Time step. - * \return error - */ - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_CONTROLLED_RUNGE_KUTTA_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_step_result.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_step_result.hpp deleted file mode 100644 index 9537d4b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_step_result.hpp +++ /dev/null @@ -1,42 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/controlled_step_result.hpp - - [begin_description] - Defines the result type for all controlled stepper. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_CONTROLLED_STEP_RESULT_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_CONTROLLED_STEP_RESULT_HPP_INCLUDED - - -namespace boost { -namespace numeric { -namespace odeint { - -/** - * \enum controlled_step_result - * - * \brief Enum representing the return values of the controlled steppers. - */ -typedef enum -{ - success , /**< The trial step was successful, hence the state and the time have been advanced. */ - fail /**< The step was not successful and might possibly be repeated with a small step size. */ -} controlled_step_result; - -} // namespace odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_CONTROLLED_STEP_RESULT_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp deleted file mode 100644 index 04e714b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp +++ /dev/null @@ -1,461 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp - - [begin_description] - Implementation of the Dense-output stepper for all steppers. Note, that this class does - not computes the result but serves as an interface. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_DENSE_OUTPUT_RUNGE_KUTTA_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_DENSE_OUTPUT_RUNGE_KUTTA_HPP_INCLUDED - - -#include -#include - -#include - -#include - -#include -#include -#include - -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - -template< class Stepper , class StepperCategory = typename Stepper::stepper_category > -class dense_output_runge_kutta; - - -/** - * \brief The class representing dense-output Runge-Kutta steppers. - * \note In this stepper, the initialize method has to be called before using - * the do_step method. - * - * The dense-output functionality allows to interpolate the solution between - * subsequent integration points using intermediate results obtained during the - * computation. This version works based on a normal stepper without step-size - * control. - * - * - * \tparam Stepper The stepper type of the underlying algorithm. - */ -template< class Stepper > -class dense_output_runge_kutta< Stepper , stepper_tag > -{ - -public: - - /* - * We do not need all typedefs. - */ - typedef Stepper stepper_type; - typedef typename stepper_type::state_type state_type; - typedef typename stepper_type::wrapped_state_type wrapped_state_type; - typedef typename stepper_type::value_type value_type; - typedef typename stepper_type::deriv_type deriv_type; - typedef typename stepper_type::wrapped_deriv_type wrapped_deriv_type; - typedef typename stepper_type::time_type time_type; - typedef typename stepper_type::algebra_type algebra_type; - typedef typename stepper_type::operations_type operations_type; - typedef typename stepper_type::resizer_type resizer_type; - typedef dense_output_stepper_tag stepper_category; - typedef dense_output_runge_kutta< Stepper > dense_output_stepper_type; - - - /** - * \brief Constructs the dense_output_runge_kutta class. An instance of the - * underlying stepper can be provided. - * \param stepper An instance of the underlying stepper. - */ - dense_output_runge_kutta( const stepper_type &stepper = stepper_type() ) - : m_stepper( stepper ) , m_resizer() , - m_x1() , m_x2() , m_current_state_x1( true ) , - m_t() , m_t_old() , m_dt() - { } - - - /** - * \brief Initializes the stepper. Has to be called before do_step can be - * used to set the initial conditions and the step size. - * \param x0 The initial state of the ODE which should be solved. - * \param t0 The initial time, at which the step should be performed. - * \param dt0 The step size. - */ - template< class StateType > - void initialize( const StateType &x0 , time_type t0 , time_type dt0 ) - { - m_resizer.adjust_size( x0 , detail::bind( &dense_output_stepper_type::template resize_impl< StateType > , detail::ref( *this ) , detail::_1 ) ); - boost::numeric::odeint::copy( x0 , get_current_state() ); - m_t = t0; - m_dt = dt0; - } - - /** - * \brief Does one time step. - * \note initialize has to be called before using this method to set the - * initial conditions x,t and the stepsize. - * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the - * Simple System concept. - * \return Pair with start and end time of the integration step. - */ - template< class System > - std::pair< time_type , time_type > do_step( System system ) - { - m_stepper.do_step( system , get_current_state() , m_t , get_old_state() , m_dt ); - m_t_old = m_t; - m_t += m_dt; - toggle_current_state(); - return std::make_pair( m_t_old , m_dt ); - } - - /* - * The next two overloads are needed to solve the forwarding problem - */ - - /** - * \brief Calculates the solution at an intermediate point. - * \param t The time at which the solution should be calculated, has to be - * in the current time interval. - * \param x The output variable where the result is written into. - */ - template< class StateOut > - void calc_state( time_type t , StateOut &x ) const - { - m_stepper.calc_state( x , t , get_old_state() , m_t_old , get_current_state() , m_t ); - } - - /** - * \brief Calculates the solution at an intermediate point. Solves the forwarding problem - * \param t The time at which the solution should be calculated, has to be - * in the current time interval. - * \param x The output variable where the result is written into, can be a boost range. - */ - template< class StateOut > - void calc_state( time_type t , const StateOut &x ) const - { - m_stepper.calc_state( x , t , get_old_state() , m_t_old , get_current_state() , m_t ); - } - - /** - * \brief Adjust the size of all temporaries in the stepper manually. - * \param x A state from which the size of the temporaries to be resized is deduced. - */ - template< class StateType > - void adjust_size( const StateType &x ) - { - resize_impl( x ); - m_stepper.stepper().resize( x ); - } - - /** - * \brief Returns the current state of the solution. - * \return The current state of the solution x(t). - */ - const state_type& current_state( void ) const - { - return get_current_state(); - } - - /** - * \brief Returns the current time of the solution. - * \return The current time of the solution t. - */ - time_type current_time( void ) const - { - return m_t; - } - - /** - * \brief Returns the last state of the solution. - * \return The last state of the solution x(t-dt). - */ - const state_type& previous_state( void ) const - { - return get_old_state(); - } - - /** - * \brief Returns the last time of the solution. - * \return The last time of the solution t-dt. - */ - time_type previous_time( void ) const - { - return m_t_old; - } - - -private: - - state_type& get_current_state( void ) - { - return m_current_state_x1 ? m_x1.m_v : m_x2.m_v ; - } - - const state_type& get_current_state( void ) const - { - return m_current_state_x1 ? m_x1.m_v : m_x2.m_v ; - } - - state_type& get_old_state( void ) - { - return m_current_state_x1 ? m_x2.m_v : m_x1.m_v ; - } - - const state_type& get_old_state( void ) const - { - return m_current_state_x1 ? m_x2.m_v : m_x1.m_v ; - } - - void toggle_current_state( void ) - { - m_current_state_x1 = ! m_current_state_x1; - } - - - template< class StateIn > - bool resize_impl( const StateIn &x ) - { - bool resized = false; - resized |= adjust_size_by_resizeability( m_x1 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_x2 , x , typename is_resizeable::type() ); - return resized; - } - - - stepper_type m_stepper; - resizer_type m_resizer; - wrapped_state_type m_x1 , m_x2; - bool m_current_state_x1; // if true, the current state is m_x1 - time_type m_t , m_t_old , m_dt; - -}; - - - - - -/** - * \brief The class representing dense-output Runge-Kutta steppers with FSAL property. - * - * The interface is the same as for dense_output_runge_kutta< Stepper , stepper_tag >. - * This class provides dense output functionality based on methods with step size controlled - * - * - * \tparam Stepper The stepper type of the underlying algorithm. - */ -template< class Stepper > -class dense_output_runge_kutta< Stepper , explicit_controlled_stepper_fsal_tag > -{ -public: - - /* - * We do not need all typedefs. - */ - typedef Stepper controlled_stepper_type; - - typedef typename controlled_stepper_type::stepper_type stepper_type; - typedef typename stepper_type::state_type state_type; - typedef typename stepper_type::wrapped_state_type wrapped_state_type; - typedef typename stepper_type::value_type value_type; - typedef typename stepper_type::deriv_type deriv_type; - typedef typename stepper_type::wrapped_deriv_type wrapped_deriv_type; - typedef typename stepper_type::time_type time_type; - typedef typename stepper_type::algebra_type algebra_type; - typedef typename stepper_type::operations_type operations_type; - typedef typename stepper_type::resizer_type resizer_type; - typedef dense_output_stepper_tag stepper_category; - typedef dense_output_runge_kutta< Stepper > dense_output_stepper_type; - - - dense_output_runge_kutta( const controlled_stepper_type &stepper = controlled_stepper_type() ) - : m_stepper( stepper ) , m_resizer() , - m_current_state_x1( true ) , - m_x1() , m_x2() , m_dxdt1() , m_dxdt2() , - m_t() , m_t_old() , m_dt() , - m_is_deriv_initialized( false ) - { } - - - template< class StateType > - void initialize( const StateType &x0 , time_type t0 , time_type dt0 ) - { - m_resizer.adjust_size( x0 , detail::bind( &dense_output_stepper_type::template resize< StateType > , detail::ref( *this ) , detail::_1 ) ); - boost::numeric::odeint::copy( x0 , get_current_state() ); - m_t = t0; - m_dt = dt0; - m_is_deriv_initialized = false; - } - - template< class System > - std::pair< time_type , time_type > do_step( System system ) - { - const size_t max_count = 1000; - - if( !m_is_deriv_initialized ) - { - typename odeint::unwrap_reference< System >::type &sys = system; - sys( get_current_state() , get_current_deriv() , m_t ); - m_is_deriv_initialized = true; - } - - controlled_step_result res = fail; - m_t_old = m_t; - size_t count = 0; - do - { - res = m_stepper.try_step( system , get_current_state() , get_current_deriv() , m_t , - get_old_state() , get_old_deriv() , m_dt ); - if( count++ == max_count ) - throw std::overflow_error( "dense_output_controlled_explicit : too much iterations!"); - } - while( res == fail ); - toggle_current_state(); - return std::make_pair( m_t_old , m_t ); - } - - - /* - * The two overloads are needed in order to solve the forwarding problem. - */ - template< class StateOut > - void calc_state( time_type t , StateOut &x ) const - { - m_stepper.stepper().calc_state( t , x , get_old_state() , get_old_deriv() , m_t_old , - get_current_state() , get_current_deriv() , m_t ); - } - - template< class StateOut > - void calc_state( time_type t , const StateOut &x ) const - { - m_stepper.stepper().calc_state( t , x , get_old_state() , get_old_deriv() , m_t_old , - get_current_state() , get_current_deriv() , m_t ); - } - - - template< class StateIn > - bool resize( const StateIn &x ) - { - bool resized = false; - resized |= adjust_size_by_resizeability( m_x1 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_x2 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_dxdt1 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_dxdt2 , x , typename is_resizeable::type() ); - return resized; - } - - - template< class StateType > - void adjust_size( const StateType &x ) - { - resize( x ); - m_stepper.stepper().resize( x ); - } - - const state_type& current_state( void ) const - { - return get_current_state(); - } - - time_type current_time( void ) const - { - return m_t; - } - - const state_type& previous_state( void ) const - { - return get_old_state(); - } - - time_type previous_time( void ) const - { - return m_t_old; - } - - time_type current_time_step( void ) const - { - return m_dt; - } - - -private: - - state_type& get_current_state( void ) - { - return m_current_state_x1 ? m_x1.m_v : m_x2.m_v ; - } - - const state_type& get_current_state( void ) const - { - return m_current_state_x1 ? m_x1.m_v : m_x2.m_v ; - } - - state_type& get_old_state( void ) - { - return m_current_state_x1 ? m_x2.m_v : m_x1.m_v ; - } - - const state_type& get_old_state( void ) const - { - return m_current_state_x1 ? m_x2.m_v : m_x1.m_v ; - } - - deriv_type& get_current_deriv( void ) - { - return m_current_state_x1 ? m_dxdt1.m_v : m_dxdt2.m_v ; - } - - const deriv_type& get_current_deriv( void ) const - { - return m_current_state_x1 ? m_dxdt1.m_v : m_dxdt2.m_v ; - } - - deriv_type& get_old_deriv( void ) - { - return m_current_state_x1 ? m_dxdt2.m_v : m_dxdt1.m_v ; - } - - const deriv_type& get_old_deriv( void ) const - { - return m_current_state_x1 ? m_dxdt2.m_v : m_dxdt1.m_v ; - } - - - void toggle_current_state( void ) - { - m_current_state_x1 = ! m_current_state_x1; - } - - - controlled_stepper_type m_stepper; - resizer_type m_resizer; - bool m_current_state_x1; - wrapped_state_type m_x1 , m_x2; - wrapped_deriv_type m_dxdt1 , m_dxdt2; - time_type m_t , m_t_old , m_dt; - bool m_is_deriv_initialized; - -}; - -} // namespace odeint -} // namespace numeric -} // namespace boost - - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_DENSE_OUTPUT_RUNGE_KUTTA_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp deleted file mode 100644 index f8bcbb5..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp +++ /dev/null @@ -1,151 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp - - [begin_description] - Algebra caller for the Adams Bashforth stepper. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_BASHFORTH_CALL_ALGEBRA_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_BASHFORTH_CALL_ALGEBRA_HPP_INCLUDED - -#include - - -namespace boost { -namespace numeric { -namespace odeint { -namespace detail { - -template< size_t Step , class Algebra , class Operations > -struct adams_bashforth_call_algebra; - -template< class Algebra , class Operations > -struct adams_bashforth_call_algebra< 1 , Algebra , Operations > -{ - template< class StateIn , class StateOut , class StepStorage , class Coefficients , class Time > - void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const StepStorage &steps , const Coefficients &coef , Time dt ) const - { - typedef typename Coefficients::value_type value_type; - algebra.for_each3( out , in , steps[0].m_v , typename Operations::template scale_sum2< value_type , Time >( 1.0 , dt * coef[0] ) ); - } -}; - - -template< class Algebra , class Operations > -struct adams_bashforth_call_algebra< 2 , Algebra , Operations > -{ - template< class StateIn , class StateOut , class StepStorage , class Coefficients , class Time > - void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const StepStorage &steps , const Coefficients &coef , Time dt ) const - { - typedef typename Coefficients::value_type value_type; - algebra.for_each4( out , in , steps[0].m_v , steps[1].m_v , - typename Operations::template scale_sum3< value_type , Time , Time >( 1.0 , dt * coef[0] , dt * coef[1] ) ); - } -}; - - -template< class Algebra , class Operations > -struct adams_bashforth_call_algebra< 3 , Algebra , Operations > -{ - template< class StateIn , class StateOut , class StepStorage , class Coefficients , class Time > - void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const StepStorage &steps , const Coefficients &coef , Time dt ) const - { - typedef typename Coefficients::value_type value_type; - algebra.for_each5( out , in , steps[0].m_v , steps[1].m_v , steps[2].m_v , - typename Operations::template scale_sum4< value_type , Time , Time , Time >( 1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] ) ); - } -}; - - -template< class Algebra , class Operations > -struct adams_bashforth_call_algebra< 4 , Algebra , Operations > -{ - template< class StateIn , class StateOut , class StepStorage , class Coefficients , class Time > - void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const StepStorage &steps , const Coefficients &coef , Time dt ) const - { - typedef typename Coefficients::value_type value_type; - algebra.for_each6( out , in , steps[0].m_v , steps[1].m_v , steps[2].m_v , steps[3].m_v , - typename Operations::template scale_sum5< value_type , Time , Time , Time >( - 1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] , dt * coef[3] ) ); - } -}; - - -template< class Algebra , class Operations > -struct adams_bashforth_call_algebra< 5 , Algebra , Operations > -{ - template< class StateIn , class StateOut , class StepStorage , class Coefficients , class Time > - void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const StepStorage &steps , const Coefficients &coef , Time dt ) const - { - typedef typename Coefficients::value_type value_type; - algebra.for_each7( out , in , steps[0].m_v , steps[1].m_v , steps[2].m_v , steps[3].m_v , steps[4].m_v , - typename Operations::template scale_sum6< value_type , Time , Time , Time , Time >( - 1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] , dt * coef[3] , dt * coef[4] ) ); - } -}; - - -template< class Algebra , class Operations > -struct adams_bashforth_call_algebra< 6 , Algebra , Operations > -{ - template< class StateIn , class StateOut , class StepStorage , class Coefficients , class Time > - void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const StepStorage &steps , const Coefficients &coef , Time dt ) const - { - typedef typename Coefficients::value_type value_type; - algebra.for_each8( out , in , steps[0].m_v , steps[1].m_v , steps[2].m_v , steps[3].m_v , steps[4].m_v , steps[5].m_v , - typename Operations::template scale_sum7< value_type , Time , Time , Time , Time , Time >( - 1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] , dt * coef[3] , dt * coef[4] , dt * coef[5] ) ); - } -}; - - -template< class Algebra , class Operations > -struct adams_bashforth_call_algebra< 7 , Algebra , Operations > -{ - template< class StateIn , class StateOut , class StepStorage , class Coefficients , class Time > - void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const StepStorage &steps , const Coefficients &coef , Time dt ) const - { - BOOST_ASSERT( false ); // not implemented - // typedef typename Coefficients::value_type value_type; - // Algebra::for_each9( out , in , steps[0] , steps[1] , steps[2] , steps[3] , steps[4] , steps[5] , steps[6] - // typename Operations::template scale_sum8< value_type , Time , Time , Time , Time , Time , Time >( - // 1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] , dt * coef[3] , dt * coef[4] , dt * coef[5] , dt * coef[6] ) ); - } -}; - - -template< class Algebra , class Operations > -struct adams_bashforth_call_algebra< 8 , Algebra , Operations > -{ - template< class StateIn , class StateOut , class StepStorage , class Coefficients , class Time > - void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const StepStorage &steps , const Coefficients &coef , Time dt ) const - { - BOOST_ASSERT( false ); // not implemented - // typedef typename Coefficients::value_type value_type; - // Algebra::for_each10( out , in , steps[0] , steps[1] , steps[2] , steps[3] , steps[4] , steps[5] , steps[6] , steps[7] , - // typename Operations::template scale_sum9< value_type , Time , Time , Time , Time , Time , Time , Time >( - // 1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] , dt * coef[3] , dt * coef[4] , dt * coef[5] , dt * coef[6] , dt * coef[7] ) ); - } -}; - - - - -} // detail -} // odeint -} // numeric -} // boost - - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_BASHFORTH_CALL_ALGEBRA_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp deleted file mode 100644 index fa38d1d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp +++ /dev/null @@ -1,168 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp - - [begin_description] - Definition of the coefficients for the Adams-Bashforth method. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_BASHFORTH_COEFFICIENTS_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_BASHFORTH_COEFFICIENTS_HPP_INCLUDED - -#include - - -namespace boost { -namespace numeric { -namespace odeint { -namespace detail { - -template< class Value , size_t Steps > -class adams_bashforth_coefficients ; - -template< class Value > -class adams_bashforth_coefficients< Value , 1 > : public boost::array< Value , 1 > -{ -public: - adams_bashforth_coefficients( void ) - : boost::array< Value , 1 >() - { - (*this)[0] = static_cast< Value >( 1 ); - } -}; - - -template< class Value > -class adams_bashforth_coefficients< Value , 2 > : public boost::array< Value , 2 > -{ -public: - adams_bashforth_coefficients( void ) - : boost::array< Value , 2 >() - { - (*this)[0] = static_cast< Value >( 3 ) / static_cast< Value >( 2 ); - (*this)[1] = -static_cast< Value >( 1 ) / static_cast< Value >( 2 ); - } -}; - - -template< class Value > -class adams_bashforth_coefficients< Value , 3 > : public boost::array< Value , 3 > -{ -public: - adams_bashforth_coefficients( void ) - : boost::array< Value , 3 >() - { - (*this)[0] = static_cast< Value >( 23 ) / static_cast< Value >( 12 ); - (*this)[1] = -static_cast< Value >( 4 ) / static_cast< Value >( 3 ); - (*this)[2] = static_cast< Value >( 5 ) / static_cast< Value >( 12 ); - } -}; - - -template< class Value > -class adams_bashforth_coefficients< Value , 4 > : public boost::array< Value , 4 > -{ -public: - adams_bashforth_coefficients( void ) - : boost::array< Value , 4 >() - { - (*this)[0] = static_cast< Value >( 55 ) / static_cast< Value >( 24 ); - (*this)[1] = -static_cast< Value >( 59 ) / static_cast< Value >( 24 ); - (*this)[2] = static_cast< Value >( 37 ) / static_cast< Value >( 24 ); - (*this)[3] = -static_cast< Value >( 3 ) / static_cast< Value >( 8 ); - } -}; - - -template< class Value > -class adams_bashforth_coefficients< Value , 5 > : public boost::array< Value , 5 > -{ -public: - adams_bashforth_coefficients( void ) - : boost::array< Value , 5 >() - { - (*this)[0] = static_cast< Value >( 1901 ) / static_cast< Value >( 720 ); - (*this)[1] = -static_cast< Value >( 1387 ) / static_cast< Value >( 360 ); - (*this)[2] = static_cast< Value >( 109 ) / static_cast< Value >( 30 ); - (*this)[3] = -static_cast< Value >( 637 ) / static_cast< Value >( 360 ); - (*this)[4] = static_cast< Value >( 251 ) / static_cast< Value >( 720 ); - } -}; - - -template< class Value > -class adams_bashforth_coefficients< Value , 6 > : public boost::array< Value , 6 > -{ -public: - adams_bashforth_coefficients( void ) - : boost::array< Value , 6 >() - { - (*this)[0] = static_cast< Value >( 4277 ) / static_cast< Value >( 1440 ); - (*this)[1] = -static_cast< Value >( 2641 ) / static_cast< Value >( 480 ); - (*this)[2] = static_cast< Value >( 4991 ) / static_cast< Value >( 720 ); - (*this)[3] = -static_cast< Value >( 3649 ) / static_cast< Value >( 720 ); - (*this)[4] = static_cast< Value >( 959 ) / static_cast< Value >( 480 ); - (*this)[5] = -static_cast< Value >( 95 ) / static_cast< Value >( 288 ); - } -}; - - -template< class Value > -class adams_bashforth_coefficients< Value , 7 > : public boost::array< Value , 7 > -{ -public: - adams_bashforth_coefficients( void ) - : boost::array< Value , 7 >() - { - (*this)[0] = static_cast< Value >( 198721 ) / static_cast< Value >( 60480 ); - (*this)[1] = -static_cast< Value >( 18637 ) / static_cast< Value >( 2520 ); - (*this)[2] = static_cast< Value >( 235183 ) / static_cast< Value >( 20160 ); - (*this)[3] = -static_cast< Value >( 10754 ) / static_cast< Value >( 945 ); - (*this)[4] = static_cast< Value >( 135713 ) / static_cast< Value >( 20160 ); - (*this)[5] = -static_cast< Value >( 5603 ) / static_cast< Value >( 2520 ); - (*this)[6] = static_cast< Value >( 19087 ) / static_cast< Value >( 60480 ); - } -}; - - -template< class Value > -class adams_bashforth_coefficients< Value , 8 > : public boost::array< Value , 8 > -{ -public: - adams_bashforth_coefficients( void ) - : boost::array< Value , 8 >() - { - (*this)[0] = static_cast< Value >( 16083 ) / static_cast< Value >( 4480 ); - (*this)[1] = -static_cast< Value >( 1152169 ) / static_cast< Value >( 120960 ); - (*this)[2] = static_cast< Value >( 242653 ) / static_cast< Value >( 13440 ); - (*this)[3] = -static_cast< Value >( 296053 ) / static_cast< Value >( 13440 ); - (*this)[4] = static_cast< Value >( 2102243 ) / static_cast< Value >( 120960 ); - (*this)[5] = -static_cast< Value >( 115747 ) / static_cast< Value >( 13440 ); - (*this)[6] = static_cast< Value >( 32863 ) / static_cast< Value >( 13440 ); - (*this)[7] = -static_cast< Value >( 5257 ) / static_cast< Value >( 17280 ); - } -}; - - - - - - - -} // detail -} // odeint -} // numeric -} // boost - - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_BASHFORTH_COEFFICIENTS_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp deleted file mode 100644 index fc7cbbc..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp +++ /dev/null @@ -1,142 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp - - [begin_description] - Algebra caller for the Adams Moulton method. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_MOULTON_CALL_ALGEBRA_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_MOULTON_CALL_ALGEBRA_HPP_INCLUDED - -#include - -namespace boost { -namespace numeric { -namespace odeint { -namespace detail { - -template< size_t Step , class Algebra , class Operations > -struct adams_moulton_call_algebra; - -template< class Algebra , class Operations > -struct adams_moulton_call_algebra< 1 , Algebra , Operations > -{ - template< class StateIn , class StateOut , class DerivIn , class StepStorage , class Coefficients , class Time > - void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const DerivIn &dxdt , const StepStorage &steps , const Coefficients &coef , Time dt ) const - { - typedef typename Coefficients::value_type value_type; - algebra.for_each3( out , in , dxdt , typename Operations::template scale_sum2< value_type , Time >( 1.0 , dt * coef[0] ) ); - } -}; - - -template< class Algebra , class Operations > -struct adams_moulton_call_algebra< 2 , Algebra , Operations > -{ - template< class StateIn , class StateOut , class DerivIn , class StepStorage , class Coefficients , class Time > - void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const DerivIn &dxdt , const StepStorage &steps , const Coefficients &coef , Time dt ) const - { - typedef typename Coefficients::value_type value_type; - algebra.for_each4( out , in , dxdt , steps[0].m_v , - typename Operations::template scale_sum3< value_type , Time , Time >( 1.0 , dt * coef[0] , dt * coef[1] ) ); - } -}; - - -template< class Algebra , class Operations > -struct adams_moulton_call_algebra< 3 , Algebra , Operations > -{ - template< class StateIn , class StateOut , class DerivIn , class StepStorage , class Coefficients , class Time > - void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const DerivIn &dxdt , const StepStorage &steps , const Coefficients &coef , Time dt ) const - { - typedef typename Coefficients::value_type value_type; - algebra.for_each5( out , in , dxdt , steps[0].m_v , steps[1].m_v , - typename Operations::template scale_sum4< value_type , Time , Time >( 1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] ) ); - } -}; - - -template< class Algebra , class Operations > -struct adams_moulton_call_algebra< 4 , Algebra , Operations > -{ - template< class StateIn , class StateOut , class DerivIn , class StepStorage , class Coefficients , class Time > - void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const DerivIn &dxdt , const StepStorage &steps , const Coefficients &coef , Time dt ) const - { - typedef typename Coefficients::value_type value_type; - algebra.for_each6( out , in , dxdt , steps[0].m_v , steps[1].m_v , steps[2].m_v , - typename Operations::template scale_sum5< value_type , Time , Time , Time >( - 1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] , dt * coef[3] ) ); - } -}; - - -template< class Algebra , class Operations > -struct adams_moulton_call_algebra< 5 , Algebra , Operations > -{ - template< class StateIn , class StateOut , class DerivIn , class StepStorage , class Coefficients , class Time > - void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const DerivIn &dxdt , const StepStorage &steps , const Coefficients &coef , Time dt ) const - { - typedef typename Coefficients::value_type value_type; - algebra.for_each7( out , in , dxdt , steps[0].m_v , steps[1].m_v , steps[2].m_v , steps[3].m_v , - typename Operations::template scale_sum6< value_type , Time , Time , Time , Time >( - 1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] , dt * coef[3] , dt * coef[4] ) ); - } -}; - - -template< class Algebra , class Operations > -struct adams_moulton_call_algebra< 6 , Algebra , Operations > -{ - template< class StateIn , class StateOut , class DerivIn , class StepStorage , class Coefficients , class Time > - void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const DerivIn &dxdt , const StepStorage &steps , const Coefficients &coef , Time dt ) const - { - typedef typename Coefficients::value_type value_type; - algebra.for_each8( out , in , dxdt , steps[0].m_v , steps[1].m_v , steps[2].m_v , steps[3].m_v , steps[4].m_v , - typename Operations::template scale_sum7< value_type , Time , Time , Time , Time , Time >( - 1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] , dt * coef[3] , dt * coef[4] , dt * coef[5] ) ); - } -}; - - -template< class Algebra , class Operations > -struct adams_moulton_call_algebra< 7 , Algebra , Operations > -{ - template< class StateIn , class StateOut , class DerivIn , class StepStorage , class Coefficients , class Time > - void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const DerivIn &dxdt , const StepStorage &steps , const Coefficients &coef , Time dt ) const - { - BOOST_ASSERT( false ); // not implemented - } -}; - - -template< class Algebra , class Operations > -struct adams_moulton_call_algebra< 8 , Algebra , Operations > -{ - template< class StateIn , class StateOut , class DerivIn , class StepStorage , class Coefficients , class Time > - void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const DerivIn &dxdt , const StepStorage &steps , const Coefficients &coef , Time dt ) const - { - BOOST_ASSERT( false ); // not implemented - } -}; - - - - -} // detail -} // odeint -} // numeric -} // boost - - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_MOULTON_CALL_ALGEBRA_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp deleted file mode 100644 index 0e7ed07..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp +++ /dev/null @@ -1,168 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp - - [begin_description] - Coefficients for the Adams Moulton method. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_MOULTON_COEFFICIENTS_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_MOULTON_COEFFICIENTS_HPP_INCLUDED - - -#include - - -namespace boost { -namespace numeric { -namespace odeint { -namespace detail { - -template< class Value , size_t Steps > -class adams_moulton_coefficients ; - -template< class Value > -class adams_moulton_coefficients< Value , 1 > : public boost::array< Value , 1 > -{ -public: - adams_moulton_coefficients( void ) - : boost::array< Value , 1 >() - { - (*this)[0] = static_cast< Value >( 1 ); - } -}; - - -template< class Value > -class adams_moulton_coefficients< Value , 2 > : public boost::array< Value , 2 > -{ -public: - adams_moulton_coefficients( void ) - : boost::array< Value , 2 >() - { - (*this)[0] = static_cast< Value >( 1 ) / static_cast< Value >( 2 ); - (*this)[1] = static_cast< Value >( 1 ) / static_cast< Value >( 2 ); - } -}; - - -template< class Value > -class adams_moulton_coefficients< Value , 3 > : public boost::array< Value , 3 > -{ -public: - adams_moulton_coefficients( void ) - : boost::array< Value , 3 >() - { - (*this)[0] = static_cast< Value >( 5 ) / static_cast< Value >( 12 ); - (*this)[1] = static_cast< Value >( 2 ) / static_cast< Value >( 3 ); - (*this)[2] = -static_cast< Value >( 1 ) / static_cast< Value >( 12 ); - } -}; - - -template< class Value > -class adams_moulton_coefficients< Value , 4 > : public boost::array< Value , 4 > -{ -public: - adams_moulton_coefficients( void ) - : boost::array< Value , 4 >() - { - (*this)[0] = static_cast< Value >( 3 ) / static_cast< Value >( 8 ); - (*this)[1] = static_cast< Value >( 19 ) / static_cast< Value >( 24 ); - (*this)[2] = -static_cast< Value >( 5 ) / static_cast< Value >( 24 ); - (*this)[3] = static_cast< Value >( 1 ) / static_cast< Value >( 24 ); - } -}; - - -template< class Value > -class adams_moulton_coefficients< Value , 5 > : public boost::array< Value , 5 > -{ -public: - adams_moulton_coefficients( void ) - : boost::array< Value , 5 >() - { - (*this)[0] = static_cast< Value >( 251 ) / static_cast< Value >( 720 ); - (*this)[1] = static_cast< Value >( 323 ) / static_cast< Value >( 360 ); - (*this)[2] = -static_cast< Value >( 11 ) / static_cast< Value >( 30 ); - (*this)[3] = static_cast< Value >( 53 ) / static_cast< Value >( 360 ); - (*this)[4] = -static_cast< Value >( 19 ) / static_cast< Value >( 720 ); - } -}; - - -template< class Value > -class adams_moulton_coefficients< Value , 6 > : public boost::array< Value , 6 > -{ -public: - adams_moulton_coefficients( void ) - : boost::array< Value , 6 >() - { - (*this)[0] = static_cast< Value >( 95 ) / static_cast< Value >( 288 ); - (*this)[1] = static_cast< Value >( 1427 ) / static_cast< Value >( 1440 ); - (*this)[2] = -static_cast< Value >( 133 ) / static_cast< Value >( 240 ); - (*this)[3] = static_cast< Value >( 241 ) / static_cast< Value >( 720 ); - (*this)[4] = -static_cast< Value >( 173 ) / static_cast< Value >( 1440 ); - (*this)[5] = static_cast< Value >( 3 ) / static_cast< Value >( 160 ); - } -}; - -template< class Value > -class adams_moulton_coefficients< Value , 7 > : public boost::array< Value , 7 > -{ -public: - adams_moulton_coefficients( void ) - : boost::array< Value , 7 >() - { - (*this)[0] = static_cast< Value >( 19087 ) / static_cast< Value >( 60480 ); - (*this)[1] = static_cast< Value >( 2713 ) / static_cast< Value >( 2520 ); - (*this)[2] = -static_cast< Value >( 15487 ) / static_cast< Value >( 20160 ); - (*this)[3] = static_cast< Value >( 586 ) / static_cast< Value >( 945 ); - (*this)[4] = -static_cast< Value >( 6737 ) / static_cast< Value >( 20160 ); - (*this)[5] = static_cast< Value >( 263 ) / static_cast< Value >( 2520 ); - (*this)[6] = -static_cast< Value >( 863 ) / static_cast< Value >( 60480 ); - } -}; - - -template< class Value > -class adams_moulton_coefficients< Value , 8 > : public boost::array< Value , 8 > -{ -public: - adams_moulton_coefficients( void ) - : boost::array< Value , 8 >() - { - (*this)[0] = static_cast< Value >( 5257 ) / static_cast< Value >( 17280 ); - (*this)[1] = static_cast< Value >( 139849 ) / static_cast< Value >( 120960 ); - (*this)[2] = -static_cast< Value >( 4511 ) / static_cast< Value >( 4480 ); - (*this)[3] = static_cast< Value >( 123133 ) / static_cast< Value >( 120960 ); - (*this)[4] = -static_cast< Value >( 88547 ) / static_cast< Value >( 120960 ); - (*this)[5] = static_cast< Value >( 1537 ) / static_cast< Value >( 4480 ); - (*this)[6] = -static_cast< Value >( 11351 ) / static_cast< Value >( 120960 ); - (*this)[7] = static_cast< Value >( 275 ) / static_cast< Value >( 24192 ); - } -}; - - - - - - - -} // detail -} // odeint -} // numeric -} // boost - - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_MOULTON_COEFFICIENTS_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp deleted file mode 100644 index d5a54d4..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp +++ /dev/null @@ -1,246 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp - - [begin_description] - Implementation of the generic Runge-Kutta method. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_GENERIC_RK_ALGORITHM_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_GENERIC_RK_ALGORITHM_HPP_INCLUDED - -#include - -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include - -#include -#include -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { -namespace detail { - -template< class T , class Constant > -struct array_wrapper -{ - typedef const typename boost::array< T , Constant::value > type; -}; - -template< class T , size_t i > -struct stage -{ - T c; - boost::array< T , i > a; -}; - - -template< class T , class Constant > -struct stage_wrapper -{ - typedef stage< T , Constant::value > type; -}; - - -template< -size_t StageCount, -class Value = double , -class Algebra = range_algebra, -class Operations = default_operations -> -class generic_rk_algorithm { - -public: - typedef mpl::range_c< size_t , 1 , StageCount > stage_indices; - - typedef typename boost::fusion::result_of::as_vector - < - typename boost::mpl::copy - < - stage_indices , - boost::mpl::inserter - < - boost::mpl::vector0< > , - boost::mpl::push_back< boost::mpl::_1 , array_wrapper< Value , boost::mpl::_2 > > - > - >::type - >::type coef_a_type; - - typedef boost::array< Value , StageCount > coef_b_type; - typedef boost::array< Value , StageCount > coef_c_type; - - typedef typename boost::fusion::result_of::as_vector - < - typename boost::mpl::push_back - < - typename boost::mpl::copy - < - stage_indices, - boost::mpl::inserter - < - boost::mpl::vector0<> , - boost::mpl::push_back< boost::mpl::_1 , stage_wrapper< Value , boost::mpl::_2 > > - > - >::type , - stage< Value , StageCount > - >::type - >::type stage_vector_base; - - - struct stage_vector : public stage_vector_base - { - struct do_insertion - { - stage_vector_base &m_base; - const coef_a_type &m_a; - const coef_c_type &m_c; - - do_insertion( stage_vector_base &base , const coef_a_type &a , const coef_c_type &c ) - : m_base( base ) , m_a( a ) , m_c( c ) { } - - template< class Index > - void operator()( Index ) const - { - //boost::fusion::at< Index >( m_base ) = stage< double , Index::value+1 , intermediate_stage >( m_c[ Index::value ] , boost::fusion::at< Index >( m_a ) ); - boost::fusion::at< Index >( m_base ).c = m_c[ Index::value ]; - boost::fusion::at< Index >( m_base ).a = boost::fusion::at< Index >( m_a ); - } - }; - - struct print_butcher - { - const stage_vector_base &m_base; - std::ostream &m_os; - - print_butcher( const stage_vector_base &base , std::ostream &os ) - : m_base( base ) , m_os( os ) - { } - - template - void operator()(Index) const { - m_os << boost::fusion::at(m_base).c << " | "; - for( size_t i=0 ; i(m_base).a[i] << " "; - m_os << std::endl; - } - }; - - - stage_vector( const coef_a_type &a , const coef_b_type &b , const coef_c_type &c ) - { - typedef boost::mpl::range_c< size_t , 0 , StageCount-1 > indices; - boost::mpl::for_each< indices >( do_insertion( *this , a , c ) ); - boost::fusion::at_c< StageCount - 1 >( *this ).c = c[ StageCount - 1 ]; - boost::fusion::at_c< StageCount - 1 >( *this ).a = b; - } - - void print( std::ostream &os ) const - { - typedef boost::mpl::range_c< size_t , 0 , StageCount > indices; - boost::mpl::for_each< indices >( print_butcher( *this , os ) ); - } - }; - - - - template< class System , class StateIn , class StateTemp , class DerivIn , class Deriv , - class StateOut , class Time > - struct calculate_stage - { - Algebra &algebra; - System &system; - const StateIn &x; - StateTemp &x_tmp; - StateOut &x_out; - const DerivIn &dxdt; - Deriv *F; - Time t; - Time dt; - - calculate_stage( Algebra &_algebra , System &_system , const StateIn &_x , const DerivIn &_dxdt , StateOut &_out , - StateTemp &_x_tmp , Deriv *_F , Time _t , Time _dt ) - : algebra( _algebra ) , system( _system ) , x( _x ) , x_tmp( _x_tmp ) , x_out( _out) , dxdt( _dxdt ) , F( _F ) , t( _t ) , dt( _dt ) - {} - - - template< typename T , size_t stage_number > - void inline operator()( stage< T , stage_number > const &stage ) const - //typename stage_fusion_wrapper< T , mpl::size_t< stage_number > , intermediate_stage >::type const &stage ) const - { - if( stage_number > 1 ) - { -#ifdef BOOST_MSVC -#pragma warning( disable : 4307 34 ) -#endif - system( x_tmp , F[stage_number-2].m_v , t + stage.c * dt ); -#ifdef BOOST_MSVC -#pragma warning( default : 4307 34 ) -#endif - } - //std::cout << stage_number-2 << ", t': " << t + stage.c * dt << std::endl; - - if( stage_number < StageCount ) - detail::template generic_rk_call_algebra< stage_number , Algebra >()( algebra , x_tmp , x , dxdt , F , - detail::generic_rk_scale_sum< stage_number , Operations , Value , Time >( stage.a , dt) ); - // algebra_type::template for_eachn( x_tmp , x , dxdt , F , - // typename operations_type::template scale_sumn< stage_number , time_type >( stage.a , dt ) ); - else - detail::template generic_rk_call_algebra< stage_number , Algebra >()( algebra , x_out , x , dxdt , F , - detail::generic_rk_scale_sum< stage_number , Operations , Value , Time >( stage.a , dt ) ); - // algebra_type::template for_eachn( x_out , x , dxdt , F , - // typename operations_type::template scale_sumn< stage_number , time_type >( stage.a , dt ) ); - } - - }; - - generic_rk_algorithm( const coef_a_type &a , const coef_b_type &b , const coef_c_type &c ) - : m_stages( a , b , c ) - { } - - template< class System , class StateIn , class DerivIn , class Time , class StateOut , class StateTemp , class Deriv > - void inline do_step( Algebra &algebra , System system , const StateIn &in , const DerivIn &dxdt , - Time t , StateOut &out , Time dt , - StateTemp &x_tmp , Deriv F[StageCount-1] ) const - { - typedef typename odeint::unwrap_reference< System >::type unwrapped_system_type; - unwrapped_system_type &sys = system; - boost::fusion::for_each( m_stages , calculate_stage< - unwrapped_system_type , StateIn , StateTemp , DerivIn , Deriv , StateOut , Time > - ( algebra , sys , in , dxdt , out , x_tmp , F , t , dt ) ); - } - -private: - stage_vector m_stages; -}; - - -} -} -} -} - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_GENERIC_RK_ALGORITHM_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp deleted file mode 100644 index db0ea0c..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp +++ /dev/null @@ -1,263 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp - - [begin_description] - Algebra caller for the generic Runge-Kutta methods. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_GENERIC_RK_CALL_ALGEBRA_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_GENERIC_RK_CALL_ALGEBRA_HPP_INCLUDED - - -namespace boost { -namespace numeric { -namespace odeint { -namespace detail { - -template< size_t StageNumber , class Algebra > -struct generic_rk_call_algebra; - -template< class Algebra > -struct generic_rk_call_algebra< 1 , Algebra > -{ - typedef Algebra algebra_type; - - template< class S1 , class S2 , class S3 , class S4 , class Op> - void operator()( algebra_type &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 * /* s4_array */ , Op op ) const - { - algebra.for_each3( s1 , s2 , s3 , op ); - } - - template< class S1 , class S2 , class S4 , class Op> - void operator()( algebra_type &algebra , S1 &s1 , S2 &s2 , S4 * /* s4_array */ , Op op ) const - { - algebra.for_each2( s1 , s2 , op ); - } -}; - -template< class Algebra > -struct generic_rk_call_algebra< 2 , Algebra > -{ - template< class S1 , class S2 , class S3 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[1] , Op op ) const - { - algebra.for_each4( s1 , s2 , s3 , s4_array[0].m_v , op ); - } - - template< class S1 , class S2 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[1] , Op op ) const - { - algebra.for_each3( s1 , s2 , s4_array[0].m_v , op ); - } -}; - - -template< class Algebra > -struct generic_rk_call_algebra< 3 , Algebra > -{ - template< class S1 , class S2 , class S3 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[2] , Op op ) const - { - algebra.for_each5( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , op ); - } - - template< class S1 , class S2 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[2] , Op op ) const - { - algebra.for_each4( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , op ); - } -}; - - -template< class Algebra > -struct generic_rk_call_algebra< 4 , Algebra > -{ - template< class S1 , class S2 , class S3 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[3] , Op op ) const - { - algebra.for_each6( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , op ); - } - - template< class S1 , class S2 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[3] , Op op ) const - { - algebra.for_each5( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , op ); - } -}; - - -template< class Algebra > -struct generic_rk_call_algebra< 5 , Algebra > -{ - template< class S1 , class S2 , class S3 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[4] , Op op ) const - { - algebra.for_each7( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , op ); - } - - template< class S1 , class S2 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[4] , Op op ) const - { - algebra.for_each6( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , op ); - } -}; - -template< class Algebra > -struct generic_rk_call_algebra< 6 , Algebra > -{ - template< class S1 , class S2 , class S3 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[5] , Op op ) const - { - algebra.for_each8( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v , op ); - } - - template< class S1 , class S2 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[5] , Op op ) const - { - algebra.for_each7( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v , op ); - } -}; - -template< class Algebra > -struct generic_rk_call_algebra< 7 , Algebra > -{ - template< class S1 , class S2 , class S3 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[6] , Op op ) const - { - algebra.for_each9( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v , - s4_array[5].m_v , op ); - } - - template< class S1 , class S2 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[6] , Op op ) const - { - algebra.for_each8( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v , - s4_array[5].m_v , op ); - } -}; - -template< class Algebra > -struct generic_rk_call_algebra< 8 , Algebra > -{ - template< class S1 , class S2 , class S3 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[7] , Op op ) const - { - algebra.for_each10( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v , - s4_array[5].m_v , s4_array[6].m_v , op ); - } - - template< class S1 , class S2 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[7] , Op op ) const - { - algebra.for_each9( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v , - s4_array[5].m_v , s4_array[6].m_v , op ); - } -}; - -template< class Algebra > -struct generic_rk_call_algebra< 9 , Algebra > -{ - template< class S1 , class S2 , class S3 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[8] , Op op ) const - { - algebra.for_each11( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v , - s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , op ); - } - - template< class S1 , class S2 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[8] , Op op ) const - { - algebra.for_each10( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v , - s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , op ); - } -}; - -template< class Algebra > -struct generic_rk_call_algebra< 10 , Algebra > -{ - template< class S1 , class S2 , class S3 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[9] , Op op ) const - { - algebra.for_each12( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v , - s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , s4_array[8].m_v , op ); - } - - template< class S1 , class S2 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[9] , Op op ) const - { - algebra.for_each11( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v , - s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , s4_array[8].m_v , op ); - } -}; - - -template< class Algebra > -struct generic_rk_call_algebra< 11 , Algebra > -{ - template< class S1 , class S2 , class S3 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[10] , Op op ) const - { - algebra.for_each13( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v , - s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , s4_array[8].m_v , s4_array[9].m_v , op ); - } - - template< class S1 , class S2 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[10] , Op op ) const - { - algebra.for_each12( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v , - s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , s4_array[8].m_v , s4_array[9].m_v , op ); - } -}; - -template< class Algebra > -struct generic_rk_call_algebra< 12 , Algebra > -{ - template< class S1 , class S2 , class S3 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[11] , Op op ) const - { - algebra.for_each14( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v , - s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , s4_array[8].m_v , s4_array[9].m_v , s4_array[10].m_v , op ); - } - - template< class S1 , class S2 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[11] , Op op ) const - { - algebra.for_each13( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v , - s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , s4_array[8].m_v , s4_array[9].m_v , s4_array[10].m_v , op ); - } -}; - -template< class Algebra > -struct generic_rk_call_algebra< 13 , Algebra > -{ - template< class S1 , class S2 , class S3 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[12] , Op op ) const - { - algebra.for_each15( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v , - s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , s4_array[8].m_v , s4_array[9].m_v , s4_array[10].m_v , s4_array[11].m_v , op ); - } - - template< class S1 , class S2 , class S4 , class Op> - void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[12] , Op op ) const - { - algebra.for_each14( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v , - s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , s4_array[8].m_v , s4_array[9].m_v , s4_array[10].m_v , s4_array[11].m_v , op ); - } -}; - -} -} -} -} - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_GENERIC_RK_CALL_ALGEBRA_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp deleted file mode 100644 index ce68c0d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp +++ /dev/null @@ -1,252 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp - - [begin_description] - Operations caller for the generic Runge Kutta method. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_GENERIC_RK_OPERATIONS_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_GENERIC_RK_OPERATIONS_HPP_INCLUDED - - -namespace boost { -namespace numeric { -namespace odeint { -namespace detail { - -template< size_t StageNumber , class Operations , class Fac , class Time > -struct generic_rk_scale_sum; - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum< 1 , Operations , Fac , Time > : public Operations::template scale_sum2< Fac , Time > -{ - generic_rk_scale_sum( const boost::array &a , Time dt ) : Operations::template scale_sum2< Fac , Time >( 1.0 , a[0]*dt ) - { } - - typedef void result_type; -}; - - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum< 2 , Operations , Fac , Time > : public Operations::template scale_sum3< Fac , Time > -{ - generic_rk_scale_sum( const boost::array &a , Time dt ) - : Operations::template scale_sum3< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt ) - { } - - typedef void result_type; -}; - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum< 3 , Operations , Fac , Time > : public Operations::template scale_sum4< Fac , Time > -{ - generic_rk_scale_sum( const boost::array &a , Time dt ) - : Operations::template scale_sum4< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt ) - { } - - typedef void result_type; -}; - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum< 4 , Operations , Fac , Time > : public Operations::template scale_sum5< Fac , Time > -{ - generic_rk_scale_sum( const boost::array &a , Time dt ) - : Operations::template scale_sum5< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt ) - { } - - typedef void result_type; -}; - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum< 5 , Operations , Fac , Time > : public Operations::template scale_sum6< Fac , Time > -{ - generic_rk_scale_sum( const boost::array &a , Time dt ) - : Operations::template scale_sum6< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt ) - { } - - typedef void result_type; -}; - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum< 6 , Operations , Fac , Time > : public Operations::template scale_sum7< Fac , Time > -{ - generic_rk_scale_sum( const boost::array &a , Time dt ) - : Operations::template scale_sum7< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt , a[5]*dt ) - { } - - typedef void result_type; -}; - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum< 7 , Operations , Fac , Time > : public Operations::template scale_sum8< Fac , Time > -{ - generic_rk_scale_sum( const boost::array &a , Time dt ) - : Operations::template scale_sum8< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt , a[5]*dt , a[6]*dt ) - { } - - typedef void result_type; -}; - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum< 8 , Operations , Fac , Time > : public Operations::template scale_sum9< Fac , Time > -{ - generic_rk_scale_sum( const boost::array &a , Time dt ) - : Operations::template scale_sum9< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt , - a[5]*dt , a[6]*dt , a[7]*dt ) - { } - - typedef void result_type; -}; - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum< 9 , Operations , Fac , Time > : public Operations::template scale_sum10< Fac , Time > -{ - generic_rk_scale_sum( const boost::array &a , Time dt ) - : Operations::template scale_sum10< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt , - a[5]*dt , a[6]*dt , a[7]*dt , a[8]*dt ) - { } - - typedef void result_type; -}; - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum< 10 , Operations , Fac , Time > : public Operations::template scale_sum11< Fac , Time > -{ - generic_rk_scale_sum( const boost::array &a , Time dt ) - : Operations::template scale_sum11< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt , - a[5]*dt , a[6]*dt , a[7]*dt , a[8]*dt , a[9]*dt ) - { } - - typedef void result_type; -}; - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum< 11 , Operations , Fac , Time > : public Operations::template scale_sum12< Fac , Time > -{ - generic_rk_scale_sum( const boost::array &a , Time dt ) - : Operations::template scale_sum12< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt , - a[5]*dt , a[6]*dt , a[7]*dt , a[8]*dt , a[9]*dt , a[10]*dt ) - { } - - typedef void result_type; -}; - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum< 12 , Operations , Fac , Time > : public Operations::template scale_sum13< Fac , Time > -{ - generic_rk_scale_sum( const boost::array &a , Time dt ) - : Operations::template scale_sum13< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt , - a[5]*dt , a[6]*dt , a[7]*dt , a[8]*dt , a[9]*dt , a[10]*dt , a[11]*dt ) - { } - - typedef void result_type; -}; - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum< 13 , Operations , Fac , Time > : public Operations::template scale_sum14< Fac , Time > -{ - generic_rk_scale_sum( const boost::array &a , Time dt ) - : Operations::template scale_sum14< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt , - a[5]*dt , a[6]*dt , a[7]*dt , a[8]*dt , a[9]*dt , a[10]*dt , a[11]*dt , a[12]*dt ) - { } - - typedef void result_type; -}; - - -// for error estimates -template< size_t StageNumber , class Operations , class Fac , class Time > -struct generic_rk_scale_sum_err; - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum_err< 1 , Operations , Fac , Time > : public Operations::template scale_sum1< Time > -{ - generic_rk_scale_sum_err( const boost::array &a , Time dt ) : Operations::template scale_sum1< Time >( a[0]*dt ) - { } - - typedef void result_type; -}; - - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum_err< 2 , Operations , Fac , Time > : public Operations::template scale_sum2< Time > -{ - generic_rk_scale_sum_err( const boost::array &a , Time dt ) - : Operations::template scale_sum2< Time >( a[0]*dt , a[1]*dt ) - { } - - typedef void result_type; -}; - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum_err< 3 , Operations , Fac , Time > : public Operations::template scale_sum3< Time > -{ - generic_rk_scale_sum_err( const boost::array &a , Time dt ) - : Operations::template scale_sum3< Time >( a[0]*dt , a[1]*dt , a[2]*dt ) - { } - - typedef void result_type; -}; - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum_err< 4 , Operations , Fac , Time > : public Operations::template scale_sum4< Time > -{ - generic_rk_scale_sum_err( const boost::array &a , Time dt ) - : Operations::template scale_sum4< Time >( a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt ) - { } - - typedef void result_type; -}; - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum_err< 5 , Operations , Fac , Time > : public Operations::template scale_sum5< Fac > -{ - generic_rk_scale_sum_err( const boost::array &a , Time dt ) - : Operations::template scale_sum5< Time >( a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt ) - { } - - typedef void result_type; -}; - - -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum_err< 6 , Operations , Fac , Time > : public Operations::template scale_sum6< Time > -{ - generic_rk_scale_sum_err( const boost::array &a , Time dt ) - : Operations::template scale_sum6< Time >( a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt , a[5]*dt ) - { } - - typedef void result_type; -}; - - -// for rk87 -template< class Operations , class Fac , class Time > -struct generic_rk_scale_sum_err< 13 , Operations , Fac , Time > : public Operations::template scale_sum13< Time > -{ - generic_rk_scale_sum_err( const boost::array &a , Time dt ) - : Operations::template scale_sum13< Time >( a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt , a[5]*dt , - a[6]*dt , a[7]*dt , a[8]*dt , a[9]*dt , a[10]*dt , a[11]*dt , a[12]*dt ) - { } - - typedef void result_type; -}; - - -} -} -} -} - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_GENERIC_RK_OPERATIONS_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/rotating_buffer.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/rotating_buffer.hpp deleted file mode 100644 index ba81000..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/rotating_buffer.hpp +++ /dev/null @@ -1,84 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/detail/rotating_buffer.hpp - - [begin_description] - Implemetation of a rotating (cyclic) buffer for use in the Adam Bashforth stepper - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ROTATING_BUFFER_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ROTATING_BUFFER_HPP_INCLUDED - -#include - -namespace boost { -namespace numeric { -namespace odeint { -namespace detail { - -template< class T , size_t N > -class rotating_buffer -{ -public: - - typedef T value_type; - const static size_t dim = N; - - rotating_buffer( void ) : m_first( 0 ) - { } - - size_t size( void ) const - { - return dim; - } - - value_type& operator[]( size_t i ) - { - return m_data[ get_index( i ) ]; - } - - const value_type& operator[]( size_t i ) const - { - return m_data[ get_index( i ) ]; - } - - void rotate( void ) - { - if( m_first == 0 ) - m_first = dim-1; - else - --m_first; - } - -protected: - - value_type m_data[N]; - -private: - - size_t get_index( size_t i ) const - { - return ( ( i + m_first ) % dim ); - } - - size_t m_first; - -}; - - -} // detail -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ROTATING_BUFFER_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/euler.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/euler.hpp deleted file mode 100644 index fd05eba..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/euler.hpp +++ /dev/null @@ -1,164 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/euler.hpp - - [begin_description] - Implementation of the classical explicit Euler stepper. This method is really simple and should only - be used for demonstration purposes. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_EULER_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_EULER_HPP_INCLUDED - - -#include -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - - -template< -class State , -class Value = double , -class Deriv = State , -class Time = Value , -class Algebra = range_algebra , -class Operations = default_operations , -class Resizer = initially_resizer -> -#ifndef DOXYGEN_SKIP -class euler -: public explicit_stepper_base< - euler< State , Value , Deriv , Time , Algebra , Operations , Resizer > , - 1 , State , Value , Deriv , Time , Algebra , Operations , Resizer > -#else -class euler : public explicit_stepper_base -#endif -{ -public : - - #ifndef DOXYGEN_SKIP - typedef explicit_stepper_base< euler< State , Value , Deriv , Time , Algebra , Operations , Resizer > , 1 , State , Value , Deriv , Time , Algebra , Operations , Resizer > stepper_base_type; - #else - typedef explicit_stepper_base< euler< ... > , ... > stepper_base_type; - #endif - typedef typename stepper_base_type::state_type state_type; - typedef typename stepper_base_type::value_type value_type; - typedef typename stepper_base_type::deriv_type deriv_type; - typedef typename stepper_base_type::time_type time_type; - typedef typename stepper_base_type::algebra_type algebra_type; - typedef typename stepper_base_type::operations_type operations_type; - typedef typename stepper_base_type::resizer_type resizer_type; - - #ifndef DOXYGEN_SKIP - typedef typename stepper_base_type::stepper_type stepper_type; - typedef typename stepper_base_type::wrapped_state_type wrapped_state_type; - typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type; - #endif - - - euler( const algebra_type &algebra = algebra_type() ) : stepper_base_type( algebra ) - { } - - template< class System , class StateIn , class DerivIn , class StateOut > - void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt ) - { - stepper_base_type::m_algebra.for_each3( out , in , dxdt , - typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , dt ) ); - - } - - template< class StateOut , class StateIn1 , class StateIn2 > - void calc_state( StateOut &x , time_type t , const StateIn1 &old_state , time_type t_old , const StateIn2 ¤t_state , time_type t_new ) const - { - const time_type delta = t - t_old; - stepper_base_type::m_algebra.for_each3( x , old_state , stepper_base_type::m_dxdt.m_v , - typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , delta ) ); - } - - template< class StateType > - void adjust_size( const StateType &x ) - { - stepper_base_type::adjust_size( x ); - } -}; - - - -/********** DOXYGEN ***********/ - -/** - * \class euler - * \brief An implementation of the Euler method. - * - * The Euler method is a very simply solver for ordinary differential equations. This method should not be used - * for real applications. It is only useful for demonstration purposes. Step size control is not provided but - * trivial continuous output is available. - * - * This class derives from explicit_stepper_base and inherits its interface via CRTP (current recurring template pattern), - * see explicit_stepper_base - * - * \tparam State The state type. - * \tparam Value The value type. - * \tparam Deriv The type representing the time derivative of the state. - * \tparam Time The time representing the independent variable - the time. - * \tparam Algebra The algebra type. - * \tparam Operations The operations type. - * \tparam Resizer The resizer policy type. - */ - - /** - * \fn euler::euler( const algebra_type &algebra ) - * \brief Constructs the euler class. This constructor can be used as a default - * constructor of the algebra has a default constructor. - * \param algebra A copy of algebra is made and stored inside explicit_stepper_base. - */ - - /** - * \fn euler::do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt ) - * \brief This method performs one step. The derivative `dxdt` of `in` at the time `t` is passed to the method. - * The result is updated out of place, hence the input is in `in` and the output in `out`. - * Access to this step functionality is provided by explicit_stepper_base and - * `do_step_impl` should not be called directly. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param dxdt The derivative of x at t. - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dt The step size. - */ - - - /** - * \fn euler::calc_state( StateOut &x , time_type t , const StateIn1 &old_state , time_type t_old , const StateIn2 ¤t_state , time_type t_new ) const - * \brief This method is used for continuous output and it calculates the state `x` at a time `t` from the - * knowledge of two states `old_state` and `current_state` at time points `t_old` and `t_new`. - */ - - /** - * \fn euler::adjust_size( const StateType &x ) - * \brief Adjust the size of all temporaries in the stepper manually. - * \param x A state from which the size of the temporaries to be resized is deduced. - */ - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_EULER_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp deleted file mode 100644 index 3ca5f2e..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp +++ /dev/null @@ -1,252 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp - - [begin_description] - Implementation of the generic Runge Kutta error stepper. Base class for many RK error steppers. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_EXPLICIT_ERROR_GENERIC_RK_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_EXPLICIT_ERROR_GENERIC_RK_HPP_INCLUDED - -#include - -#include -#include -#include -#include -#include - -#include -#include -#include - - - -namespace boost { -namespace numeric { -namespace odeint { - - -template< -size_t StageCount, -size_t Order, -size_t StepperOrder , -size_t ErrorOrder , -class State , -class Value = double , -class Deriv = State , -class Time = Value , -class Algebra = range_algebra , -class Operations = default_operations , -class Resizer = initially_resizer -> -#ifndef DOXYGEN_SKIP -class explicit_error_generic_rk -: public explicit_error_stepper_base< - explicit_error_generic_rk< StageCount , Order , StepperOrder , ErrorOrder , State , - Value , Deriv , Time , Algebra , Operations , Resizer > , - Order , StepperOrder , ErrorOrder , State , Value , Deriv , Time , Algebra , - Operations , Resizer > -#else -class explicit_error_generic_rk : public explicit_error_stepper_base -#endif -{ - -public: -#ifndef DOXYGEN_SKIP - typedef explicit_error_stepper_base< - explicit_error_generic_rk< StageCount , Order , StepperOrder , ErrorOrder , State , - Value , Deriv , Time , Algebra , Operations , Resizer > , - Order , StepperOrder , ErrorOrder , State , Value , Deriv , Time , Algebra , - Operations , Resizer > stepper_base_type; -#else - typedef explicit_stepper_base< ... > stepper_base_type; -#endif - typedef typename stepper_base_type::state_type state_type; - typedef typename stepper_base_type::wrapped_state_type wrapped_state_type; - typedef typename stepper_base_type::value_type value_type; - typedef typename stepper_base_type::deriv_type deriv_type; - typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type; - typedef typename stepper_base_type::time_type time_type; - typedef typename stepper_base_type::algebra_type algebra_type; - typedef typename stepper_base_type::operations_type operations_type; - typedef typename stepper_base_type::resizer_type resizer_type; -#ifndef DOXYGEN_SKIP - typedef explicit_error_generic_rk< StageCount , Order , StepperOrder , ErrorOrder , State , - Value , Deriv , Time , Algebra , Operations , Resizer > stepper_type; -#endif - typedef detail::generic_rk_algorithm< StageCount , Value , Algebra , Operations > rk_algorithm_type; - - typedef typename rk_algorithm_type::coef_a_type coef_a_type; - typedef typename rk_algorithm_type::coef_b_type coef_b_type; - typedef typename rk_algorithm_type::coef_c_type coef_c_type; - - static const size_t stage_count = StageCount; - -private: - - -public: - - // we use an explicit_generic_rk to do the normal rk step - // and add a separate calculation of the error estimate afterwards - explicit_error_generic_rk( const coef_a_type &a , - const coef_b_type &b , - const coef_b_type &b2 , - const coef_c_type &c , - const algebra_type &algebra = algebra_type() ) - : stepper_base_type( algebra ) , m_rk_algorithm( a , b , c ) , m_b2( b2 ) - { } - - - template< class System , class StateIn , class DerivIn , class StateOut , class Err > - void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , - time_type t , StateOut &out , time_type dt , Err &xerr ) - { - // normal step - do_step_impl( system , in , dxdt , t , out , dt ); - - // additionally, perform the error calculation - detail::template generic_rk_call_algebra< StageCount , algebra_type >()( stepper_base_type::m_algebra , - xerr , dxdt , m_F , detail::generic_rk_scale_sum_err< StageCount , operations_type , value_type , time_type >( m_b2 , dt) ); - } - - - template< class System , class StateIn , class DerivIn , class StateOut > - void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , - time_type t , StateOut &out , time_type dt ) - { - m_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_impl< StateIn > , detail::ref( *this ) , detail::_1 ) ); - - // actual calculation done in generic_rk.hpp - m_rk_algorithm.do_step( stepper_base_type::m_algebra , system , in , dxdt , t , out , dt , m_x_tmp.m_v , m_F ); - } - - - template< class StateIn > - void adjust_size( const StateIn &x ) - { - resize_impl( x ); - stepper_base_type::adjust_size( x ); - } - - -private: - - template< class StateIn > - bool resize_impl( const StateIn &x ) - { - bool resized( false ); - resized |= adjust_size_by_resizeability( m_x_tmp , x , typename is_resizeable::type() ); - for( size_t i = 0 ; i < StageCount-1 ; ++i ) - { - resized |= adjust_size_by_resizeability( m_F[i] , x , typename is_resizeable::type() ); - } - return resized; - } - - - rk_algorithm_type m_rk_algorithm; - coef_b_type m_b2; - - resizer_type m_resizer; - - wrapped_state_type m_x_tmp; - wrapped_deriv_type m_F[StageCount-1]; - -}; - - -/********* DOXYGEN *********/ - -/** - * \class explicit_error_generic_rk - * \brief A generic implementation of explicit Runge-Kutta algorithms with error estimation. This class is as a - * base class for all explicit Runge-Kutta steppers with error estimation. - * - * This class implements the explicit Runge-Kutta algorithms with error estimation in a generic way. - * The Butcher tableau is passed to the stepper which constructs the stepper scheme with the help of a - * template-metaprogramming algorithm. ToDo : Add example! - * - * This class derives explicit_error_stepper_base which provides the stepper interface. - * - * \tparam StageCount The number of stages of the Runge-Kutta algorithm. - * \tparam Order The order of a stepper if the stepper is used without error estimation. - * \tparam StepperOrder The order of a step if the stepper is used with error estimation. Usually Order and StepperOrder have - * the same value. - * \tparam ErrorOrder The order of the error step if the stepper is used with error estimation. - * \tparam State The type representing the state of the ODE. - * \tparam Value The floating point type which is used in the computations. - * \tparam Time The type representing the independent variable - the time - of the ODE. - * \tparam Algebra The algebra type. - * \tparam Operations The operations type. - * \tparam Resizer The resizer policy type. - */ - - - /** - * \fn explicit_error_generic_rk::explicit_error_generic_rk( const coef_a_type &a , const coef_b_type &b , const coef_b_type &b2 , const coef_c_type &c , const algebra_type &algebra ) - * \brief Constructs the explicit_error_generik_rk class with the given parameters a, b, b2 and c. See examples section for details on the coefficients. - * - * \param a Triangular matrix of parameters b in the Butcher tableau. - * \param b Last row of the butcher tableau. - * \param b2 Parameters for lower-order evaluation to estimate the error. - * \param c Parameters to calculate the time points in the Butcher tableau. - * \param algebra A copy of algebra is made and stored inside explicit_stepper_base. - */ - - - /** - * \fn explicit_error_generic_rk::do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt , Err &xerr ) - * \brief This method performs one step. The derivative `dxdt` of `in` at the time `t` is passed to the method. - * The result is updated out-of-place, hence the input is in `in` and the output in `out`. Futhermore, an - * estimation of the error is stored in `xerr`. `do_step_impl` is used by explicit_error_stepper_base. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param dxdt The derivative of x at t. - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dt The step size. - * \param xerr The result of the error estimation is written in xerr. - */ - - /** - * \fn explicit_error_generic_rk::do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt ) - * \brief This method performs one step. The derivative `dxdt` of `in` at the time `t` is passed to the method. - * The result is updated out-of-place, hence the input is in `in` and the output in `out`. - * Access to this step functionality is provided by explicit_stepper_base and - * `do_step_impl` should not be called directly. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param dxdt The derivative of x at t. - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dt The step size. - */ - - /** - * \fn explicit_error_generic_rk::adjust_size( const StateIn &x ) - * \brief Adjust the size of all temporaries in the stepper manually. - * \param x A state from which the size of the temporaries to be resized is deduced. - */ - -} -} -} - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_EXPLICIT_ERROR_GENERIC_RK_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_generic_rk.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_generic_rk.hpp deleted file mode 100644 index 84484ee..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_generic_rk.hpp +++ /dev/null @@ -1,243 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/explicit_generic_rk.hpp - - [begin_description] - Implementation of the generic Runge-Kutta steppers. This is the base class for many Runge-Kutta steppers. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_EXPLICIT_GENERIC_RK_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_EXPLICIT_GENERIC_RK_HPP_INCLUDED - - -#include - - -#include -#include -#include -#include - -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - -//forward declarations - -#ifndef DOXYGEN_SKIP -template< -size_t StageCount, -size_t Order, -class State , -class Value = double , -class Deriv = State , -class Time = Value , -class Algebra = range_algebra , -class Operations = default_operations , -class Resizer = initially_resizer -> -class explicit_generic_rk; - - -struct stage_vector; - -template< class T , class Constant > -struct array_wrapper -{ - typedef const typename boost::array< T , Constant::value > type; -}; - -template< class T , size_t i > -struct stage -{ - T c; - boost::array< T , i > a; -}; - - -template< class T , class Constant > -struct stage_wrapper -{ - typedef stage< T , Constant::value > type; -}; -#endif - - -template< -size_t StageCount, -size_t Order, -class State , -class Value , -class Deriv , -class Time , -class Algebra , -class Operations , -class Resizer -> -#ifndef DOXYGEN_SKIP -class explicit_generic_rk : public explicit_stepper_base< -explicit_generic_rk< StageCount , Order , State , Value , Deriv , Time , Algebra , Operations , Resizer > , -Order , State , Value , Deriv , Time , Algebra , Operations , Resizer > -#else -class explicit_generic_rk : public explicit_stepper_base -#endif -{ - -public: - - #ifndef DOXYGEN_SKIP - typedef explicit_stepper_base< - explicit_generic_rk< StageCount , Order , State , Value , Deriv ,Time , Algebra , Operations , Resizer > , - Order , State , Value , Deriv , Time , Algebra , - Operations , Resizer > stepper_base_type; - #else - typedef explicit_stepper_base< ... > stepper_base_type; - #endif - - typedef typename stepper_base_type::state_type state_type; - typedef typename stepper_base_type::wrapped_state_type wrapped_state_type; - typedef typename stepper_base_type::value_type value_type; - typedef typename stepper_base_type::deriv_type deriv_type; - typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type; - typedef typename stepper_base_type::time_type time_type; - typedef typename stepper_base_type::algebra_type algebra_type; - typedef typename stepper_base_type::operations_type operations_type; - typedef typename stepper_base_type::resizer_type resizer_type; - - #ifndef DOXYGEN_SKIP - typedef explicit_generic_rk< StageCount , Order , State , Value , Deriv ,Time , Algebra , Operations , Resizer > stepper_type; - #endif - - typedef detail::generic_rk_algorithm< StageCount , Value , Algebra , Operations > rk_algorithm_type; - - typedef typename rk_algorithm_type::coef_a_type coef_a_type; - typedef typename rk_algorithm_type::coef_b_type coef_b_type; - typedef typename rk_algorithm_type::coef_c_type coef_c_type; - - #ifndef DOXYGEN_SKIP - static const size_t stage_count = StageCount; - #endif - -public: - - explicit_generic_rk( const coef_a_type &a , const coef_b_type &b , const coef_c_type &c , - const algebra_type &algebra = algebra_type() ) - : stepper_base_type( algebra ) , m_rk_algorithm( a , b , c ) - { } - - - template< class System , class StateIn , class DerivIn , class StateOut > - void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , - time_type t , StateOut &out , time_type dt ) - { - m_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_impl< StateIn > , detail::ref( *this ) , detail::_1 ) ); - - // actual calculation done in generic_rk.hpp - m_rk_algorithm.do_step( stepper_base_type::m_algebra , system , in , dxdt , t , out , dt , m_x_tmp.m_v , m_F ); - } - - template< class StateIn > - void adjust_size( const StateIn &x ) - { - resize_impl( x ); - stepper_base_type::adjust_size( x ); - } - -private: - - template< class StateIn > - bool resize_impl( const StateIn &x ) - { - bool resized( false ); - resized |= adjust_size_by_resizeability( m_x_tmp , x , typename is_resizeable::type() ); - for( size_t i = 0 ; i < StageCount-1 ; ++i ) - { - resized |= adjust_size_by_resizeability( m_F[i] , x , typename is_resizeable::type() ); - } - return resized; - } - - - rk_algorithm_type m_rk_algorithm; - - resizer_type m_resizer; - - wrapped_state_type m_x_tmp; - wrapped_deriv_type m_F[StageCount-1]; - -}; - - - -/*********** DOXYGEN *************/ - -/** - * \class explicit_generic_rk - * \brief A generic implementation of explicit Runge-Kutta algorithms. This class is as a base class - * for all explicit Runge-Kutta steppers. - * - * This class implements the explicit Runge-Kutta algorithms without error estimation in a generic way. - * The Butcher tableau is passed to the stepper which constructs the stepper scheme with the help of a - * template-metaprogramming algorithm. ToDo : Add example! - * - * This class derives explicit_stepper_base which provides the stepper interface. - * - * \tparam StageCount The number of stages of the Runge-Kutta algorithm. - * \tparam Order The order of the stepper. - * \tparam State The type representing the state of the ODE. - * \tparam Value The floating point type which is used in the computations. - * \tparam Time The type representing the independent variable - the time - of the ODE. - * \tparam Algebra The algebra type. - * \tparam Operations The operations type. - * \tparam Resizer The resizer policy type. - */ - - /** - * \fn explicit_generic_rk::explicit_generic_rk( const coef_a_type &a , const coef_b_type &b , const coef_c_type &c , const algebra_type &algebra ) - * \brief Constructs the explicit_generic_rk class. See examples section for details on the coefficients. - * \param a Triangular matrix of parameters b in the Butcher tableau. - * \param b Last row of the butcher tableau. - * \param c Parameters to calculate the time points in the Butcher tableau. - * \param algebra A copy of algebra is made and stored inside explicit_stepper_base. - */ - - /** - * \fn explicit_generic_rk::do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt ) - * \brief This method performs one step. The derivative `dxdt` of `in` at the time `t` is passed to the method. - * The result is updated out of place, hence the input is in `in` and the output in `out`. - * Access to this step functionality is provided by explicit_stepper_base and - * `do_step_impl` should not be called directly. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param dxdt The derivative of x at t. - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dt The step size. - */ - - - /** - * \fn explicit_generic_rk::adjust_size( const StateIn &x ) - * \brief Adjust the size of all temporaries in the stepper manually. - * \param x A state from which the size of the temporaries to be resized is deduced. - */ - -} -} -} -#endif // BOOST_NUMERIC_ODEINT_STEPPER_EXPLICIT_GENERIC_RK_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation.hpp deleted file mode 100644 index cffbd09..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation.hpp +++ /dev/null @@ -1,36 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/generation.hpp - - [begin_description] - Forward header for the factory functions. Includes all files from the generation directory. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_HPP_INCLUDED - -#include -#include - -#include -#include - -#include -#include -#include -#include - - -#include - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp deleted file mode 100644 index deee41c..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp +++ /dev/null @@ -1,53 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp - - [begin_description] - Specialization of the controller factory for the controlled_runge_kutta class. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_CONTROLLED_RUNGE_KUTTA_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_CONTROLLED_RUNGE_KUTTA_HPP_INCLUDED - -#include -#include - - -namespace boost { -namespace numeric { -namespace odeint { - - -// controller factory for controlled_runge_kutta -template< class Stepper > -struct controller_factory< Stepper , controlled_runge_kutta< Stepper > > -{ - typedef Stepper stepper_type; - typedef controlled_runge_kutta< stepper_type > controller_type; - typedef typename controller_type::error_checker_type error_checker_type; - typedef typename stepper_type::value_type value_type; - - controller_type operator()( value_type abs_error , value_type rel_error , const stepper_type &stepper ) - { - return controller_type( error_checker_type( abs_error , rel_error ) , stepper ); - } -}; - - - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_CONTROLLED_RUNGE_KUTTA_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp deleted file mode 100644 index 42482b4..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp +++ /dev/null @@ -1,54 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp - - [begin_description] - Specialization of the controller factory for the dense_output_runge_kutta class. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_DENSE_OUTPUT_RUNGE_KUTTA_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_DENSE_OUTPUT_RUNGE_KUTTA_HPP_INCLUDED - -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - -// controller factory for controlled_runge_kutta -template< class Stepper > -struct dense_output_factory< Stepper , dense_output_runge_kutta< controlled_runge_kutta< Stepper > > > -{ - typedef Stepper stepper_type; - typedef controlled_runge_kutta< stepper_type > controller_type; - typedef typename controller_type::error_checker_type error_checker_type; - typedef typename stepper_type::value_type value_type; - typedef dense_output_runge_kutta< controller_type > dense_output_type; - - dense_output_type operator()( value_type abs_error , value_type rel_error , const stepper_type &stepper ) - { - return dense_output_type( controller_type( error_checker_type( abs_error , rel_error ) , stepper ) ); - } -}; - - - - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_DENSE_OUTPUT_RUNGE_KUTTA_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp deleted file mode 100644 index 391695e..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp +++ /dev/null @@ -1,72 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp - - [begin_description] - Enable the factory functions for the controller and the dense output of the Rosenbrock4 method. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_ROSENBROCK4_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_ROSENBROCK4_HPP_INCLUDED - -#include -#include -#include - - -namespace boost { -namespace numeric { -namespace odeint { - - -template< class Value , class Coefficients , class Resize > -struct get_controller< rosenbrock4< Value , Coefficients , Resize > > -{ - typedef rosenbrock4< Value , Coefficients , Resize > stepper_type; - typedef rosenbrock4_controller< stepper_type > type; -}; - - - -template< class Value , class Coefficients , class Resize > -struct get_dense_output< rosenbrock4< Value , Coefficients , Resize > > -{ - typedef rosenbrock4< Value , Coefficients , Resize > stepper_type; - typedef rosenbrock4_controller< stepper_type > controller_type; - typedef rosenbrock4_dense_output< controller_type > type; -}; - - - -// controller factory for controlled_runge_kutta -template< class Stepper > -struct dense_output_factory< Stepper , rosenbrock4_dense_output< rosenbrock4_controller< Stepper > > > -{ - typedef Stepper stepper_type; - typedef rosenbrock4_controller< stepper_type > controller_type; - typedef typename stepper_type::value_type value_type; - typedef rosenbrock4_dense_output< controller_type > dense_output_type; - - dense_output_type operator()( value_type abs_error , value_type rel_error , const stepper_type &stepper ) - { - return dense_output_type( controller_type( abs_error , rel_error , stepper ) ); - } -}; - - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_ROSENBROCK4_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp deleted file mode 100644 index 9c31b0b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp +++ /dev/null @@ -1,47 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp - - [begin_description] - Enable the factory functions for the controller and the dense output of the Runge-Kutta-Cash-Karp 54 method. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_CASH_KARP54_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_CASH_KARP54_HPP_INCLUDED - -#include -#include -#include - - -namespace boost { -namespace numeric { -namespace odeint { - -// Specializations for runge_kutta_cash_karp54 -template< class State , class Value , class Deriv , class Time , class Algebra , class Operations , class Resize > -struct get_controller< runge_kutta_cash_karp54< State , Value , Deriv , Time , Algebra , Operations , Resize > > -{ - typedef runge_kutta_cash_karp54< State , Value , Deriv , Time , Algebra , Operations , Resize > stepper_type; - typedef controlled_runge_kutta< stepper_type > type; -}; - - - - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_CASH_KARP54_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp deleted file mode 100644 index 7ebf8c8..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp +++ /dev/null @@ -1,48 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp - - [begin_description] - Enable the factory functions for the controller and the dense output of the - Runge-Kutta-Cash-Karp 54 method with the classical implementation. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_CASH_KARP54_CLASSIC_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_CASH_KARP54_CLASSIC_HPP_INCLUDED - -#include -#include -#include - - -namespace boost { -namespace numeric { -namespace odeint { - - -// Specializations for runge_kutta_cash_karp54 -template< class State , class Value , class Deriv , class Time , class Algebra , class Operations , class Resize > -struct get_controller< runge_kutta_cash_karp54_classic< State , Value , Deriv , Time , Algebra , Operations , Resize > > -{ - typedef runge_kutta_cash_karp54_classic< State , Value , Deriv , Time , Algebra , Operations , Resize > stepper_type; - typedef controlled_runge_kutta< stepper_type > type; -}; - - - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_CASH_KARP54_CLASSIC_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp deleted file mode 100644 index b6122cd..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp +++ /dev/null @@ -1,56 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp - - [begin_description] - Enable the factory functions for the controller and the dense output of the Runge-Kutta-Dormand-Prince5 method. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_DOPRI5_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_DOPRI5_HPP_INCLUDED - -#include -#include -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - - -template< class State , class Value , class Deriv , class Time , class Algebra , class Operations , class Resize > -struct get_controller< runge_kutta_dopri5< State , Value , Deriv , Time , Algebra , Operations , Resize > > -{ - typedef runge_kutta_dopri5< State , Value , Deriv , Time , Algebra , Operations , Resize > stepper_type; - typedef controlled_runge_kutta< stepper_type > type; -}; - - -template< class State , class Value , class Deriv , class Time , class Algebra , class Operations , class Resize > -struct get_dense_output< runge_kutta_dopri5< State , Value , Deriv , Time , Algebra , Operations , Resize > > -{ - typedef runge_kutta_dopri5< State , Value , Deriv , Time , Algebra , Operations , Resize > stepper_type; - typedef controlled_runge_kutta< stepper_type > controller_type; - typedef dense_output_runge_kutta< controller_type > type; -}; - - - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_DOPRI5_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp deleted file mode 100644 index 331c1ed..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp +++ /dev/null @@ -1,46 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp - - [begin_description] - Enable the factory functions for the controller and the dense output of the Runge-Kutta-Fehlberg 78 method. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_FEHLBERG78_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_FEHLBERG78_HPP_INCLUDED - -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - - -template< class State , class Value , class Deriv , class Time , class Algebra , class Operations , class Resize > -struct get_controller< runge_kutta_fehlberg78< State , Value , Deriv , Time , Algebra , Operations , Resize > > -{ - typedef runge_kutta_fehlberg78< State , Value , Deriv , Time , Algebra , Operations , Resize > stepper_type; - typedef controlled_runge_kutta< stepper_type > type; -}; - - - - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_FEHLBERG78_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_controlled.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_controlled.hpp deleted file mode 100644 index 78bb16d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_controlled.hpp +++ /dev/null @@ -1,81 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/generation/make_controlled.hpp - - [begin_description] - Factory function to simplify the creation of controlled steppers from error steppers. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_MAKE_CONTROLLED_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_MAKE_CONTROLLED_HPP_INCLUDED - - - - -namespace boost { -namespace numeric { -namespace odeint { - - - -// default template for the controller -template< class Stepper > struct get_controller { }; - - - -// default controller factory -template< class Stepper , class Controller > -struct controller_factory -{ - Controller operator()( - typename Stepper::value_type abs_error , - typename Stepper::value_type rel_error , - const Stepper &stepper ) - { - return Controller( abs_error , rel_error , stepper ); - } -}; - - - - -namespace result_of -{ - template< class Stepper > - struct make_controlled - { - typedef typename get_controller< Stepper >::type type; - }; -} - - -template< class Stepper > -typename result_of::make_controlled< Stepper >::type make_controlled( - typename Stepper::value_type abs_error , - typename Stepper::value_type rel_error , - const Stepper & stepper = Stepper() ) -{ - typedef Stepper stepper_type; - typedef typename result_of::make_controlled< stepper_type >::type controller_type; - typedef controller_factory< stepper_type , controller_type > factory_type; - factory_type factory; - return factory( abs_error , rel_error , stepper ); -} - - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_MAKE_CONTROLLED_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_dense_output.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_dense_output.hpp deleted file mode 100644 index 63c9170..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_dense_output.hpp +++ /dev/null @@ -1,78 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/generation/make_dense_output.hpp - - [begin_description] - Factory function to simplify the creation of dense output steppers from error steppers. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_MAKE_DENSE_OUTPUT_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_MAKE_DENSE_OUTPUT_HPP_INCLUDED - -namespace boost { -namespace numeric { -namespace odeint { - - -// default template for the dense output -template< class Stepper > struct get_dense_output { }; - - - -// default dense output factory -template< class Stepper , class DenseOutput > -struct dense_output_factory -{ - DenseOutput operator()( - typename Stepper::value_type abs_error , - typename Stepper::value_type rel_error , - const Stepper &stepper ) - { - return DenseOutput( abs_error , rel_error , stepper ); - } -}; - - - -namespace result_of -{ - template< class Stepper > - struct make_dense_output - { - typedef typename get_dense_output< Stepper >::type type; - }; -} - - - -template< class Stepper > -typename result_of::make_dense_output< Stepper >::type make_dense_output( - typename Stepper::value_type abs_error , - typename Stepper::value_type rel_error , - const Stepper &stepper = Stepper() ) -{ - typedef Stepper stepper_type; - typedef typename result_of::make_dense_output< stepper_type >::type dense_output_type; - typedef dense_output_factory< stepper_type , dense_output_type > factory_type; - factory_type factory; - return factory( abs_error , rel_error , stepper ); -} - - - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_MAKE_DENSE_OUTPUT_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/implicit_euler.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/implicit_euler.hpp deleted file mode 100644 index 848b38d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/implicit_euler.hpp +++ /dev/null @@ -1,169 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/implicit_euler.hpp - - [begin_description] - Impementation of the implicit Euler method. Works with ublas::vector as state type. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_IMPLICIT_EULER_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_IMPLICIT_EULER_HPP_INCLUDED - - -#include - -#include -#include -#include - -#include -#include -#include - -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - - - - - - - - -template< class ValueType , class Resizer = initially_resizer > -class implicit_euler -{ - -public: - - typedef ValueType value_type; - typedef value_type time_type; - typedef boost::numeric::ublas::vector< value_type > state_type; - typedef state_wrapper< state_type > wrapped_state_type; - typedef state_type deriv_type; - typedef state_wrapper< deriv_type > wrapped_deriv_type; - typedef boost::numeric::ublas::matrix< value_type > matrix_type; - typedef state_wrapper< matrix_type > wrapped_matrix_type; - typedef boost::numeric::ublas::permutation_matrix< size_t > pmatrix_type; - typedef state_wrapper< pmatrix_type > wrapped_pmatrix_type; - typedef Resizer resizer_type; - typedef stepper_tag stepper_category; - typedef implicit_euler< ValueType , Resizer > stepper_type; - - implicit_euler( value_type epsilon = 1E-6 ) - : m_epsilon( epsilon ) - { } - - - template< class System > - void do_step( System system , state_type &x , time_type t , time_type dt ) - { - typedef typename odeint::unwrap_reference< System >::type system_type; - typedef typename odeint::unwrap_reference< typename system_type::first_type >::type deriv_func_type; - typedef typename odeint::unwrap_reference< typename system_type::second_type >::type jacobi_func_type; - system_type &sys = system; - deriv_func_type &deriv_func = sys.first; - jacobi_func_type &jacobi_func = sys.second; - - m_resizer.adjust_size( x , detail::bind( &stepper_type::template resize_impl , detail::ref( *this ) , detail::_1 ) ); - - for( size_t i=0 ; i( x.size() ); - - solve( m_b.m_v , m_jacobi.m_v ); - - m_x.m_v = x - m_b.m_v; - - // iterate Newton until some precision is reached - // ToDo: maybe we should apply only one Newton step -> linear implicit one-step scheme - while( boost::numeric::ublas::norm_2( m_b.m_v ) > m_epsilon ) - { - deriv_func( m_x.m_v , m_dxdt.m_v , t ); - m_b.m_v = x - m_x.m_v + dt*m_dxdt.m_v; - - // simplified version, only the first Jacobian is used - // jacobi( m_x , m_jacobi , t ); - // m_jacobi *= dt; - // m_jacobi -= boost::numeric::ublas::identity_matrix< value_type >( x.size() ); - - solve( m_b.m_v , m_jacobi.m_v ); - - m_x.m_v -= m_b.m_v; - } - x = m_x.m_v; - } - - template< class StateType > - void adjust_size( const StateType &x ) - { - resize_impl( x ); - } - - -private: - - template< class StateIn > - bool resize_impl( const StateIn &x ) - { - bool resized = false; - resized |= adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_x , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_b , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_jacobi , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_pm , x , typename is_resizeable::type() ); - return resized; - } - - - void solve( state_type &x , matrix_type &m ) - { - int res = boost::numeric::ublas::lu_factorize( m , m_pm.m_v ); - if( res != 0 ) exit(0); - boost::numeric::ublas::lu_substitute( m , m_pm.m_v , x ); - } - -private: - - value_type m_epsilon; - resizer_type m_resizer; - wrapped_deriv_type m_dxdt; - wrapped_state_type m_x; - wrapped_deriv_type m_b; - wrapped_matrix_type m_jacobi; - wrapped_pmatrix_type m_pm; - - -}; - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_IMPLICIT_EULER_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/modified_midpoint.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/modified_midpoint.hpp deleted file mode 100644 index 62e0233..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/modified_midpoint.hpp +++ /dev/null @@ -1,312 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/modified_midpoint.hpp - - [begin_description] - Modified midpoint method for the use in Burlish-Stoer stepper. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_MODIFIED_MIDPOINT_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_MODIFIED_MIDPOINT_HPP_INCLUDED - -#include - -#include -#include -#include -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - -template< -class State , -class Value = double , -class Deriv = State , -class Time = Value , -class Algebra = range_algebra , -class Operations = default_operations , -class Resizer = initially_resizer -> -#ifndef DOXYGEN_SKIP -class modified_midpoint -: public explicit_stepper_base< - modified_midpoint< State , Value , Deriv , Time , Algebra , Operations , Resizer > , - 2 , State , Value , Deriv , Time , Algebra , Operations , Resizer > -#else -class modified_midpoint : public explicit_stepper_base -#endif -{ - -public : - - typedef explicit_stepper_base< - modified_midpoint< State , Value , Deriv , Time , Algebra , Operations , Resizer > , - 2 , State , Value , Deriv , Time , Algebra , Operations , Resizer > stepper_base_type; - - typedef typename stepper_base_type::state_type state_type; - typedef typename stepper_base_type::wrapped_state_type wrapped_state_type; - typedef typename stepper_base_type::value_type value_type; - typedef typename stepper_base_type::deriv_type deriv_type; - typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type; - typedef typename stepper_base_type::time_type time_type; - typedef typename stepper_base_type::algebra_type algebra_type; - typedef typename stepper_base_type::operations_type operations_type; - typedef typename stepper_base_type::resizer_type resizer_type; - typedef typename stepper_base_type::stepper_type stepper_type; - - - modified_midpoint( unsigned short steps = 2 , const algebra_type &algebra = algebra_type() ) - : stepper_base_type( algebra ) , m_steps( steps ) - { } - - template< class System , class StateIn , class DerivIn , class StateOut > - void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt ) - { - static const value_type val1 = static_cast< value_type >( 1 ); - static const value_type val05 = static_cast< value_type >( 1 ) / static_cast< value_type >( 2 ); - - m_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_impl< StateIn > , detail::ref( *this ) , detail::_1 ) ); - - const time_type h = dt / static_cast( m_steps ); - const time_type h2 = static_cast(2) * h; - - typename odeint::unwrap_reference< System >::type &sys = system; - - time_type th = t + h; - - // m_x1 = x + h*dxdt - stepper_base_type::m_algebra.for_each3( m_x1.m_v , in , dxdt , - typename operations_type::template scale_sum2< value_type , time_type >( val1 , h ) ); - - sys( m_x1.m_v , m_dxdt.m_v , th ); - - boost::numeric::odeint::copy( in , m_x0.m_v ); - - unsigned short i = 1; - while( i != m_steps ) - { - // general step - //tmp = m_x1; m_x1 = m_x0 + h2*m_dxdt; m_x0 = tmp - stepper_base_type::m_algebra.for_each3( m_x1.m_v , m_x0.m_v , m_dxdt.m_v , - typename operations_type::template scale_sum_swap2< value_type , time_type >( val1 , h2 ) ); - th += h; - sys( m_x1.m_v , m_dxdt.m_v , th); - i++; - } - - // last step - // x = 0.5*( m_x0 + m_x1 + h*m_dxdt ) - stepper_base_type::m_algebra.for_each4( out , m_x0.m_v , m_x1.m_v , m_dxdt.m_v , - typename operations_type::template scale_sum3< value_type , value_type , time_type >( val05 , val05 , val05*h ) ); - } - - - void set_steps( unsigned short steps ) - { m_steps = steps; } - - - unsigned short steps( void ) const - { return m_steps; } - - - template< class StateIn > - void adjust_size( const StateIn &x ) - { - resize_impl( x ); - stepper_base_type::adjust_size( x ); - } - -private: - - template< class StateIn > - bool resize_impl( const StateIn &x ) - { - bool resized( false ); - resized |= adjust_size_by_resizeability( m_x0 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_x1 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable::type() ); - return resized; - } - - - unsigned short m_steps; - - resizer_type m_resizer; - - wrapped_state_type m_x0; - wrapped_state_type m_x1; - wrapped_deriv_type m_dxdt; - -}; - - -/* Modified midpoint which stores derivatives and state at dt/2 in some external storage for later usage in dense output calculation - * This Stepper is for use in Bulirsch Stoer only. It DOES NOT meet any stepper concept. - */ -template< -class State , -class Value = double , -class Deriv = State , -class Time = Value , -class Algebra = range_algebra , -class Operations = default_operations , -class Resizer = initially_resizer -> -class modified_midpoint_dense_out -{ - -public : - - typedef State state_type; - typedef Value value_type; - typedef Deriv deriv_type; - typedef Time time_type; - typedef Algebra algebra_type; - typedef Operations operations_type; - typedef Resizer resizer_type; - typedef state_wrapper< state_type > wrapped_state_type; - typedef state_wrapper< deriv_type > wrapped_deriv_type; - - typedef modified_midpoint_dense_out< State , Value , Deriv , Time , Algebra , Operations , Resizer > stepper_type; - typedef std::vector< wrapped_deriv_type > deriv_table_type; - - modified_midpoint_dense_out( unsigned short steps = 2 , const algebra_type &algebra = algebra_type() ) - : m_algebra( algebra ) , m_steps( steps ) - { } - - /* - * performs a modified midpoint step with m_steps intermediate points - * stores approximation for x(t+dt/2) in x_mp and all evaluated function results in derivs - * - */ - - template< class System , class StateIn , class DerivIn , class StateOut > - void do_step( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt , - state_type &x_mp , deriv_table_type &derivs ) - { - - static const value_type val1 = static_cast< value_type >( 1 ); - static const value_type val05 = static_cast< value_type >( 1 ) / static_cast< value_type >( 2 ); - - m_resizer.adjust_size( in , detail::bind( &stepper_type::template resize< StateIn > , detail::ref( *this ) , detail::_1 ) ); - - const time_type h = dt / static_cast( m_steps ); - const time_type h2 = static_cast( 2 ) * h; - - typename odeint::unwrap_reference< System >::type &sys = system; - - time_type th = t + h; - - // m_x1 = x + h*dxdt - m_algebra.for_each3( m_x1.m_v , in , dxdt , - typename operations_type::template scale_sum2< value_type , time_type >( val1 , h ) ); - - if( m_steps == 2 ) - // result of first step already gives approximation at the center of the interval - boost::numeric::odeint::copy( m_x1.m_v , x_mp ); - - sys( m_x1.m_v , derivs[0].m_v , th ); - - boost::numeric::odeint::copy( in , m_x0.m_v ); - - unsigned short i = 1; - while( i != m_steps ) - { - // general step - //tmp = m_x1; m_x1 = m_x0 + h2*m_dxdt; m_x0 = tmp - m_algebra.for_each3( m_x1.m_v , m_x0.m_v , derivs[i-1].m_v , - typename operations_type::template scale_sum_swap2< value_type , time_type >( val1 , h2 ) ); - if( i == m_steps/2-1 ) - // save approximation at the center of the interval - boost::numeric::odeint::copy( m_x1.m_v , x_mp ); - - th += h; - sys( m_x1.m_v , derivs[i].m_v , th); - i++; - } - - // last step - // x = 0.5*( m_x0 + m_x1 + h*m_dxdt ) - m_algebra.for_each4( out , m_x0.m_v , m_x1.m_v , derivs[m_steps-1].m_v , - typename operations_type::template scale_sum3< value_type , value_type , time_type >( val05 , val05 , val05*h ) ); - } - - - void set_steps( unsigned short steps ) - { m_steps = steps; } - - - unsigned short steps( void ) const - { return m_steps; } - - - template< class StateIn > - bool resize( const StateIn &x ) - { - bool resized( false ); - resized |= adjust_size_by_resizeability( m_x0 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_x1 , x , typename is_resizeable::type() ); - return resized; - } - - template< class StateIn > - void adjust_size( const StateIn &x ) - { - resize( x ); - } - -private: - - algebra_type m_algebra; - - unsigned short m_steps; - - resizer_type m_resizer; - - wrapped_state_type m_x0; - wrapped_state_type m_x1; - -}; - - - -/********** DOXYGEN ***********/ - -/** - * \class modified_midpoint - * - * Implementation of the modified midpoint method with a configurable - * number of intermediate steps. This class is used by the Bulirsch-Stoer - * algorithm and is not meant for direct usage. - */ - - -/** - * \class modified_midpoint_dense_out - * - * Implementation of the modified midpoint method with a configurable - * number of intermediate steps. This class is used by the dense output - * Bulirsch-Stoer algorithm and is not meant for direct usage. - * \note This stepper is for internal use only and does not meet - * any stepper concept. - */ - - -} -} -} - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_MODIFIED_MIDPOINT_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4.hpp deleted file mode 100644 index 46d83fb..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4.hpp +++ /dev/null @@ -1,345 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/rosenbrock4.hpp - - [begin_description] - Implementation of the Rosenbrock 4 method for solving stiff ODEs. Note, that a - controller and a dense-output stepper exist for this method, - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_ROSENBROCK4_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_ROSENBROCK4_HPP_INCLUDED - - -#include -#include -#include -#include -#include - -#include - -#include -#include -#include - -#include -#include -#include - - -namespace boost { -namespace numeric { -namespace odeint { - - -/* - * ToDo: - * - * 2. Interfacing for odeint, check if controlled_error_stepper can be used - * 3. dense output - */ - - - -template< class Value > -struct default_rosenbrock_coefficients -{ - typedef Value value_type; - typedef unsigned short order_type; - - default_rosenbrock_coefficients( void ) - : gamma ( static_cast< value_type >( 0.25 ) ) , - d1 ( static_cast< value_type >( 0.25 ) ) , - d2 ( static_cast< value_type >( -0.1043 ) ) , - d3 ( static_cast< value_type >( 0.1035 ) ) , - d4 ( static_cast< value_type >( 0.3620000000000023e-01 ) ) , - c2 ( static_cast< value_type >( 0.386 ) ) , - c3 ( static_cast< value_type >( 0.21 ) ) , - c4 ( static_cast< value_type >( 0.63 ) ) , - c21 ( static_cast< value_type >( -0.5668800000000000e+01 ) ) , - a21 ( static_cast< value_type >( 0.1544000000000000e+01 ) ) , - c31 ( static_cast< value_type >( -0.2430093356833875e+01 ) ) , - c32 ( static_cast< value_type >( -0.2063599157091915e+00 ) ) , - a31 ( static_cast< value_type >( 0.9466785280815826e+00 ) ) , - a32 ( static_cast< value_type >( 0.2557011698983284e+00 ) ) , - c41 ( static_cast< value_type >( -0.1073529058151375e+00 ) ) , - c42 ( static_cast< value_type >( -0.9594562251023355e+01 ) ) , - c43 ( static_cast< value_type >( -0.2047028614809616e+02 ) ) , - a41 ( static_cast< value_type >( 0.3314825187068521e+01 ) ) , - a42 ( static_cast< value_type >( 0.2896124015972201e+01 ) ) , - a43 ( static_cast< value_type >( 0.9986419139977817e+00 ) ) , - c51 ( static_cast< value_type >( 0.7496443313967647e+01 ) ) , - c52 ( static_cast< value_type >( -0.1024680431464352e+02 ) ) , - c53 ( static_cast< value_type >( -0.3399990352819905e+02 ) ) , - c54 ( static_cast< value_type >( 0.1170890893206160e+02 ) ) , - a51 ( static_cast< value_type >( 0.1221224509226641e+01 ) ) , - a52 ( static_cast< value_type >( 0.6019134481288629e+01 ) ) , - a53 ( static_cast< value_type >( 0.1253708332932087e+02 ) ) , - a54 ( static_cast< value_type >( -0.6878860361058950e+00 ) ) , - c61 ( static_cast< value_type >( 0.8083246795921522e+01 ) ) , - c62 ( static_cast< value_type >( -0.7981132988064893e+01 ) ) , - c63 ( static_cast< value_type >( -0.3152159432874371e+02 ) ) , - c64 ( static_cast< value_type >( 0.1631930543123136e+02 ) ) , - c65 ( static_cast< value_type >( -0.6058818238834054e+01 ) ) , - d21 ( static_cast< value_type >( 0.1012623508344586e+02 ) ) , - d22 ( static_cast< value_type >( -0.7487995877610167e+01 ) ) , - d23 ( static_cast< value_type >( -0.3480091861555747e+02 ) ) , - d24 ( static_cast< value_type >( -0.7992771707568823e+01 ) ) , - d25 ( static_cast< value_type >( 0.1025137723295662e+01 ) ) , - d31 ( static_cast< value_type >( -0.6762803392801253e+00 ) ) , - d32 ( static_cast< value_type >( 0.6087714651680015e+01 ) ) , - d33 ( static_cast< value_type >( 0.1643084320892478e+02 ) ) , - d34 ( static_cast< value_type >( 0.2476722511418386e+02 ) ) , - d35 ( static_cast< value_type >( -0.6594389125716872e+01 ) ) - {} - - const value_type gamma; - const value_type d1 , d2 , d3 , d4; - const value_type c2 , c3 , c4; - const value_type c21 ; - const value_type a21; - const value_type c31 , c32; - const value_type a31 , a32; - const value_type c41 , c42 , c43; - const value_type a41 , a42 , a43; - const value_type c51 , c52 , c53 , c54; - const value_type a51 , a52 , a53 , a54; - const value_type c61 , c62 , c63 , c64 , c65; - const value_type d21 , d22 , d23 , d24 , d25; - const value_type d31 , d32 , d33 , d34 , d35; - - static const order_type stepper_order = 4; - static const order_type error_order = 3; -}; - - - -template< class Value , class Coefficients = default_rosenbrock_coefficients< Value > , class Resizer = initially_resizer > -class rosenbrock4 -{ -private: - -public: - - typedef Value value_type; - typedef boost::numeric::ublas::vector< value_type > state_type; - typedef state_type deriv_type; - typedef value_type time_type; - typedef boost::numeric::ublas::matrix< value_type > matrix_type; - typedef boost::numeric::ublas::permutation_matrix< size_t > pmatrix_type; - typedef Resizer resizer_type; - typedef Coefficients rosenbrock_coefficients; - typedef stepper_tag stepper_category; - typedef unsigned short order_type; - - typedef state_wrapper< state_type > wrapped_state_type; - typedef state_wrapper< deriv_type > wrapped_deriv_type; - typedef state_wrapper< matrix_type > wrapped_matrix_type; - typedef state_wrapper< pmatrix_type > wrapped_pmatrix_type; - - typedef rosenbrock4< Value , Coefficients , Resizer > stepper_type; - - const static order_type stepper_order = rosenbrock_coefficients::stepper_order; - const static order_type error_order = rosenbrock_coefficients::error_order; - - rosenbrock4( void ) - : m_resizer() , m_x_err_resizer() , - m_jac() , m_pm() , - m_dfdt() , m_dxdt() , m_dxdtnew() , - m_g1() , m_g2() , m_g3() , m_g4() , m_g5() , - m_cont3() , m_cont4() , m_xtmp() , m_x_err() , - m_coef() - { } - - - order_type order() const { return stepper_order; } - - template< class System > - void do_step( System system , const state_type &x , time_type t , state_type &xout , time_type dt , state_type &xerr ) - { - // get the system and jacobi function - typedef typename odeint::unwrap_reference< System >::type system_type; - typedef typename odeint::unwrap_reference< typename system_type::first_type >::type deriv_func_type; - typedef typename odeint::unwrap_reference< typename system_type::second_type >::type jacobi_func_type; - system_type &sys = system; - deriv_func_type &deriv_func = sys.first; - jacobi_func_type &jacobi_func = sys.second; - - const size_t n = x.size(); - - m_resizer.adjust_size( x , detail::bind( &stepper_type::template resize_impl , detail::ref( *this ) , detail::_1 ) ); - - for( size_t i=0 ; i( n ); - boost::numeric::ublas::lu_factorize( m_jac.m_v , m_pm.m_v ); - - for( size_t i=0 ; i - void do_step( System system , state_type &x , time_type t , time_type dt , state_type &xerr ) - { - do_step( system , x , t , x , dt , xerr ); - } - - /* - * do_step without error output - just calls above functions with and neglects the error estimate - */ - template< class System > - void do_step( System system , const state_type &x , time_type t , state_type &xout , time_type dt ) - { - m_x_err_resizer.adjust_size( x , detail::bind( &stepper_type::template resize_x_err , detail::ref( *this ) , detail::_1 ) ); - do_step( system , x , t , xout , dt , m_x_err.m_v ); - } - - template< class System > - void do_step( System system , state_type &x , time_type t , time_type dt ) - { - m_x_err_resizer.adjust_size( x , detail::bind( &stepper_type::template resize_x_err , detail::ref( *this ) , detail::_1 ) ); - do_step( system , x , t , dt , m_x_err.m_v ); - } - - void prepare_dense_output() - { - const size_t n = m_g1.m_v.size(); - for( size_t i=0 ; i - void adjust_size( const StateType &x ) - { - resize_impl( x ); - resize_x_err( x ); - } - - -protected: - - template< class StateIn > - bool resize_impl( const StateIn &x ) - { - bool resized = false; - resized |= adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_dfdt , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_dxdtnew , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_xtmp , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_g1 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_g2 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_g3 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_g4 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_g5 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_cont3 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_cont4 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_jac , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_pm , x , typename is_resizeable::type() ); - return resized; - } - - template< class StateIn > - bool resize_x_err( const StateIn &x ) - { - return adjust_size_by_resizeability( m_x_err , x , typename is_resizeable::type() ); - } - -private: - - - resizer_type m_resizer; - resizer_type m_x_err_resizer; - - wrapped_matrix_type m_jac; - wrapped_pmatrix_type m_pm; - wrapped_deriv_type m_dfdt , m_dxdt , m_dxdtnew; - wrapped_state_type m_g1 , m_g2 , m_g3 , m_g4 , m_g5; - wrapped_state_type m_cont3 , m_cont4; - wrapped_state_type m_xtmp; - wrapped_state_type m_x_err; - - const rosenbrock_coefficients m_coef; -}; - - -} // namespace odeint -} // namespace numeric -} // namespace boost - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_ROSENBROCK4_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_controller.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_controller.hpp deleted file mode 100644 index 1596855..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_controller.hpp +++ /dev/null @@ -1,208 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/rosenbrock4_controller.hpp - - [begin_description] - Controller for the Rosenbrock4 method. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_ROSENBROCK4_CONTROLLER_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_ROSENBROCK4_CONTROLLER_HPP_INCLUDED - -#include -#include - -#include -#include - -#include -#include - -#include - -namespace boost { -namespace numeric { -namespace odeint { - -template< class Stepper > -class rosenbrock4_controller -{ -private: - - -public: - - typedef Stepper stepper_type; - typedef typename stepper_type::value_type value_type; - typedef typename stepper_type::state_type state_type; - typedef typename stepper_type::wrapped_state_type wrapped_state_type; - typedef typename stepper_type::time_type time_type; - typedef typename stepper_type::deriv_type deriv_type; - typedef typename stepper_type::wrapped_deriv_type wrapped_deriv_type; - typedef typename stepper_type::resizer_type resizer_type; - typedef controlled_stepper_tag stepper_category; - - typedef rosenbrock4_controller< Stepper > controller_type; - - - rosenbrock4_controller( value_type atol = 1.0e-6 , value_type rtol = 1.0e-6 , const stepper_type &stepper = stepper_type() ) - : m_stepper( stepper ) , m_atol( atol ) , m_rtol( rtol ) , - m_first_step( true ) , m_err_old( 0.0 ) , m_dt_old( 0.0 ) , - m_last_rejected( false ) - { } - - - value_type error( const state_type &x , const state_type &xold , const state_type &xerr ) - { - BOOST_USING_STD_MAX(); - using std::abs; - - const size_t n = x.size(); - value_type err = 0.0 , sk = 0.0; - for( size_t i=0 ; i - boost::numeric::odeint::controlled_step_result - try_step( System sys , state_type &x , time_type &t , time_type &dt ) - { - m_xnew_resizer.adjust_size( x , detail::bind( &controller_type::template resize_m_xnew< state_type > , detail::ref( *this ) , detail::_1 ) ); - boost::numeric::odeint::controlled_step_result res = try_step( sys , x , t , m_xnew.m_v , dt ); - if( res == success ) - { - boost::numeric::odeint::copy( m_xnew.m_v , x ); - } - return res; - } - - - template< class System > - boost::numeric::odeint::controlled_step_result - try_step( System sys , const state_type &x , time_type &t , state_type &xout , time_type &dt ) - { - BOOST_USING_STD_MIN(); - BOOST_USING_STD_MAX(); - using std::pow; - - static const value_type safe = 0.9 , fac1 = 5.0 , fac2 = 1.0 / 6.0; - - m_xerr_resizer.adjust_size( x , detail::bind( &controller_type::template resize_m_xerr< state_type > , detail::ref( *this ) , detail::_1 ) ); - - m_stepper.do_step( sys , x , t , xout , dt , m_xerr.m_v ); - value_type err = error( xout , x , m_xerr.m_v ); - - value_type fac = max BOOST_PREVENT_MACRO_SUBSTITUTION ( fac2 , min BOOST_PREVENT_MACRO_SUBSTITUTION ( fac1 , pow( err , 0.25 ) / safe ) ); - value_type dt_new = dt / fac; - if ( err <= 1.0 ) - { - if( m_first_step ) - { - m_first_step = false; - } - else - { - value_type fac_pred = ( m_dt_old / dt ) * pow( err * err / m_err_old , 0.25 ) / safe; - fac_pred = max BOOST_PREVENT_MACRO_SUBSTITUTION ( fac2 , min BOOST_PREVENT_MACRO_SUBSTITUTION ( fac1 , fac_pred ) ); - fac = max BOOST_PREVENT_MACRO_SUBSTITUTION ( fac , fac_pred ); - dt_new = dt / fac; - } - - m_dt_old = dt; - m_err_old = max BOOST_PREVENT_MACRO_SUBSTITUTION ( 0.01 , err ); - if( m_last_rejected ) - dt_new = ( dt >= 0.0 ? min BOOST_PREVENT_MACRO_SUBSTITUTION ( dt_new , dt ) : max BOOST_PREVENT_MACRO_SUBSTITUTION ( dt_new , dt ) ); - t += dt; - dt = dt_new; - m_last_rejected = false; - return success; - } - else - { - dt = dt_new; - m_last_rejected = true; - return fail; - } - } - - - template< class StateType > - void adjust_size( const StateType &x ) - { - resize_m_xerr( x ); - resize_m_xnew( x ); - } - - - - stepper_type& stepper( void ) - { - return m_stepper; - } - - const stepper_type& stepper( void ) const - { - return m_stepper; - } - - - - -private: - - template< class StateIn > - bool resize_m_xerr( const StateIn &x ) - { - return adjust_size_by_resizeability( m_xerr , x , typename is_resizeable::type() ); - } - - template< class StateIn > - bool resize_m_xnew( const StateIn &x ) - { - return adjust_size_by_resizeability( m_xnew , x , typename is_resizeable::type() ); - } - - - stepper_type m_stepper; - resizer_type m_xerr_resizer; - resizer_type m_xnew_resizer; - wrapped_state_type m_xerr; - wrapped_state_type m_xnew; - value_type m_atol , m_rtol; - bool m_first_step; - value_type m_err_old , m_dt_old; - bool m_last_rejected; -}; - - - - - - -} // namespace odeint -} // namespace numeric -} // namespace boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_ROSENBROCK4_CONTROLLER_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp deleted file mode 100644 index 3f4cbb2..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp +++ /dev/null @@ -1,199 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp - - [begin_description] - Dense output for Rosenbrock 4. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_ROSENBROCK4_DENSE_OUTPUT_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_ROSENBROCK4_DENSE_OUTPUT_HPP_INCLUDED - - -#include - -#include - -#include -#include - - -namespace boost { -namespace numeric { -namespace odeint { - -template< class ControlledStepper > -class rosenbrock4_dense_output -{ - -public: - - typedef ControlledStepper controlled_stepper_type; - typedef typename controlled_stepper_type::stepper_type stepper_type; - typedef typename stepper_type::value_type value_type; - typedef typename stepper_type::state_type state_type; - typedef typename stepper_type::wrapped_state_type wrapped_state_type; - typedef typename stepper_type::time_type time_type; - typedef typename stepper_type::deriv_type deriv_type; - typedef typename stepper_type::wrapped_deriv_type wrapped_deriv_type; - typedef typename stepper_type::resizer_type resizer_type; - typedef dense_output_stepper_tag stepper_category; - - typedef rosenbrock4_dense_output< ControlledStepper > dense_output_stepper_type; - - rosenbrock4_dense_output( const controlled_stepper_type &stepper = controlled_stepper_type() ) - : m_stepper( stepper ) , - m_x1() , m_x2() , - m_current_state_x1( true ) , - m_t() , m_t_old() , m_dt() - { - } - - - - template< class StateType > - void initialize( const StateType &x0 , time_type t0 , time_type dt0 ) - { - m_resizer.adjust_size( x0 , detail::bind( &dense_output_stepper_type::template resize_impl< StateType > , detail::ref( *this ) , detail::_1 ) ); - get_current_state() = x0; - m_t = t0; - m_dt = dt0; - } - - template< class System > - std::pair< time_type , time_type > do_step( System system ) - { - const size_t max_count = 1000; - - controlled_step_result res = fail; - m_t_old = m_t; - size_t count = 0; - do - { - res = m_stepper.try_step( system , get_current_state() , m_t , get_old_state() , m_dt ); - if( count++ == max_count ) - throw std::overflow_error( "rosenbrock4 : too much iterations!"); - } - while( res == fail ); - m_stepper.stepper().prepare_dense_output(); - this->toggle_current_state(); - return std::make_pair( m_t_old , m_t ); - } - - - /* - * The two overloads are needed in order to solve the forwarding problem. - */ - template< class StateOut > - void calc_state( time_type t , StateOut &x ) - { - m_stepper.stepper().calc_state( t , x , get_old_state() , m_t_old , get_current_state() , m_t ); - } - - template< class StateOut > - void calc_state( time_type t , const StateOut &x ) - { - m_stepper.stepper().calc_state( t , x , get_old_state() , m_t_old , get_current_state() , m_t ); - } - - - template< class StateType > - void adjust_size( const StateType &x ) - { - m_stepper.adjust_size( x ); - resize_impl( x ); - } - - - - - const state_type& current_state( void ) const - { - return get_current_state(); - } - - time_type current_time( void ) const - { - return m_t; - } - - const state_type& previous_state( void ) const - { - return get_old_state(); - } - - time_type previous_time( void ) const - { - return m_t_old; - } - - time_type current_time_step( void ) const - { - return m_dt; - } - - - - -private: - - state_type& get_current_state( void ) - { - return m_current_state_x1 ? m_x1.m_v : m_x2.m_v ; - } - - const state_type& get_current_state( void ) const - { - return m_current_state_x1 ? m_x1.m_v : m_x2.m_v ; - } - - state_type& get_old_state( void ) - { - return m_current_state_x1 ? m_x2.m_v : m_x1.m_v ; - } - - const state_type& get_old_state( void ) const - { - return m_current_state_x1 ? m_x2.m_v : m_x1.m_v ; - } - - void toggle_current_state( void ) - { - m_current_state_x1 = ! m_current_state_x1; - } - - - template< class StateIn > - bool resize_impl( const StateIn &x ) - { - bool resized = false; - resized |= adjust_size_by_resizeability( m_x1 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_x2 , x , typename is_resizeable::type() ); - return resized; - } - - - controlled_stepper_type m_stepper; - resizer_type m_resizer; - wrapped_state_type m_x1 , m_x2; - bool m_current_state_x1; - time_type m_t , m_t_old , m_dt; -}; - - - -} // namespace odeint -} // namespace numeric -} // namespace boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_ROSENBROCK4_DENSE_OUTPUT_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4.hpp deleted file mode 100644 index ee26051..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4.hpp +++ /dev/null @@ -1,179 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/runge_kutta4.hpp - - [begin_description] - Implementation of the classical Runge-Kutta stepper with the generic stepper. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA4_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA4_HPP_INCLUDED - - - - -#include -#include - -#include -#include -#include - -#include - -#include - - - -namespace boost { -namespace numeric { -namespace odeint { - -#ifndef DOXYGEN_SKIP -template< class Value = double > -struct rk4_coefficients_a1 : boost::array< Value , 1 > -{ - rk4_coefficients_a1( void ) - { - (*this)[0] = static_cast< Value >( 1 ) / static_cast< Value >( 2 ); - } -}; - -template< class Value = double > -struct rk4_coefficients_a2 : boost::array< Value , 2 > -{ - rk4_coefficients_a2( void ) - { - (*this)[0] = static_cast(0); - (*this)[1] = static_cast< Value >( 1 ) / static_cast< Value >( 2 ); - } -}; - - -template< class Value = double > -struct rk4_coefficients_a3 : boost::array< Value , 3 > -{ - rk4_coefficients_a3( void ) - { - (*this)[0] = static_cast(0); - (*this)[1] = static_cast(0); - (*this)[2] = static_cast(1); - } -}; - -template< class Value = double > -struct rk4_coefficients_b : boost::array< Value , 4 > -{ - rk4_coefficients_b( void ) - { - (*this)[0] = static_cast(1)/static_cast(6); - (*this)[1] = static_cast(1)/static_cast(3); - (*this)[2] = static_cast(1)/static_cast(3); - (*this)[3] = static_cast(1)/static_cast(6); - } -}; - -template< class Value = double > -struct rk4_coefficients_c : boost::array< Value , 4 > -{ - rk4_coefficients_c( void ) - { - (*this)[0] = static_cast(0); - (*this)[1] = static_cast< Value >( 1 ) / static_cast< Value >( 2 ); - (*this)[2] = static_cast< Value >( 1 ) / static_cast< Value >( 2 ); - (*this)[3] = static_cast(1); - } -}; -#endif - - - -template< -class State , -class Value = double , -class Deriv = State , -class Time = Value , -class Algebra = range_algebra , -class Operations = default_operations , -class Resizer = initially_resizer -> -#ifndef DOXYGEN_SKIP -class runge_kutta4 : public explicit_generic_rk< 4 , 4 , State , Value , Deriv , Time , -Algebra , Operations , Resizer > -#else -class runge_kutta4 : public explicit_generic_rk -#endif -{ - -public: - -#ifndef DOXYGEN_SKIP - typedef explicit_generic_rk< 4 , 4 , State , Value , Deriv , Time , - Algebra , Operations , Resizer > stepper_base_type; -#endif - typedef typename stepper_base_type::state_type state_type; - typedef typename stepper_base_type::value_type value_type; - typedef typename stepper_base_type::deriv_type deriv_type; - typedef typename stepper_base_type::time_type time_type; - typedef typename stepper_base_type::algebra_type algebra_type; - typedef typename stepper_base_type::operations_type operations_type; - typedef typename stepper_base_type::resizer_type resizer_type; - - #ifndef DOXYGEN_SKIP - typedef typename stepper_base_type::wrapped_state_type wrapped_state_type; - typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type; - typedef typename stepper_base_type::stepper_type stepper_type; - #endif - - runge_kutta4( const algebra_type &algebra = algebra_type() ) : stepper_base_type( - boost::fusion::make_vector( rk4_coefficients_a1() , rk4_coefficients_a2() , rk4_coefficients_a3() ) , - rk4_coefficients_b() , rk4_coefficients_c() , algebra ) - { } - -}; - -/** - * \class runge_kutta4 - * \brief The classical Runge-Kutta stepper of fourth order. - * - * The Runge-Kutta method of fourth order is one standard method for - * solving ordinary differential equations and is widely used, see also - * en.wikipedia.org/wiki/Runge-Kutta_methods - * The method is explicit and fulfills the Stepper concept. Step size control - * or continuous output are not provided. - * - * This class derives from explicit_stepper_base and inherits its interface via CRTP (current recurring template pattern). - * Furthermore, it derivs from explicit_generic_rk which is a generic Runge-Kutta algorithm. For more details see - * explicit_stepper_base and explicit_generic_rk. - * - * \tparam State The state type. - * \tparam Value The value type. - * \tparam Deriv The type representing the time derivative of the state. - * \tparam Time The time representing the independent variable - the time. - * \tparam Algebra The algebra type. - * \tparam Operations The operations type. - * \tparam Resizer The resizer policy type. - */ - -/** - * \fn runge_kutta4::runge_kutta4( const algebra_type &algebra = algebra_type() ) - * \brief Constructs the runge_kutta4 class. This constructor can be used as a default - * constructor if the algebra has a default constructor. - * \param algebra A copy of algebra is made and stored inside explicit_stepper_base. - */ - -} -} -} - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA4_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4_classic.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4_classic.hpp deleted file mode 100644 index 3b61841..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4_classic.hpp +++ /dev/null @@ -1,220 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/runge_kutta4_classic.hpp - - [begin_description] - Implementation for the classical Runge Kutta stepper. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA4_CLASSIC_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA4_CLASSIC_HPP_INCLUDED - - - -#include -#include -#include - -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - -template< -class State , -class Value = double , -class Deriv = State , -class Time = Value , -class Algebra = range_algebra , -class Operations = default_operations , -class Resizer = initially_resizer -> -#ifndef DOXYGEN_SKIP -class runge_kutta4_classic -: public explicit_stepper_base< - runge_kutta4_classic< State , Value , Deriv , Time , Algebra , Operations , Resizer > , - 4 , State , Value , Deriv , Time , Algebra , Operations , Resizer > -#else -class runge_kutta4_classic : public explicit_stepper_base -#endif -{ - -public : - - #ifndef DOXYGEN_SKIP - typedef explicit_stepper_base< - runge_kutta4_classic< State , Value , Deriv , Time , Algebra , Operations , Resizer > , - 4 , State , Value , Deriv , Time , Algebra , Operations , Resizer > stepper_base_type; - #else - typedef explicit_stepper_base< runge_kutta4_classic< ... > , ... > stepper_base_type; - #endif - - typedef typename stepper_base_type::state_type state_type; - typedef typename stepper_base_type::value_type value_type; - typedef typename stepper_base_type::deriv_type deriv_type; - typedef typename stepper_base_type::time_type time_type; - typedef typename stepper_base_type::algebra_type algebra_type; - typedef typename stepper_base_type::operations_type operations_type; - typedef typename stepper_base_type::resizer_type resizer_type; - - #ifndef DOXYGEN_SKIP - typedef typename stepper_base_type::stepper_type stepper_type; - typedef typename stepper_base_type::wrapped_state_type wrapped_state_type; - typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type; - #endif // DOXYGEN_SKIP - - - - runge_kutta4_classic( const algebra_type &algebra = algebra_type() ) : stepper_base_type( algebra ) - { } - - - template< class System , class StateIn , class DerivIn , class StateOut > - void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt ) - { - // ToDo : check if size of in,dxdt,out are equal? - - static const value_type val1 = static_cast< value_type >( 1 ); - - m_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_impl< StateIn > , detail::ref( *this ) , detail::_1 ) ); - - typename odeint::unwrap_reference< System >::type &sys = system; - - const time_type dh = dt / static_cast< value_type >( 2 ); - const time_type th = t + dh; - - // dt * dxdt = k1 - // m_x_tmp = x + dh*dxdt - stepper_base_type::m_algebra.for_each3( m_x_tmp.m_v , in , dxdt , - typename operations_type::template scale_sum2< value_type , time_type >( val1 , dh ) ); - - - // dt * m_dxt = k2 - sys( m_x_tmp.m_v , m_dxt.m_v , th ); - - // m_x_tmp = x + dh*m_dxt - stepper_base_type::m_algebra.for_each3( m_x_tmp.m_v , in , m_dxt.m_v , - typename operations_type::template scale_sum2< value_type , time_type >( val1 , dh ) ); - - - // dt * m_dxm = k3 - sys( m_x_tmp.m_v , m_dxm.m_v , th ); - //m_x_tmp = x + dt*m_dxm - stepper_base_type::m_algebra.for_each3( m_x_tmp.m_v , in , m_dxm.m_v , - typename operations_type::template scale_sum2< value_type , time_type >( val1 , dt ) ); - - - // dt * m_dxh = k4 - sys( m_x_tmp.m_v , m_dxh.m_v , t + dt ); - //x += dt/6 * ( m_dxdt + m_dxt + val2*m_dxm ) - time_type dt6 = dt / static_cast< value_type >( 6 ); - time_type dt3 = dt / static_cast< value_type >( 3 ); - stepper_base_type::m_algebra.for_each6( out , in , dxdt , m_dxt.m_v , m_dxm.m_v , m_dxh.m_v , - typename operations_type::template scale_sum5< value_type , time_type , time_type , time_type , time_type >( 1.0 , dt6 , dt3 , dt3 , dt6 ) ); - } - - template< class StateType > - void adjust_size( const StateType &x ) - { - resize_impl( x ); - stepper_base_type::adjust_size( x ); - } - -private: - - template< class StateIn > - bool resize_impl( const StateIn &x ) - { - bool resized = false; - resized |= adjust_size_by_resizeability( m_x_tmp , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_dxm , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_dxt , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_dxh , x , typename is_resizeable::type() ); - return resized; - } - - - resizer_type m_resizer; - - wrapped_deriv_type m_dxt; - wrapped_deriv_type m_dxm; - wrapped_deriv_type m_dxh; - wrapped_state_type m_x_tmp; - -}; - - -/********* DOXYGEN *********/ - -/** - * \class runge_kutta4_classic - * \brief The classical Runge-Kutta stepper of fourth order. - * - * The Runge-Kutta method of fourth order is one standard method for - * solving ordinary differential equations and is widely used, see also - * en.wikipedia.org/wiki/Runge-Kutta_methods - * The method is explicit and fulfills the Stepper concept. Step size control - * or continuous output are not provided. This class implements the method directly, hence the - * generic Runge-Kutta algorithm is not used. - * - * This class derives from explicit_stepper_base and inherits its interface via - * CRTP (current recurring template pattern). For more details see - * explicit_stepper_base. - * - * \tparam State The state type. - * \tparam Value The value type. - * \tparam Deriv The type representing the time derivative of the state. - * \tparam Time The time representing the independent variable - the time. - * \tparam Algebra The algebra type. - * \tparam Operations The operations type. - * \tparam Resizer The resizer policy type. - */ - - /** - * \fn runge_kutta4_classic::runge_kutta4_classic( const algebra_type &algebra ) - * \brief Constructs the runge_kutta4_classic class. This constructor can be used as a default - * constructor if the algebra has a default constructor. - * \param algebra A copy of algebra is made and stored inside explicit_stepper_base. - */ - - - /** - * \fn runge_kutta4_classic::do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt ) - * \brief This method performs one step. The derivative `dxdt` of `in` at the time `t` is passed to the method. - * The result is updated out of place, hence the input is in `in` and the output in `out`. - * Access to this step functionality is provided by explicit_stepper_base and - * `do_step_impl` should not be called directly. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param dxdt The derivative of x at t. - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dt The step size. - */ - - /** - * \fn runge_kutta4_classic::adjust_size( const StateType &x ) - * \brief Adjust the size of all temporaries in the stepper manually. - * \param x A state from which the size of the temporaries to be resized is deduced. - */ - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA4_CLASSIC_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp deleted file mode 100644 index b6485a8..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp +++ /dev/null @@ -1,229 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp - - [begin_description] - Implementation of the Runge Kutta Cash Karp 5(4) method. It uses the generic error stepper. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_CASH_KARP54_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_CASH_KARP54_HPP_INCLUDED - -#include -#include - -#include -#include -#include - -#include -#include -#include - -#include - - - - -namespace boost { -namespace numeric { -namespace odeint { - - -#ifndef DOXYGEN_SKIP -template< class Value = double > -struct rk54_ck_coefficients_a1 : boost::array< Value , 1 > -{ - rk54_ck_coefficients_a1( void ) - { - (*this)[0] = static_cast< Value >( 1 )/static_cast< Value >( 5 ); - } -}; - -template< class Value = double > -struct rk54_ck_coefficients_a2 : boost::array< Value , 2 > -{ - rk54_ck_coefficients_a2( void ) - { - (*this)[0] = static_cast( 3 )/static_cast( 40 ); - (*this)[1] = static_cast( 9 )/static_cast( 40 ); - } -}; - - -template< class Value = double > -struct rk54_ck_coefficients_a3 : boost::array< Value , 3 > -{ - rk54_ck_coefficients_a3( void ) - { - (*this)[0] = static_cast( 3 )/static_cast( 10 ); - (*this)[1] = static_cast( -9 )/static_cast( 10 ); - (*this)[2] = static_cast( 6 )/static_cast( 5 ); - } -}; - -template< class Value = double > -struct rk54_ck_coefficients_a4 : boost::array< Value , 4 > -{ - rk54_ck_coefficients_a4( void ) - { - (*this)[0] = static_cast( -11 )/static_cast( 54 ); - (*this)[1] = static_cast( 5 )/static_cast( 2 ); - (*this)[2] = static_cast( -70 )/static_cast( 27 ); - (*this)[3] = static_cast( 35 )/static_cast( 27 ); - } -}; - -template< class Value = double > -struct rk54_ck_coefficients_a5 : boost::array< Value , 5 > -{ - rk54_ck_coefficients_a5( void ) - { - (*this)[0] = static_cast( 1631 )/static_cast( 55296 ); - (*this)[1] = static_cast( 175 )/static_cast( 512 ); - (*this)[2] = static_cast( 575 )/static_cast( 13824 ); - (*this)[3] = static_cast( 44275 )/static_cast( 110592 ); - (*this)[4] = static_cast( 253 )/static_cast( 4096 ); - } -}; - -template< class Value = double > -struct rk54_ck_coefficients_b : boost::array< Value , 6 > -{ - rk54_ck_coefficients_b( void ) - { - (*this)[0] = static_cast( 37 )/static_cast( 378 ); - (*this)[1] = static_cast( 0 ); - (*this)[2] = static_cast( 250 )/static_cast( 621 ); - (*this)[3] = static_cast( 125 )/static_cast( 594 ); - (*this)[4] = static_cast( 0 ); - (*this)[5] = static_cast( 512 )/static_cast( 1771 ); - } -}; - -template< class Value = double > -struct rk54_ck_coefficients_db : boost::array< Value , 6 > -{ - rk54_ck_coefficients_db( void ) - { - (*this)[0] = static_cast( 37 )/static_cast( 378 ) - static_cast( 2825 )/static_cast( 27648 ); - (*this)[1] = static_cast( 0 ); - (*this)[2] = static_cast( 250 )/static_cast( 621 ) - static_cast( 18575 )/static_cast( 48384 ); - (*this)[3] = static_cast( 125 )/static_cast( 594 ) - static_cast( 13525 )/static_cast( 55296 ); - (*this)[4] = static_cast( -277 )/static_cast( 14336 ); - (*this)[5] = static_cast( 512 )/static_cast( 1771 ) - static_cast( 1 )/static_cast( 4 ); - } -}; - - -template< class Value = double > -struct rk54_ck_coefficients_c : boost::array< Value , 6 > -{ - rk54_ck_coefficients_c( void ) - { - (*this)[0] = static_cast(0); - (*this)[1] = static_cast( 1 )/static_cast( 5 ); - (*this)[2] = static_cast( 3 )/static_cast( 10 ); - (*this)[3] = static_cast( 3 )/static_cast( 5 ); - (*this)[4] = static_cast( 1 ); - (*this)[5] = static_cast( 7 )/static_cast( 8 ); - } -}; -#endif - - -template< - class State , - class Value = double , - class Deriv = State , - class Time = Value , - class Algebra = range_algebra , - class Operations = default_operations , - class Resizer = initially_resizer - > -#ifndef DOXYGEN_SKIP -class runge_kutta_cash_karp54 : public explicit_error_generic_rk< 6 , 5 , 5 , 4 , - State , Value , Deriv , Time , Algebra , Operations , Resizer > -#else -class runge_kutta_cash_karp54 : public explicit_error_generic_rk -#endif -{ - -public: -#ifndef DOXYGEN_SKIP - typedef explicit_error_generic_rk< 6 , 5 , 5 , 4 , State , Value , Deriv , Time , - Algebra , Operations , Resizer > stepper_base_type; -#endif - typedef typename stepper_base_type::state_type state_type; - typedef typename stepper_base_type::value_type value_type; - typedef typename stepper_base_type::deriv_type deriv_type; - typedef typename stepper_base_type::time_type time_type; - typedef typename stepper_base_type::algebra_type algebra_type; - typedef typename stepper_base_type::operations_type operations_type; - typedef typename stepper_base_type::resizer_type resizer_typ; - - #ifndef DOXYGEN_SKIP - typedef typename stepper_base_type::stepper_type stepper_type; - typedef typename stepper_base_type::wrapped_state_type wrapped_state_type; - typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type; - #endif - - - runge_kutta_cash_karp54( const algebra_type &algebra = algebra_type() ) : stepper_base_type( - boost::fusion::make_vector( rk54_ck_coefficients_a1() , - rk54_ck_coefficients_a2() , - rk54_ck_coefficients_a3() , - rk54_ck_coefficients_a4() , - rk54_ck_coefficients_a5() ) , - rk54_ck_coefficients_b() , rk54_ck_coefficients_db() , rk54_ck_coefficients_c() , - algebra ) - { } -}; - - -/********** DOXYGEN **********/ - -/** - * \class runge_kutta_cash_karp54 - * \brief The Runge-Kutta Cash-Karp method. - * - * The Runge-Kutta Cash-Karp method is one of the standard methods for - * solving ordinary differential equations, see - * en.wikipedia.org/wiki/Cash-Karp_methods. - * The method is explicit and fulfills the Error Stepper concept. Step size control - * is provided but continuous output is not available for this method. - * - * This class derives from explicit_error_stepper_base and inherits its interface via CRTP (current recurring template pattern). - * Furthermore, it derivs from explicit_error_generic_rk which is a generic Runge-Kutta algorithm with error estimation. - * For more details see explicit_error_stepper_base and explicit_error_generic_rk. - * - * \tparam State The state type. - * \tparam Value The value type. - * \tparam Deriv The type representing the time derivative of the state. - * \tparam Time The time representing the independent variable - the time. - * \tparam Algebra The algebra type. - * \tparam Operations The operations type. - * \tparam Resizer The resizer policy type. - */ - - - /** - * \fn runge_kutta_cash_karp54::runge_kutta_cash_karp54( const algebra_type &algebra ) - * \brief Constructs the runge_kutta_cash_karp54 class. This constructor can be used as a default - * constructor if the algebra has a default constructor. - * \param algebra A copy of algebra is made and stored inside explicit_stepper_base. - */ -} -} -} - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_CASH_KARP54_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp deleted file mode 100644 index 19bcd3f..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp +++ /dev/null @@ -1,286 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp - - [begin_description] - Classical implementation of the Runge-Kutta Cash-Karp 5(4) method. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_CASH_KARP54_CLASSIC_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_CASH_KARP54_CLASSIC_HPP_INCLUDED - - -#include - -#include -#include -#include -#include -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - - - - -template< -class State , -class Value = double , -class Deriv = State , -class Time = double , -class Algebra = range_algebra , -class Operations = default_operations , -class Resizer = initially_resizer -> -#ifndef DOXYGEN_SKIP -class runge_kutta_cash_karp54_classic -: public explicit_error_stepper_base< - runge_kutta_cash_karp54_classic< State , Value , Deriv , Time , Algebra , Operations , Resizer > , - 5 , 5 , 4 , State , Value , Deriv , Time , Algebra , Operations , Resizer > -#else -class runge_kutta_cash_karp54_classic : public explicit_error_stepper_base -#endif -{ - - -public : - - #ifndef DOXYGEN_SKIP - typedef explicit_error_stepper_base< - runge_kutta_cash_karp54_classic< State , Value , Deriv , Time , Algebra , Operations , Resizer > , - 5 , 5 , 4 , State , Value , Deriv , Time , Algebra , Operations , Resizer > stepper_base_type; - #else - typedef explicit_error_stepper_base< runge_kutta_cash_karp54_classic< ... > , ... > stepper_base_type; - #endif - - typedef typename stepper_base_type::state_type state_type; - typedef typename stepper_base_type::value_type value_type; - typedef typename stepper_base_type::deriv_type deriv_type; - typedef typename stepper_base_type::time_type time_type; - typedef typename stepper_base_type::algebra_type algebra_type; - typedef typename stepper_base_type::operations_type operations_type; - typedef typename stepper_base_type::resizer_type resizer_type; - - #ifndef DOXYGEN_SKIP - typedef typename stepper_base_type::wrapped_state_type wrapped_state_type; - typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type; - typedef typename stepper_base_type::stepper_type stepper_type; - #endif - - - runge_kutta_cash_karp54_classic( const algebra_type &algebra = algebra_type() ) : stepper_base_type( algebra ) - { } - - - - template< class System , class StateIn , class DerivIn , class StateOut , class Err > - void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt , Err &xerr ) - { - const value_type c1 = static_cast ( 37 ) / static_cast( 378 ); - const value_type c3 = static_cast ( 250 ) / static_cast( 621 ); - const value_type c4 = static_cast ( 125 ) / static_cast( 594 ); - const value_type c6 = static_cast ( 512 ) / static_cast( 1771 ); - - const value_type dc1 = c1 - static_cast ( 2825 ) / static_cast( 27648 ); - const value_type dc3 = c3 - static_cast ( 18575 ) / static_cast( 48384 ); - const value_type dc4 = c4 - static_cast ( 13525 ) / static_cast( 55296 ); - const value_type dc5 = static_cast ( -277 ) / static_cast( 14336 ); - const value_type dc6 = c6 - static_cast ( 1 ) / static_cast ( 4 ); - - do_step_impl( system , in , dxdt , t , out , dt ); - - //error estimate - stepper_base_type::m_algebra.for_each6( xerr , dxdt , m_k3.m_v , m_k4.m_v , m_k5.m_v , m_k6.m_v , - typename operations_type::template scale_sum5< time_type , time_type , time_type , time_type , time_type >( dt*dc1 , dt*dc3 , dt*dc4 , dt*dc5 , dt*dc6 )); - - } - - - - template< class System , class StateIn , class DerivIn , class StateOut > - void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt ) - { - const value_type a2 = static_cast ( 1 ) / static_cast ( 5 ); - const value_type a3 = static_cast ( 3 ) / static_cast ( 10 ); - const value_type a4 = static_cast ( 3 ) / static_cast ( 5 ); - const value_type a5 = static_cast ( 1 ); - const value_type a6 = static_cast ( 7 ) / static_cast ( 8 ); - - const value_type b21 = static_cast ( 1 ) / static_cast ( 5 ); - const value_type b31 = static_cast ( 3 ) / static_cast( 40 ); - const value_type b32 = static_cast ( 9 ) / static_cast( 40 ); - const value_type b41 = static_cast ( 3 ) / static_cast ( 10 ); - const value_type b42 = static_cast ( -9 ) / static_cast ( 10 ); - const value_type b43 = static_cast ( 6 ) / static_cast ( 5 ); - const value_type b51 = static_cast ( -11 ) / static_cast( 54 ); - const value_type b52 = static_cast ( 5 ) / static_cast ( 2 ); - const value_type b53 = static_cast ( -70 ) / static_cast( 27 ); - const value_type b54 = static_cast ( 35 ) / static_cast( 27 ); - const value_type b61 = static_cast ( 1631 ) / static_cast( 55296 ); - const value_type b62 = static_cast ( 175 ) / static_cast( 512 ); - const value_type b63 = static_cast ( 575 ) / static_cast( 13824 ); - const value_type b64 = static_cast ( 44275 ) / static_cast( 110592 ); - const value_type b65 = static_cast ( 253 ) / static_cast( 4096 ); - - const value_type c1 = static_cast ( 37 ) / static_cast( 378 ); - const value_type c3 = static_cast ( 250 ) / static_cast( 621 ); - const value_type c4 = static_cast ( 125 ) / static_cast( 594 ); - const value_type c6 = static_cast ( 512 ) / static_cast( 1771 ); - - typename odeint::unwrap_reference< System >::type &sys = system; - - m_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_impl , detail::ref( *this ) , detail::_1 ) ); - - //m_x1 = x + dt*b21*dxdt - stepper_base_type::m_algebra.for_each3( m_x_tmp.m_v , in , dxdt , - typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , dt*b21 ) ); - - sys( m_x_tmp.m_v , m_k2.m_v , t + dt*a2 ); - // m_x_tmp = x + dt*b31*dxdt + dt*b32*m_x2 - stepper_base_type::m_algebra.for_each4( m_x_tmp.m_v , in , dxdt , m_k2.m_v , - typename operations_type::template scale_sum3< value_type , time_type , time_type >( 1.0 , dt*b31 , dt*b32 )); - - sys( m_x_tmp.m_v , m_k3.m_v , t + dt*a3 ); - // m_x_tmp = x + dt * (b41*dxdt + b42*m_x2 + b43*m_x3) - stepper_base_type::m_algebra.for_each5( m_x_tmp.m_v , in , dxdt , m_k2.m_v , m_k3.m_v , - typename operations_type::template scale_sum4< value_type , time_type , time_type , time_type >( 1.0 , dt*b41 , dt*b42 , dt*b43 )); - - sys( m_x_tmp.m_v, m_k4.m_v , t + dt*a4 ); - stepper_base_type::m_algebra.for_each6( m_x_tmp.m_v , in , dxdt , m_k2.m_v , m_k3.m_v , m_k4.m_v , - typename operations_type::template scale_sum5< value_type , time_type , time_type , time_type , time_type >( 1.0 , dt*b51 , dt*b52 , dt*b53 , dt*b54 )); - - sys( m_x_tmp.m_v , m_k5.m_v , t + dt*a5 ); - stepper_base_type::m_algebra.for_each7( m_x_tmp.m_v , in , dxdt , m_k2.m_v , m_k3.m_v , m_k4.m_v , m_k5.m_v , - typename operations_type::template scale_sum6< value_type , time_type , time_type , time_type , time_type , time_type >( 1.0 , dt*b61 , dt*b62 , dt*b63 , dt*b64 , dt*b65 )); - - sys( m_x_tmp.m_v , m_k6.m_v , t + dt*a6 ); - stepper_base_type::m_algebra.for_each6( out , in , dxdt , m_k3.m_v , m_k4.m_v , m_k6.m_v , - typename operations_type::template scale_sum5< value_type , time_type , time_type , time_type , time_type >( 1.0 , dt*c1 , dt*c3 , dt*c4 , dt*c6 )); - - } - - /** - * \brief Adjust the size of all temporaries in the stepper manually. - * \param x A state from which the size of the temporaries to be resized is deduced. - */ - template< class StateIn > - void adjust_size( const StateIn &x ) - { - resize_impl( x ); - stepper_base_type::adjust_size( x ); - } - -private: - - template< class StateIn > - bool resize_impl( const StateIn &x ) - { - bool resized = false; - resized |= adjust_size_by_resizeability( m_x_tmp , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_k2 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_k3 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_k4 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_k5 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_k6 , x , typename is_resizeable::type() ); - return resized; - } - - - wrapped_state_type m_x_tmp; - wrapped_deriv_type m_k2, m_k3, m_k4, m_k5, m_k6; - resizer_type m_resizer; - -}; - - - -/************ DOXYGEN *************/ - -/** - * \class runge_kutta_cash_karp54_classic - * \brief The Runge-Kutta Cash-Karp method implemented without the generic Runge-Kutta algorithm. - * - * The Runge-Kutta Cash-Karp method is one of the standard methods for - * solving ordinary differential equations, see - * en.wikipedia.org/wiki/Cash-Karp_method. - * The method is explicit and fulfills the Error Stepper concept. Step size control - * is provided but continuous output is not available for this method. - * - * This class derives from explicit_error_stepper_base and inherits its interface via CRTP (current recurring - * template pattern). This class implements the method directly, hence the generic Runge-Kutta algorithm is not used. - * - * \tparam State The state type. - * \tparam Value The value type. - * \tparam Deriv The type representing the time derivative of the state. - * \tparam Time The time representing the independent variable - the time. - * \tparam Algebra The algebra type. - * \tparam Operations The operations type. - * \tparam Resizer The resizer policy type. - */ - - - /** - * \fn runge_kutta_cash_karp54_classic::runge_kutta_cash_karp54_classic( const algebra_type &algebra ) - * \brief Constructs the runge_kutta_cash_karp54_classic class. This constructor can be used as a default - * constructor if the algebra has a default constructor. - * \param algebra A copy of algebra is made and stored inside explicit_stepper_base. - */ - - - /** - * \fn runge_kutta_cash_karp54_classic::do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt , Err &xerr ) - * \brief This method performs one step. The derivative `dxdt` of `in` at the time `t` is passed to the method. - * - * The result is updated out-of-place, hence the input is in `in` and the output in `out`. Futhermore, an - * estimation of the error is stored in `xerr`. - * Access to this step functionality is provided by explicit_error_stepper_base and - * `do_step_impl` should not be called directly. - - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param dxdt The derivative of x at t. - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dt The step size. - * \param xerr The result of the error estimation is written in xerr. - */ - - /** - * \fn runge_kutta_cash_karp54_classic::do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt ) - * \brief This method performs one step. The derivative `dxdt` of `in` at the time `t` is passed to the method. - * The result is updated out-of-place, hence the input is in `in` and the output in `out`. - * Access to this step functionality is provided by explicit_error_stepper_base and - * `do_step_impl` should not be called directly. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param dxdt The derivative of x at t. - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dt The step size. - */ - -} // odeint -} // numeric -} // boost - - - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_CASH_KARP54_CLASSIC_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp deleted file mode 100644 index d6d01e6..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp +++ /dev/null @@ -1,400 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp - - [begin_description] - Implementation of the Dormand-Prince 5(4) method. This stepper can also be used with the dense-output controlled stepper. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_DOPRI5_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_DOPRI5_HPP_INCLUDED - - -#include - -#include -#include -#include -#include - -#include -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - - - -template< -class State , -class Value = double , -class Deriv = State , -class Time = Value , -class Algebra = range_algebra , -class Operations = default_operations , -class Resizer = initially_resizer -> -class runge_kutta_dopri5 -#ifndef DOXYGEN_SKIP -: public explicit_error_stepper_fsal_base< - runge_kutta_dopri5< State , Value , Deriv , Time , Algebra , Operations , Resizer > , - 5 , 5 , 4 , State , Value , Deriv , Time , Algebra , Operations , Resizer > -#else -: public explicit_error_stepper_fsal_base -#endif -{ - -public : - - #ifndef DOXYGEN_SKIP - typedef explicit_error_stepper_fsal_base< - runge_kutta_dopri5< State , Value , Deriv , Time , Algebra , Operations , Resizer > , - 5 , 5 , 4 , State , Value , Deriv , Time , Algebra , Operations , Resizer > stepper_base_type; - #else - typedef explicit_error_stepper_fsal_base< runge_kutta_dopri5< ... > , ... > stepper_base_type; - #endif - - typedef typename stepper_base_type::state_type state_type; - typedef typename stepper_base_type::value_type value_type; - typedef typename stepper_base_type::deriv_type deriv_type; - typedef typename stepper_base_type::time_type time_type; - typedef typename stepper_base_type::algebra_type algebra_type; - typedef typename stepper_base_type::operations_type operations_type; - typedef typename stepper_base_type::resizer_type resizer_type; - - #ifndef DOXYGEN_SKIP - typedef typename stepper_base_type::stepper_type stepper_type; - typedef typename stepper_base_type::wrapped_state_type wrapped_state_type; - typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type; - #endif // DOXYGEN_SKIP - - - runge_kutta_dopri5( const algebra_type &algebra = algebra_type() ) : stepper_base_type( algebra ) - { } - - - template< class System , class StateIn , class DerivIn , class StateOut , class DerivOut > - void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt_in , time_type t , - StateOut &out , DerivOut &dxdt_out , time_type dt ) - { - const value_type a2 = static_cast ( 1 ) / static_cast( 5 ); - const value_type a3 = static_cast ( 3 ) / static_cast ( 10 ); - const value_type a4 = static_cast ( 4 ) / static_cast ( 5 ); - const value_type a5 = static_cast ( 8 )/static_cast ( 9 ); - - const value_type b21 = static_cast ( 1 ) / static_cast ( 5 ); - - const value_type b31 = static_cast ( 3 ) / static_cast( 40 ); - const value_type b32 = static_cast ( 9 ) / static_cast( 40 ); - - const value_type b41 = static_cast ( 44 ) / static_cast ( 45 ); - const value_type b42 = static_cast ( -56 ) / static_cast ( 15 ); - const value_type b43 = static_cast ( 32 ) / static_cast ( 9 ); - - const value_type b51 = static_cast ( 19372 ) / static_cast( 6561 ); - const value_type b52 = static_cast ( -25360 ) / static_cast ( 2187 ); - const value_type b53 = static_cast ( 64448 ) / static_cast( 6561 ); - const value_type b54 = static_cast ( -212 ) / static_cast( 729 ); - - const value_type b61 = static_cast ( 9017 ) / static_cast( 3168 ); - const value_type b62 = static_cast ( -355 ) / static_cast( 33 ); - const value_type b63 = static_cast ( 46732 ) / static_cast( 5247 ); - const value_type b64 = static_cast ( 49 ) / static_cast( 176 ); - const value_type b65 = static_cast ( -5103 ) / static_cast( 18656 ); - - const value_type c1 = static_cast ( 35 ) / static_cast( 384 ); - const value_type c3 = static_cast ( 500 ) / static_cast( 1113 ); - const value_type c4 = static_cast ( 125 ) / static_cast( 192 ); - const value_type c5 = static_cast ( -2187 ) / static_cast( 6784 ); - const value_type c6 = static_cast ( 11 ) / static_cast( 84 ); - - typename odeint::unwrap_reference< System >::type &sys = system; - - m_k_x_tmp_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_k_x_tmp_impl , detail::ref( *this ) , detail::_1 ) ); - - //m_x_tmp = x + dt*b21*dxdt - stepper_base_type::m_algebra.for_each3( m_x_tmp.m_v , in , dxdt_in , - typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , dt*b21 ) ); - - sys( m_x_tmp.m_v , m_k2.m_v , t + dt*a2 ); - // m_x_tmp = x + dt*b31*dxdt + dt*b32*m_k2 - stepper_base_type::m_algebra.for_each4( m_x_tmp.m_v , in , dxdt_in , m_k2.m_v , - typename operations_type::template scale_sum3< value_type , time_type , time_type >( 1.0 , dt*b31 , dt*b32 )); - - sys( m_x_tmp.m_v , m_k3.m_v , t + dt*a3 ); - // m_x_tmp = x + dt * (b41*dxdt + b42*m_k2 + b43*m_k3) - stepper_base_type::m_algebra.for_each5( m_x_tmp.m_v , in , dxdt_in , m_k2.m_v , m_k3.m_v , - typename operations_type::template scale_sum4< value_type , time_type , time_type , time_type >( 1.0 , dt*b41 , dt*b42 , dt*b43 )); - - sys( m_x_tmp.m_v, m_k4.m_v , t + dt*a4 ); - stepper_base_type::m_algebra.for_each6( m_x_tmp.m_v , in , dxdt_in , m_k2.m_v , m_k3.m_v , m_k4.m_v , - typename operations_type::template scale_sum5< value_type , time_type , time_type , time_type , time_type >( 1.0 , dt*b51 , dt*b52 , dt*b53 , dt*b54 )); - - sys( m_x_tmp.m_v , m_k5.m_v , t + dt*a5 ); - stepper_base_type::m_algebra.for_each7( m_x_tmp.m_v , in , dxdt_in , m_k2.m_v , m_k3.m_v , m_k4.m_v , m_k5.m_v , - typename operations_type::template scale_sum6< value_type , time_type , time_type , time_type , time_type , time_type >( 1.0 , dt*b61 , dt*b62 , dt*b63 , dt*b64 , dt*b65 )); - - sys( m_x_tmp.m_v , m_k6.m_v , t + dt ); - stepper_base_type::m_algebra.for_each7( out , in , dxdt_in , m_k3.m_v , m_k4.m_v , m_k5.m_v , m_k6.m_v , - typename operations_type::template scale_sum6< value_type , time_type , time_type , time_type , time_type , time_type >( 1.0 , dt*c1 , dt*c3 , dt*c4 , dt*c5 , dt*c6 )); - - // the new derivative - sys( out , dxdt_out , t + dt ); - } - - - - template< class System , class StateIn , class DerivIn , class StateOut , class DerivOut , class Err > - void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt_in , time_type t , - StateOut &out , DerivOut &dxdt_out , time_type dt , Err &xerr ) - { - const value_type c1 = static_cast ( 35 ) / static_cast( 384 ); - const value_type c3 = static_cast ( 500 ) / static_cast( 1113 ); - const value_type c4 = static_cast ( 125 ) / static_cast( 192 ); - const value_type c5 = static_cast ( -2187 ) / static_cast( 6784 ); - const value_type c6 = static_cast ( 11 ) / static_cast( 84 ); - - const value_type dc1 = c1 - static_cast ( 5179 ) / static_cast( 57600 ); - const value_type dc3 = c3 - static_cast ( 7571 ) / static_cast( 16695 ); - const value_type dc4 = c4 - static_cast ( 393 ) / static_cast( 640 ); - const value_type dc5 = c5 - static_cast ( -92097 ) / static_cast( 339200 ); - const value_type dc6 = c6 - static_cast ( 187 ) / static_cast( 2100 ); - const value_type dc7 = static_cast( -1 ) / static_cast ( 40 ); - - /* ToDo: copy only if &dxdt_in == &dxdt_out ? */ - if( same_instance( dxdt_in , dxdt_out ) ) - { - m_dxdt_tmp_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_dxdt_tmp_impl , detail::ref( *this ) , detail::_1 ) ); - boost::numeric::odeint::copy( dxdt_in , m_dxdt_tmp.m_v ); - do_step_impl( system , in , dxdt_in , t , out , dxdt_out , dt ); - //error estimate - stepper_base_type::m_algebra.for_each7( xerr , m_dxdt_tmp.m_v , m_k3.m_v , m_k4.m_v , m_k5.m_v , m_k6.m_v , dxdt_out , - typename operations_type::template scale_sum6< time_type , time_type , time_type , time_type , time_type , time_type >( dt*dc1 , dt*dc3 , dt*dc4 , dt*dc5 , dt*dc6 , dt*dc7 ) ); - - } - else - { - do_step_impl( system , in , dxdt_in , t , out , dxdt_out , dt ); - //error estimate - stepper_base_type::m_algebra.for_each7( xerr , dxdt_in , m_k3.m_v , m_k4.m_v , m_k5.m_v , m_k6.m_v , dxdt_out , - typename operations_type::template scale_sum6< time_type , time_type , time_type , time_type , time_type , time_type >( dt*dc1 , dt*dc3 , dt*dc4 , dt*dc5 , dt*dc6 , dt*dc7 ) ); - - } - - } - - - /* - * Calculates Dense-Output for Dopri5 - * - * See Hairer, Norsett, Wanner: Solving Ordinary Differential Equations, Nonstiff Problems. I, p.191/192 - * - * y(t+theta) = y(t) + h * sum_i^7 b_i(theta) * k_i - * - * A = theta^2 * ( 3 - 2 theta ) - * B = theta^2 * ( theta - 1 ) - * C = theta^2 * ( theta - 1 )^2 - * D = theta * ( theta - 1 )^2 - * - * b_1( theta ) = A * b_1 - C * X1( theta ) + D - * b_2( theta ) = 0 - * b_3( theta ) = A * b_3 + C * X3( theta ) - * b_4( theta ) = A * b_4 - C * X4( theta ) - * b_5( theta ) = A * b_5 + C * X5( theta ) - * b_6( theta ) = A * b_6 - C * X6( theta ) - * b_7( theta ) = B + C * X7( theta ) - * - * An alternative Method is described in: - * - * www-m2.ma.tum.de/homepages/simeon/numerik3/kap3.ps - */ - template< class StateOut , class StateIn1 , class DerivIn1 , class StateIn2 , class DerivIn2 > - void calc_state( time_type t , StateOut &x , - const StateIn1 &x_old , const DerivIn1 &deriv_old , time_type t_old , - const StateIn2 & /* x_new */ , const DerivIn2 &deriv_new , time_type t_new ) const - { - const value_type b1 = static_cast ( 35 ) / static_cast( 384 ); - const value_type b3 = static_cast ( 500 ) / static_cast( 1113 ); - const value_type b4 = static_cast ( 125 ) / static_cast( 192 ); - const value_type b5 = static_cast ( -2187 ) / static_cast( 6784 ); - const value_type b6 = static_cast ( 11 ) / static_cast( 84 ); - - const time_type dt = ( t_new - t_old ); - const value_type theta = ( t - t_old ) / dt; - const value_type X1 = static_cast< value_type >( 5 ) * ( static_cast< value_type >( 2558722523LL ) - static_cast< value_type >( 31403016 ) * theta ) / static_cast< value_type >( 11282082432LL ); - const value_type X3 = static_cast< value_type >( 100 ) * ( static_cast< value_type >( 882725551 ) - static_cast< value_type >( 15701508 ) * theta ) / static_cast< value_type >( 32700410799LL ); - const value_type X4 = static_cast< value_type >( 25 ) * ( static_cast< value_type >( 443332067 ) - static_cast< value_type >( 31403016 ) * theta ) / static_cast< value_type >( 1880347072LL ) ; - const value_type X5 = static_cast< value_type >( 32805 ) * ( static_cast< value_type >( 23143187 ) - static_cast< value_type >( 3489224 ) * theta ) / static_cast< value_type >( 199316789632LL ); - const value_type X6 = static_cast< value_type >( 55 ) * ( static_cast< value_type >( 29972135 ) - static_cast< value_type >( 7076736 ) * theta ) / static_cast< value_type >( 822651844 ); - const value_type X7 = static_cast< value_type >( 10 ) * ( static_cast< value_type >( 7414447 ) - static_cast< value_type >( 829305 ) * theta ) / static_cast< value_type >( 29380423 ); - - const value_type theta_m_1 = theta - static_cast< value_type >( 1 ); - const value_type theta_sq = theta * theta; - const value_type A = theta_sq * ( static_cast< value_type >( 3 ) - static_cast< value_type >( 2 ) * theta ); - const value_type B = theta_sq * theta_m_1; - const value_type C = theta_sq * theta_m_1 * theta_m_1; - const value_type D = theta * theta_m_1 * theta_m_1; - - const value_type b1_theta = A * b1 - C * X1 + D; - const value_type b3_theta = A * b3 + C * X3; - const value_type b4_theta = A * b4 - C * X4; - const value_type b5_theta = A * b5 + C * X5; - const value_type b6_theta = A * b6 - C * X6; - const value_type b7_theta = B + C * X7; - - // const state_type &k1 = *m_old_deriv; - // const state_type &k3 = dopri5().m_k3; - // const state_type &k4 = dopri5().m_k4; - // const state_type &k5 = dopri5().m_k5; - // const state_type &k6 = dopri5().m_k6; - // const state_type &k7 = *m_current_deriv; - - stepper_base_type::m_algebra.for_each8( x , x_old , deriv_old , m_k3.m_v , m_k4.m_v , m_k5.m_v , m_k6.m_v , deriv_new , - typename operations_type::template scale_sum7< value_type , time_type , time_type , time_type , time_type , time_type , time_type >( 1.0 , dt * b1_theta , dt * b3_theta , dt * b4_theta , dt * b5_theta , dt * b6_theta , dt * b7_theta ) ); - } - - - template< class StateIn > - void adjust_size( const StateIn &x ) - { - resize_k_x_tmp_impl( x ); - resize_dxdt_tmp_impl( x ); - stepper_base_type::adjust_size( x ); - } - - -private: - - template< class StateIn > - bool resize_k_x_tmp_impl( const StateIn &x ) - { - bool resized = false; - resized |= adjust_size_by_resizeability( m_x_tmp , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_k2 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_k3 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_k4 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_k5 , x , typename is_resizeable::type() ); - resized |= adjust_size_by_resizeability( m_k6 , x , typename is_resizeable::type() ); - return resized; - } - - template< class StateIn > - bool resize_dxdt_tmp_impl( const StateIn &x ) - { - return adjust_size_by_resizeability( m_dxdt_tmp , x , typename is_resizeable::type() ); - } - - - - wrapped_state_type m_x_tmp; - wrapped_deriv_type m_k2 , m_k3 , m_k4 , m_k5 , m_k6 ; - wrapped_deriv_type m_dxdt_tmp; - resizer_type m_k_x_tmp_resizer; - resizer_type m_dxdt_tmp_resizer; -}; - - - -/************* DOXYGEN ************/ -/** - * \class runge_kutta_dopri5 - * \brief The Runge-Kutta Dormand-Prince 5 method. - * - * The Runge-Kutta Dormand-Prince 5 method is a very popular method for solving ODEs, see - * . - * The method is explicit and fulfills the Error Stepper concept. Step size control - * is provided but continuous output is available which make this method favourable for many applications. - * - * This class derives from explicit_error_stepper_fsal_base and inherits its interface via CRTP (current recurring - * template pattern). The method possesses the FSAL (first-same-as-last) property. See - * explicit_error_stepper_fsal_base for more details. - * - * \tparam State The state type. - * \tparam Value The value type. - * \tparam Deriv The type representing the time derivative of the state. - * \tparam Time The time representing the independent variable - the time. - * \tparam Algebra The algebra type. - * \tparam Operations The operations type. - * \tparam Resizer The resizer policy type. - */ - - - /** - * \fn runge_kutta_dopri5::runge_kutta_dopri5( const algebra_type &algebra ) - * \brief Constructs the runge_kutta_dopri5 class. This constructor can be used as a default - * constructor if the algebra has a default constructor. - * \param algebra A copy of algebra is made and stored inside explicit_stepper_base. - */ - - /** - * \fn runge_kutta_dopri5::do_step_impl( System system , const StateIn &in , const DerivIn &dxdt_in , time_type t , StateOut &out , DerivOut &dxdt_out , time_type dt ) - * \brief This method performs one step. The derivative `dxdt_in` of `in` at the time `t` is passed to the - * method. The result is updated out-of-place, hence the input is in `in` and the output in `out`. Furthermore, - * the derivative is update out-of-place, hence the input is assumed to be in `dxdt_in` and the output in - * `dxdt_out`. - * Access to this step functionality is provided by explicit_error_stepper_fsal_base and - * `do_step_impl` should not be called directly. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param dxdt_in The derivative of x at t. dxdt_in is not modified by this method - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dxdt_out The result of the new derivative at time t+dt. - * \param dt The step size. - */ - - /** - * \fn runge_kutta_dopri5::do_step_impl( System system , const StateIn &in , const DerivIn &dxdt_in , time_type t , StateOut &out , DerivOut &dxdt_out , time_type dt , Err &xerr ) - * \brief This method performs one step. The derivative `dxdt_in` of `in` at the time `t` is passed to the - * method. The result is updated out-of-place, hence the input is in `in` and the output in `out`. Furthermore, - * the derivative is update out-of-place, hence the input is assumed to be in `dxdt_in` and the output in - * `dxdt_out`. - * Access to this step functionality is provided by explicit_error_stepper_fsal_base and - * `do_step_impl` should not be called directly. - * An estimation of the error is calculated. - * - * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the - * Simple System concept. - * \param in The state of the ODE which should be solved. in is not modified in this method - * \param dxdt_in The derivative of x at t. dxdt_in is not modified by this method - * \param t The value of the time, at which the step should be performed. - * \param out The result of the step is written in out. - * \param dxdt_out The result of the new derivative at time t+dt. - * \param dt The step size. - * \param xerr An estimation of the error. - */ - - /** - * \fn runge_kutta_dopri5::calc_state( time_type t , StateOut &x , const StateIn1 &x_old , const DerivIn1 &deriv_old , time_type t_old , const StateIn2 & , const DerivIn2 &deriv_new , time_type t_new ) const - * \brief This method is used for continuous output and it calculates the state `x` at a time `t` from the - * knowledge of two states `old_state` and `current_state` at time points `t_old` and `t_new`. It also uses - * internal variables to calculate the result. Hence this method must be called after two successful `do_step` - * calls. - */ - - /** - * \fn runge_kutta_dopri5::adjust_size( const StateIn &x ) - * \brief Adjust the size of all temporaries in the stepper manually. - * \param x A state from which the size of the temporaries to be resized is deduced. - */ - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_DOPRI5_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp deleted file mode 100644 index 3155739..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp +++ /dev/null @@ -1,372 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/runge_kutta_fehlberg87.hpp - - [begin_description] - Implementation of the Runge-Kutta-Fehlberg stepper with the generic stepper. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_FEHLBERG87_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_FEHLBERG87_HPP_INCLUDED - - -#include -#include - -#include -#include -#include - -#include - -#include -#include -#include - - - - -namespace boost { -namespace numeric { -namespace odeint { - - -#ifndef DOXYGEN_SKIP -template< class Value = double > -struct rk78_coefficients_a1 : boost::array< Value , 1 > -{ - rk78_coefficients_a1( void ) - { - (*this)[0] = static_cast< Value >( 2 )/static_cast< Value >( 27 ); - } -}; - -template< class Value = double > -struct rk78_coefficients_a2 : boost::array< Value , 2 > -{ - rk78_coefficients_a2( void ) - { - (*this)[0] = static_cast< Value >( 1 )/static_cast< Value >( 36 ); - (*this)[1] = static_cast< Value >( 1 )/static_cast< Value >( 12 ); - } -}; - - -template< class Value = double > -struct rk78_coefficients_a3 : boost::array< Value , 3 > -{ - rk78_coefficients_a3( void ) - { - (*this)[0] = static_cast< Value >( 1 )/static_cast< Value >( 24 ); - (*this)[1] = static_cast< Value >( 0 ); - (*this)[2] = static_cast< Value >( 1 )/static_cast< Value >( 8 ); - } -}; - -template< class Value = double > -struct rk78_coefficients_a4 : boost::array< Value , 4 > -{ - rk78_coefficients_a4( void ) - { - (*this)[0] = static_cast< Value >( 5 )/static_cast< Value >( 12 ); - (*this)[1] = static_cast< Value >( 0 ); - (*this)[2] = static_cast< Value >( -25 )/static_cast< Value >( 16 ); - (*this)[3] = static_cast< Value >( 25 )/static_cast< Value >( 16 ); - } -}; - -template< class Value = double > -struct rk78_coefficients_a5 : boost::array< Value , 5 > -{ - rk78_coefficients_a5( void ) - { - (*this)[0] = static_cast< Value >( 1 )/static_cast< Value >( 20 ); - (*this)[1] = static_cast< Value >( 0 ); - (*this)[2] = static_cast< Value >( 0 ); - (*this)[3] = static_cast< Value >( 1 )/static_cast< Value >( 4 ); - (*this)[4] = static_cast< Value >( 1 )/static_cast< Value >( 5 ); - } -}; - - -template< class Value = double > -struct rk78_coefficients_a6 : boost::array< Value , 6 > -{ - rk78_coefficients_a6( void ) - { - (*this)[0] = static_cast< Value >( -25 )/static_cast< Value >( 108 ); - (*this)[1] = static_cast< Value >( 0 ); - (*this)[2] = static_cast< Value >( 0 ); - (*this)[3] = static_cast< Value >( 125 )/static_cast< Value >( 108 ); - (*this)[4] = static_cast< Value >( -65 )/static_cast< Value >( 27 ); - (*this)[5] = static_cast< Value >( 125 )/static_cast< Value >( 54 ); - } -}; - -template< class Value = double > -struct rk78_coefficients_a7 : boost::array< Value , 7 > -{ - rk78_coefficients_a7( void ) - { - (*this)[0] = static_cast< Value >( 31 )/static_cast< Value >( 300 ); - (*this)[1] = static_cast< Value >( 0 ); - (*this)[2] = static_cast< Value >( 0 ); - (*this)[3] = static_cast< Value >( 0 ); - (*this)[4] = static_cast< Value >( 61 )/static_cast< Value >( 225 ); - (*this)[5] = static_cast< Value >( -2 )/static_cast< Value >( 9 ); - (*this)[6] = static_cast< Value >( 13 )/static_cast< Value >( 900 ); - } -}; - -template< class Value = double > -struct rk78_coefficients_a8 : boost::array< Value , 8 > -{ - rk78_coefficients_a8( void ) - { - (*this)[0] = static_cast< Value >( 2 ); - (*this)[1] = static_cast< Value >( 0 ); - (*this)[2] = static_cast< Value >( 0 ); - (*this)[3] = static_cast< Value >( -53 )/static_cast< Value >( 6 ); - (*this)[4] = static_cast< Value >( 704 )/static_cast< Value >( 45 ); - (*this)[5] = static_cast< Value >( -107 )/static_cast< Value >( 9 ); - (*this)[6] = static_cast< Value >( 67 )/static_cast< Value >( 90 ); - (*this)[7] = static_cast< Value >( 3 ); - } -}; - -template< class Value = double > -struct rk78_coefficients_a9 : boost::array< Value , 9 > -{ - rk78_coefficients_a9( void ) - { - (*this)[0] = static_cast< Value >( -91 )/static_cast< Value >( 108 ); - (*this)[1] = static_cast< Value >( 0 ); - (*this)[2] = static_cast< Value >( 0 ); - (*this)[3] = static_cast< Value >( 23 )/static_cast< Value >( 108 ); - (*this)[4] = static_cast< Value >( -976 )/static_cast< Value >( 135 ); - (*this)[5] = static_cast< Value >( 311 )/static_cast< Value >( 54 ); - (*this)[6] = static_cast< Value >( -19 )/static_cast< Value >( 60 ); - (*this)[7] = static_cast< Value >( 17 )/static_cast< Value >( 6 ); - (*this)[8] = static_cast< Value >( -1 )/static_cast< Value >( 12 ); - } -}; - -template< class Value = double > -struct rk78_coefficients_a10 : boost::array< Value , 10 > -{ - rk78_coefficients_a10( void ) - { - (*this)[0] = static_cast< Value >( 2383 )/static_cast< Value >( 4100 ); - (*this)[1] = static_cast< Value >( 0 ); - (*this)[2] = static_cast< Value >( 0 ); - (*this)[3] = static_cast< Value >( -341 )/static_cast< Value >( 164 ); - (*this)[4] = static_cast< Value >( 4496 )/static_cast< Value >( 1025 ); - (*this)[5] = static_cast< Value >( -301 )/static_cast< Value >( 82 ); - (*this)[6] = static_cast< Value >( 2133 )/static_cast< Value >( 4100 ); - (*this)[7] = static_cast< Value >( 45 )/static_cast< Value >( 82 ); - (*this)[8] = static_cast< Value >( 45 )/static_cast< Value >( 164 ); - (*this)[9] = static_cast< Value >( 18 )/static_cast< Value >( 41 ); - } -}; - -template< class Value = double > -struct rk78_coefficients_a11 : boost::array< Value , 11 > -{ - rk78_coefficients_a11( void ) - { - (*this)[0] = static_cast< Value >( 3 )/static_cast< Value >( 205 ); - (*this)[1] = static_cast< Value >( 0 ); - (*this)[2] = static_cast< Value >( 0 ); - (*this)[3] = static_cast< Value >( 0 ); - (*this)[4] = static_cast< Value >( 0 ); - (*this)[5] = static_cast< Value >( -6 )/static_cast< Value >( 41 ); - (*this)[6] = static_cast< Value >( -3 )/static_cast< Value >( 205 ); - (*this)[7] = static_cast< Value >( -3 )/static_cast< Value >( 41 ); - (*this)[8] = static_cast< Value >( 3 )/static_cast< Value >( 41 ); - (*this)[9] = static_cast< Value >( 6 )/static_cast< Value >( 41 ); - (*this)[10] = static_cast< Value >( 0 ); - } -}; - -template< class Value = double > -struct rk78_coefficients_a12 : boost::array< Value , 12 > -{ - rk78_coefficients_a12( void ) - { - (*this)[0] = static_cast< Value >( -1777 )/static_cast< Value >( 4100 ); - (*this)[1] = static_cast< Value >( 0 ); - (*this)[2] = static_cast< Value >( 0 ); - (*this)[3] = static_cast< Value >( -341 )/static_cast< Value >( 164 ); - (*this)[4] = static_cast< Value >( 4496 )/static_cast< Value >( 1025 ); - (*this)[5] = static_cast< Value >( -289 )/static_cast< Value >( 82 ); - (*this)[6] = static_cast< Value >( 2193 )/static_cast< Value >( 4100 ); - (*this)[7] = static_cast< Value >( 51 )/static_cast< Value >( 82 ); - (*this)[8] = static_cast< Value >( 33 )/static_cast< Value >( 164 ); - (*this)[9] = static_cast< Value >( 12 )/static_cast< Value >( 41 ); - (*this)[10] = static_cast< Value >( 0 ); - (*this)[11] = static_cast< Value >( 1 ); - } -}; - -template< class Value = double > -struct rk78_coefficients_b : boost::array< Value , 13 > -{ - rk78_coefficients_b( void ) - { - (*this)[0] = static_cast< Value >( 0 ); - (*this)[1] = static_cast< Value >( 0 ); - (*this)[2] = static_cast< Value >( 0 ); - (*this)[3] = static_cast< Value >( 0 ); - (*this)[4] = static_cast< Value >( 0 ); - (*this)[5] = static_cast< Value >( 34 )/static_cast( 105 ); - (*this)[6] = static_cast< Value >( 9 )/static_cast( 35 ); - (*this)[7] = static_cast< Value >( 9 )/static_cast( 35 ); - (*this)[8] = static_cast< Value >( 9 )/static_cast( 280 ); - (*this)[9] = static_cast< Value >( 9 )/static_cast( 280 ); - (*this)[10] = static_cast< Value >( 0 ); - (*this)[11] = static_cast< Value >( 41 )/static_cast( 840 ); - (*this)[12] = static_cast< Value >( 41 )/static_cast( 840 ); - } -}; - -template< class Value = double > -struct rk78_coefficients_db : boost::array< Value , 13 > -{ - rk78_coefficients_db( void ) - { - (*this)[0] = static_cast< Value >( 0 ) - static_cast< Value >( 41 )/static_cast( 840 ); - (*this)[1] = static_cast< Value >( 0 ); - (*this)[2] = static_cast< Value >( 0 ); - (*this)[3] = static_cast< Value >( 0 ); - (*this)[4] = static_cast< Value >( 0 ); - (*this)[5] = static_cast< Value >( 0 ); - (*this)[6] = static_cast< Value >( 0 ); - (*this)[7] = static_cast< Value >( 0 ); - (*this)[8] = static_cast< Value >( 0 ); - (*this)[9] = static_cast< Value >( 0 ); - (*this)[10] = static_cast< Value >( 0 ) - static_cast< Value >( 41 )/static_cast( 840 ); - (*this)[11] = static_cast< Value >( 41 )/static_cast( 840 ); - (*this)[12] = static_cast< Value >( 41 )/static_cast( 840 ); - } -}; - - -template< class Value = double > -struct rk78_coefficients_c : boost::array< Value , 13 > -{ - rk78_coefficients_c( void ) - { - (*this)[0] = static_cast< Value >( 0 ); - (*this)[1] = static_cast< Value >( 2 )/static_cast< Value >( 27 ); - (*this)[2] = static_cast< Value >( 1 )/static_cast< Value >( 9 ); - (*this)[3] = static_cast< Value >( 1 )/static_cast( 6 ); - (*this)[4] = static_cast< Value >( 5 )/static_cast( 12 ); - (*this)[5] = static_cast< Value >( 1 )/static_cast( 2 ); - (*this)[6] = static_cast< Value >( 5 )/static_cast( 6 ); - (*this)[7] = static_cast< Value >( 1 )/static_cast( 6 ); - (*this)[8] = static_cast< Value >( 2 )/static_cast( 3 ); - (*this)[9] = static_cast< Value >( 1 )/static_cast( 3 ); - (*this)[10] = static_cast< Value >( 1 ); - (*this)[11] = static_cast< Value >( 0 ); - (*this)[12] = static_cast< Value >( 1 ); - } -}; -#endif // DOXYGEN_SKIP - - - - - -template< -class State , -class Value = double , -class Deriv = State , -class Time = Value , -class Algebra = range_algebra , -class Operations = default_operations , -class Resizer = initially_resizer -> -#ifndef DOXYGEN_SKIP -class runge_kutta_fehlberg78 : public explicit_error_generic_rk< 13 , 8 , 8 , 7 , State , Value , Deriv , Time , -Algebra , Operations , Resizer > -#else -class runge_kutta_fehlberg78 : public explicit_error_generic_rk -#endif -{ - -public: -#ifndef DOXYGEN_SKIP - typedef explicit_error_generic_rk< 13 , 8 , 8 , 7 , State , Value , Deriv , Time , - Algebra , Operations , Resizer > stepper_base_type; -#endif - typedef typename stepper_base_type::state_type state_type; - typedef typename stepper_base_type::value_type value_type; - typedef typename stepper_base_type::deriv_type deriv_type; - typedef typename stepper_base_type::time_type time_type; - typedef typename stepper_base_type::algebra_type algebra_type; - typedef typename stepper_base_type::operations_type operations_type; - typedef typename stepper_base_type::resizer_type resizer_type; - - #ifndef DOXYGEN_SKIP - typedef typename stepper_base_type::stepper_type stepper_type; - typedef typename stepper_base_type::wrapped_state_type wrapped_state_type; - typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type; - #endif // DOXYGEN_SKIP - - - runge_kutta_fehlberg78( const algebra_type &algebra = algebra_type() ) : stepper_base_type( - boost::fusion::make_vector( rk78_coefficients_a1() , rk78_coefficients_a2() , rk78_coefficients_a3() , - rk78_coefficients_a4() , rk78_coefficients_a5() , rk78_coefficients_a6() , - rk78_coefficients_a7() , rk78_coefficients_a8() , rk78_coefficients_a9() , - rk78_coefficients_a10() , rk78_coefficients_a11() , rk78_coefficients_a12() ) , - rk78_coefficients_b() , rk78_coefficients_db() , rk78_coefficients_c() , algebra ) - { } -}; - - - -/************* DOXYGEN *************/ - -/** - * \class runge_kutta_fehlberg78 - * \brief The Runge-Kutta Fehlberg 78 method. - * - * The Runge-Kutta Fehlberg 78 method is a standard method for high-precision applications. - * The method is explicit and fulfills the Error Stepper concept. Step size control - * is provided but continuous output is not available for this method. - * - * This class derives from explicit_error_stepper_base and inherits its interface via CRTP (current recurring template pattern). - * Furthermore, it derivs from explicit_error_generic_rk which is a generic Runge-Kutta algorithm with error estimation. - * For more details see explicit_error_stepper_base and explicit_error_generic_rk. - * - * \tparam State The state type. - * \tparam Value The value type. - * \tparam Deriv The type representing the time derivative of the state. - * \tparam Time The time representing the independent variable - the time. - * \tparam Algebra The algebra type. - * \tparam Operations The operations type. - * \tparam Resizer The resizer policy type. - */ - - - /** - * \fn runge_kutta_fehlberg78::runge_kutta_fehlberg78( const algebra_type &algebra ) - * \brief Constructs the runge_kutta_cash_fehlberg78 class. This constructor can be used as a default - * constructor if the algebra has a default constructor. - * \param algebra A copy of algebra is made and stored inside explicit_stepper_base. - */ - -} -} -} - -#endif //BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_FEHLBERG87_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/stepper_categories.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/stepper_categories.hpp deleted file mode 100644 index 28054ec..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/stepper_categories.hpp +++ /dev/null @@ -1,68 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/stepper_categories.hpp - - [begin_description] - Definition of all stepper categories. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_STEPPER_CATEGORIES_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_STEPPER_CATEGORIES_HPP_INCLUDED - -#include - -namespace boost { -namespace numeric { -namespace odeint { - - -/* - * Tags to specify stepper types - * - * These tags are used by integrate() to choose which integration method is used - */ - -struct stepper_tag {}; -// struct explicit_stepper_tag : stepper_tag {}; -// struct implicit_stepper_tag : stepper_tag {}; - - -struct error_stepper_tag : stepper_tag {}; -struct explicit_error_stepper_tag : error_stepper_tag {}; -struct explicit_error_stepper_fsal_tag : error_stepper_tag {}; - -struct controlled_stepper_tag {}; -struct explicit_controlled_stepper_tag : controlled_stepper_tag {}; -struct explicit_controlled_stepper_fsal_tag : controlled_stepper_tag {}; - -struct dense_output_stepper_tag {}; - - -template< class tag > struct base_tag ; -template< > struct base_tag< stepper_tag > { typedef stepper_tag type; }; -template< > struct base_tag< error_stepper_tag > { typedef stepper_tag type; }; -template< > struct base_tag< explicit_error_stepper_tag > { typedef stepper_tag type; }; -template< > struct base_tag< explicit_error_stepper_fsal_tag > { typedef stepper_tag type; }; - -template< > struct base_tag< controlled_stepper_tag > { typedef controlled_stepper_tag type; }; -template< > struct base_tag< explicit_controlled_stepper_tag > { typedef controlled_stepper_tag type; }; -template< > struct base_tag< explicit_controlled_stepper_fsal_tag > { typedef controlled_stepper_tag type; }; - -template< > struct base_tag< dense_output_stepper_tag > { typedef dense_output_stepper_tag type; }; - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_STEPPER_CATEGORIES_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_euler.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_euler.hpp deleted file mode 100644 index 1f16ffa..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_euler.hpp +++ /dev/null @@ -1,134 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/symplectic_euler.hpp - - [begin_description] - Implementation of the symplectic Euler for separable Hamiltonian systems. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_SYMPLECTIC_EULER_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_SYMPLECTIC_EULER_HPP_INCLUDED - - -#include - -#include -#include - -#include - -namespace boost { -namespace numeric { -namespace odeint { - - -#ifndef DOXYGEN_SKIP -namespace detail { -namespace symplectic_euler_coef { - -template< class Value > -struct coef_a_type : public boost::array< Value , 1 > -{ - coef_a_type( void ) - { - (*this)[0] = static_cast< Value >( 1 ); - } -}; - -template< class Value > -struct coef_b_type : public boost::array< Value , 1 > -{ - coef_b_type( void ) - { - (*this)[0] = static_cast< Value >( 1 ); - } -}; - -} // namespace symplectic_euler_coef -} // namespace detail -#endif - - - -template< -class Coor , -class Momentum = Coor , -class Value = double , -class CoorDeriv = Coor , -class MomentumDeriv = Coor , -class Time = Value , -class Algebra = range_algebra , -class Operations = default_operations , -class Resizer = initially_resizer -> -#ifndef DOXYGEN_SKIP -class symplectic_euler : -public symplectic_nystroem_stepper_base -< -1 , 1 , -Coor , Momentum , Value , CoorDeriv , MomentumDeriv , Time , Algebra , Operations , Resizer -> -#else -class symplectic_euler : public symplectic_nystroem_stepper_base -#endif -{ -public: - -#ifndef DOXYGEN_SKIP - typedef symplectic_nystroem_stepper_base< - 1 , 1 , Coor , Momentum , Value , CoorDeriv , MomentumDeriv , Time , Algebra , Operations , Resizer > stepper_base_type; -#endif - typedef typename stepper_base_type::algebra_type algebra_type; - typedef typename stepper_base_type::value_type value_type; - - - symplectic_euler( const algebra_type &algebra = algebra_type() ) - : stepper_base_type( detail::symplectic_euler_coef::coef_a_type< value_type >() , - detail::symplectic_euler_coef::coef_b_type< value_type >() , - algebra ) - { } -}; - - -/*************** DOXYGEN ***************/ - -/** - * \class symplectic_euler - * \brief Implementation of the symplectic Euler method. - * - * The method is of first order and has one stage. It is described HERE. - * - * \tparam Order The order of the stepper. - * \tparam Coor The type representing the coordinates q. - * \tparam Momentum The type representing the coordinates p. - * \tparam Value The basic value type. Should be something like float, double or a high-precision type. - * \tparam CoorDeriv The type representing the time derivative of the coordinate dq/dt. - * \tparam MomemtnumDeriv The type representing the time derivative of the momentum dp/dt. - * \tparam Time The type representing the time t. - * \tparam Algebra The algebra. - * \tparam Operations The operations. - * \tparam Resizer The resizer policy. - */ - - /** - * \fn symplectic_euler::symplectic_euler( const algebra_type &algebra ) - * \brief Constructs the symplectic_euler. This constructor can be used as a default - * constructor if the algebra has a default constructor. - * \param algebra A copy of algebra is made and stored inside explicit_stepper_base. - */ - -} // namespace odeint -} // namespace numeric -} // namespace boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_SYMPLECTIC_EULER_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_m4_mclachlan.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_m4_mclachlan.hpp deleted file mode 100644 index 0c20218..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_m4_mclachlan.hpp +++ /dev/null @@ -1,154 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/symplectic_rkn_sb3a_m4_mclachlan.hpp - - [begin_description] - tba. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_SYMPLECTIC_RKN_SB3A_M4_MCLACHLAN_HPP_DEFINED -#define BOOST_NUMERIC_ODEINT_STEPPER_SYMPLECTIC_RKN_SB3A_M4_MCLACHLAN_HPP_DEFINED - - -namespace boost { -namespace numeric { -namespace odeint { - -#ifndef DOXYGEN_SKIP -namespace detail { -namespace symplectic_rkn_sb3a_m4_mclachlan { - - /* - exp( a1 t A ) exp( b1 t B ) - exp( a2 t A ) exp( b2 t B ) - exp( a3 t A ) - exp( b2 t B ) exp( a2 t A ) - exp( b1 t B ) exp( a1 t A ) - */ - - - - template< class Value > - struct coef_a_type : public boost::array< Value , 5 > - { - coef_a_type( void ) - { - using std::sqrt; - - Value z = sqrt( static_cast< Value >( 7 ) / static_cast< Value >( 8 ) ) / static_cast< Value >( 3 ); - (*this)[0] = static_cast< Value >( 1 ) / static_cast< Value >( 2 ) - z ; - (*this)[1] = static_cast< Value >( -1 ) / static_cast< Value >( 3 ) + z ; - (*this)[2] = static_cast< Value >( 2 ) / static_cast< Value >( 3 ); - (*this)[3] = (*this)[1]; - (*this)[4] = (*this)[0]; - } - }; - - template< class Value > - struct coef_b_type : public boost::array< Value , 5 > - { - coef_b_type( void ) - { - (*this)[0] = static_cast< Value >( 1 ); - (*this)[1] = static_cast< Value >( -1 ) / static_cast< Value >( 2 ); - (*this)[2] = (*this)[1]; - (*this)[3] = (*this)[0]; - (*this)[4] = static_cast< Value >( 0 ); - } - }; - -} // namespace symplectic_rkn_sb3a_m4_mclachlan -} // namespace detail -#endif // DOXYGEN_SKIP - - - - -template< - class Coor , - class Momentum = Coor , - class Value = double , - class CoorDeriv = Coor , - class MomentumDeriv = Coor , - class Time = Value , - class Algebra = range_algebra , - class Operations = default_operations , - class Resizer = initially_resizer - > -#ifndef DOXYGEN_SKIP -class symplectic_rkn_sb3a_m4_mclachlan : - public symplectic_nystroem_stepper_base -< - 5 , 4 , - Coor , Momentum , Value , CoorDeriv , MomentumDeriv , Time , Algebra , Operations , Resizer - > -#else -class symplectic_rkn_sb3a_m4_mclachlan : public symplectic_nystroem_stepper_base -#endif -{ -public: -#ifndef DOXYGEN_SKIP - typedef symplectic_nystroem_stepper_base - < - 5 , 4 , - Coor , Momentum , Value , CoorDeriv , MomentumDeriv , Time , Algebra , Operations , Resizer - > stepper_base_type; -#endif - typedef typename stepper_base_type::algebra_type algebra_type; - typedef typename stepper_base_type::value_type value_type; - - - symplectic_rkn_sb3a_m4_mclachlan( const algebra_type &algebra = algebra_type() ) - : stepper_base_type( - detail::symplectic_rkn_sb3a_m4_mclachlan::coef_a_type< value_type >() , - detail::symplectic_rkn_sb3a_m4_mclachlan::coef_b_type< value_type >() , - algebra ) - { } -}; - - -/***************** DOXYGEN ***************/ - -/** - * \class symplectic_rkn_sb3a_m4_mclachlan - * \brief Implementation of the symmetric B3A Runge-Kutta Nystroem method of fifth order. - * - * The method is of fourth order and has five stages. It is described HERE. This method can be used - * with multiprecision types since the coefficients are defined analytically. - * - * ToDo: add reference to paper. - * - * \tparam Order The order of the stepper. - * \tparam Coor The type representing the coordinates q. - * \tparam Momentum The type representing the coordinates p. - * \tparam Value The basic value type. Should be something like float, double or a high-precision type. - * \tparam CoorDeriv The type representing the time derivative of the coordinate dq/dt. - * \tparam MomemtnumDeriv The type representing the time derivative of the momentum dp/dt. - * \tparam Time The type representing the time t. - * \tparam Algebra The algebra. - * \tparam Operations The operations. - * \tparam Resizer The resizer policy. - */ - - /** - * \fn symplectic_rkn_sb3a_m4_mclachlan::symplectic_rkn_sb3a_m4_mclachlan( const algebra_type &algebra ) - * \brief Constructs the symplectic_rkn_sb3a_m4_mclachlan. This constructor can be used as a default - * constructor if the algebra has a default constructor. - * \param algebra A copy of algebra is made and stored inside explicit_stepper_base. - */ - -} // namespace odeint -} // namespace numeric -} // namespace boost - - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_SYMPLECTIC_RKN_SB3A_M4_MCLACHLAN_HPP_DEFINED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp deleted file mode 100644 index 3bd26d1..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp +++ /dev/null @@ -1,158 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp - - [begin_description] - Implementation of the symplectic MacLachlan stepper for separable Hamiltonian system. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - - -#ifndef BOOST_NUMERIC_ODEINT_STEPPER_SYMPLECTIC_RKN_SB3A_MCLACHLAN_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_STEPPER_SYMPLECTIC_RKN_SB3A_MCLACHLAN_HPP_INCLUDED - - -#include - -#include -#include - -#include - -namespace boost { -namespace numeric { -namespace odeint { - - -#ifndef DOXYGEN_SKIP -namespace detail { -namespace symplectic_rkn_sb3a_mclachlan { - - /* - exp( a1 t A ) exp( b1 t B ) - exp( a2 t A ) exp( b2 t B ) - exp( a3 t A ) exp( b3 t B ) exp( a3 t A ) - exp( b2 t B ) exp( a2 t A ) - exp( b1 t B ) exp( a1 t A ) - */ - - template< class Value > - struct coef_a_type : public boost::array< Value , 6 > - { - coef_a_type( void ) - { - (*this)[0] = static_cast< Value >( 0.40518861839525227722 ); - (*this)[1] = static_cast< Value >( -0.28714404081652408900 ); - (*this)[2] = static_cast< Value >( 1 ) / static_cast< Value >( 2 ) - ( (*this)[0] + (*this)[1] ); - (*this)[3] = (*this)[2]; - (*this)[4] = (*this)[1]; - (*this)[5] = (*this)[0]; - - } - }; - - template< class Value > - struct coef_b_type : public boost::array< Value , 6 > - { - coef_b_type( void ) - { - (*this)[0] = static_cast< Value >( -3 ) / static_cast< Value >( 73 ); - (*this)[1] = static_cast< Value >( 17 ) / static_cast< Value >( 59 ); - (*this)[2] = static_cast< Value >( 1 ) - static_cast< Value >( 2 ) * ( (*this)[0] + (*this)[1] ); - (*this)[3] = (*this)[1]; - (*this)[4] = (*this)[0]; - (*this)[5] = static_cast< Value >( 0 ); - } - }; - -} // namespace symplectic_rkn_sb3a_mclachlan -} // namespace detail -#endif // DOXYGEN_SKIP - - - -template< - class Coor , - class Momentum = Coor , - class Value = double , - class CoorDeriv = Coor , - class MomentumDeriv = Coor , - class Time = Value , - class Algebra = range_algebra , - class Operations = default_operations , - class Resizer = initially_resizer - > -#ifndef DOXYGEN_SKIP -class symplectic_rkn_sb3a_mclachlan : - public symplectic_nystroem_stepper_base -< - 6 , 4 , - Coor , Momentum , Value , CoorDeriv , MomentumDeriv , Time , Algebra , Operations , Resizer - > -#else -class symplectic_rkn_sb3a_mclachlan : public symplectic_nystroem_stepper_base -#endif -{ -public: -#ifndef DOXYGEN_SKIP - typedef symplectic_nystroem_stepper_base - < - 6 , 4 , - Coor , Momentum , Value , CoorDeriv , MomentumDeriv , Time , Algebra , Operations , Resizer - > stepper_base_type; -#endif - typedef typename stepper_base_type::algebra_type algebra_type; - typedef typename stepper_base_type::value_type value_type; - - - symplectic_rkn_sb3a_mclachlan( const algebra_type &algebra = algebra_type() ) - : stepper_base_type( - detail::symplectic_rkn_sb3a_mclachlan::coef_a_type< value_type >() , - detail::symplectic_rkn_sb3a_mclachlan::coef_b_type< value_type >() , - algebra ) - { } -}; - - -/************* DOXYGEN ***********/ - -/** - * \class symplectic_rkn_sb3a_mclachlan - * \brief Implement of the symmetric B3A method of Runge-Kutta-Nystroem method of sixth order. - * - * The method is of fourth order and has six stages. It is described HERE. This method cannot be used - * with multiprecision types since the coefficients are not defined analytically. - * - * ToDo Add reference to the paper. - * - * \tparam Order The order of the stepper. - * \tparam Coor The type representing the coordinates q. - * \tparam Momentum The type representing the coordinates p. - * \tparam Value The basic value type. Should be something like float, double or a high-precision type. - * \tparam CoorDeriv The type representing the time derivative of the coordinate dq/dt. - * \tparam MomemtnumDeriv The type representing the time derivative of the momentum dp/dt. - * \tparam Time The type representing the time t. - * \tparam Algebra The algebra. - * \tparam Operations The operations. - * \tparam Resizer The resizer policy. - */ - - /** - * \fn symplectic_rkn_sb3a_mclachlan::symplectic_rkn_sb3a_mclachlan( const algebra_type &algebra ) - * \brief Constructs the symplectic_rkn_sb3a_mclachlan. This constructor can be used as a default - * constructor if the algebra has a default constructor. - * \param algebra A copy of algebra is made and stored inside explicit_stepper_base. - */ - -} // namespace odeint -} // namespace numeric -} // namespace boost - -#endif // BOOST_NUMERIC_ODEINT_STEPPER_SYMPLECTIC_RKN_SB3A_MCLACHLAN_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/bind.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/bind.hpp deleted file mode 100644 index e87b1b7..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/bind.hpp +++ /dev/null @@ -1,53 +0,0 @@ -/* - * [begin_description] - * Boost bind pull the placeholders, _1, _2, ... into global - * namespace. This can conflict with the C++03 TR1 and C++11 - * std::placeholders. This header provides a workaround for - * this problem. - * [end_description] - * - * Copyright 2012 Christoph Koke - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - * */ - -#ifndef BOOST_NUMERIC_ODEINT_UTIL_BIND_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_UTIL_BIND_HPP_INCLUDED - - -#include - - -#if BOOST_NUMERIC_ODEINT_CXX11 -#include -#else -#include -#endif - -namespace boost { -namespace numeric { -namespace odeint { -namespace detail { - -#if BOOST_NUMERIC_ODEINT_CXX11 - -using ::std::bind; -using namespace ::std::placeholders; - - -#else - -using ::boost::bind; -using ::_1; -using ::_2; - -#endif - -} -} -} -} - -#endif // BOOST_NUMERIC_ODEINT_UTIL_BIND_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/copy.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/copy.hpp deleted file mode 100644 index 58a8404..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/copy.hpp +++ /dev/null @@ -1,75 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/util/copy.hpp - - [begin_description] - Copy abstraction for the usage in the steppers. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_UTIL_COPY_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_UTIL_COPY_HPP_INCLUDED - - -#include - -#include - -#include - -namespace boost { -namespace numeric { -namespace odeint { - -namespace detail { - - template< class Container1 , class Container2 > - void do_copying( const Container1 &from , Container2 &to , boost::mpl::true_ ) - { - boost::range::copy( from , boost::begin( to ) ); - } - - template< class Container1 , class Container2 > - void do_copying( const Container1 &from , Container2 &to , boost::mpl::false_ ) - { - to = from; - } - -} // namespace detail - - -/* - * Default implementation of the copy operation used the assign operator - * gsl_vector must copied differently - */ -template< class Container1, class Container2 , class Enabler = void > -struct copy_impl -{ - static void copy( const Container1 &from , Container2 &to ) - { - typedef typename boost::numeric::odeint::detail::is_range< Container1 >::type is_range_type; - detail::do_copying( from , to , is_range_type() ); - } -}; - -template< class Container1 , class Container2 > -void copy( const Container1 &from , Container2 &to ) -{ - copy_impl< Container1 , Container2 >::copy( from , to ); -} - - -} // namespace odeint -} // namespace numeric -} // namespace boost - - -#endif // BOOST_NUMERIC_ODEINT_UTIL_COPY_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/is_range.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/is_range.hpp deleted file mode 100644 index ebb660b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/is_range.hpp +++ /dev/null @@ -1,133 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/util/detail/is_range.hpp - - [begin_description] - is_range implementation. Taken from the boost::range library. - [end_description] - - Copyright Thorsten Ottosen 2003-2004 - - - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_UTIL_DETAIL_IS_RANGE_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_UTIL_DETAIL_IS_RANGE_HPP_INCLUDED - - -#if defined(_MSC_VER) && (_MSC_VER >= 1200) -# pragma once -#endif - -#include -#include -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - - - -namespace range_detail -{ -BOOST_MPL_HAS_XXX_TRAIT_DEF(iterator) - BOOST_MPL_HAS_XXX_TRAIT_DEF(const_iterator) -} - -namespace detail -{ - -template< typename Range > -struct is_range : boost::mpl::and_, range_detail::has_const_iterator > -{ -}; - -////////////////////////////////////////////////////////////////////////// -// pair -////////////////////////////////////////////////////////////////////////// - -template< typename iteratorT > -struct is_range< std::pair > : boost::mpl::true_ -{ -}; - -template< typename iteratorT > -struct is_range< const std::pair > : boost::mpl::true_ -{ -}; - -////////////////////////////////////////////////////////////////////////// -// array -////////////////////////////////////////////////////////////////////////// - -template< typename elementT, std::size_t sz > -struct is_range< elementT[sz] > : boost::mpl::true_ -{ -}; - -template< typename elementT, std::size_t sz > -struct is_range< const elementT[sz] > : boost::mpl::true_ -{ -}; - -////////////////////////////////////////////////////////////////////////// -// string -////////////////////////////////////////////////////////////////////////// - -template<> -struct is_range< char* > : boost::mpl::true_ -{ -}; - -template<> -struct is_range< wchar_t* > : boost::mpl::true_ -{ -}; - -template<> -struct is_range< const char* > : boost::mpl::true_ -{ -}; - -template<> -struct is_range< const wchar_t* > : boost::mpl::true_ -{ -}; - -template<> -struct is_range< char* const > : boost::mpl::true_ -{ -}; - -template<> -struct is_range< wchar_t* const > : boost::mpl::true_ -{ -}; - -template<> -struct is_range< const char* const > : boost::mpl::true_ -{ -}; - -template<> -struct is_range< const wchar_t* const > : boost::mpl::true_ -{ -}; - -} // namespace detail - -} // namespace odeint -} // namespace numeric -} // namespace boost - - - -#endif // BOOST_NUMERIC_ODEINT_UTIL_DETAIL_IS_RANGE_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/less_with_sign.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/less_with_sign.hpp deleted file mode 100644 index f2883f1..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/less_with_sign.hpp +++ /dev/null @@ -1,53 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/integrate/detail/less_with_sign.hpp - - [begin_description] - Helper function to compare times taking into account the sign of dt - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_LESS_WITH_SIGN_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_LESS_WITH_SIGN_HPP_INCLUDED - -#include - -namespace boost { -namespace numeric { -namespace odeint { -namespace detail { - -/** - * return t1 < t2 if dt > 0 and t1 > t2 if dt < 0 - */ -template< typename T1 , typename T2 , typename T3 > -bool less_with_sign( T1 t1 , T2 t2 , T3 dt ) -{ - if( get_unit_value(dt) > 0 ) - return t1 < t2; - else - return t1 > t2; -} - -/** - * return t1 <= t2 if dt > 0 and t1 => t2 if dt < 0 - */ -template< typename T1 , typename T2 , typename T3> -bool less_eq_with_sign( T1 t1 , T2 t2 , T3 dt ) -{ - if( get_unit_value(dt) > 0 ) - return t1 <= t2; - else - return t1 >= t2; -} - -} } } } - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_pair.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_pair.hpp deleted file mode 100644 index 38ab58a..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_pair.hpp +++ /dev/null @@ -1,45 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/util/is_pair.hpp - - [begin_description] - Metafunction to determine if a type is a std::pair<>. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_UTIL_IS_PAIR_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_UTIL_IS_PAIR_HPP_INCLUDED - - -#include -#include - - -namespace boost { -namespace numeric { -namespace odeint { - -template< class T > -struct is_pair : public boost::mpl::false_ -{ -}; - -template< class T1 , class T2 > -struct is_pair< std::pair< T1 , T2 > > : public boost::mpl::true_ -{ -}; - -} // namespace odeint -} // namespace numeric -} // namespace boost - - -#endif // BOOST_NUMERIC_ODEINT_UTIL_IS_PAIR_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_resizeable.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_resizeable.hpp deleted file mode 100644 index 4cc9be1..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_resizeable.hpp +++ /dev/null @@ -1,84 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/util/is_resizeable.hpp - - [begin_description] - Metafunction to determine if a state type can resized. For usage in the steppers. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_UTIL_IS_RESIZEABLE_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_UTIL_IS_RESIZEABLE_HPP_INCLUDED - - -#include - -#include -#include -#include -#include - -#include -#include -#include -// #include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - -/* - * by default any type is not resizable - */ -template< class Container , class Enabler = void > -struct is_resizeable -{ - //struct type : public boost::false_type { }; - typedef boost::false_type type; - const static bool value = type::value; -}; - -/* - * specialization for std::vector - */ -template< class V, class A > -struct is_resizeable< std::vector< V , A > > -{ - //struct type : public boost::true_type { }; - typedef boost::true_type type; - const static bool value = type::value; -}; - - -/* - * specialization for fusion sequences - */ -template< class FusionSequence > -struct is_resizeable< FusionSequence , typename boost::enable_if< typename boost::fusion::traits::is_sequence< FusionSequence >::type >::type > -{ - typedef typename boost::mpl::find_if< FusionSequence , is_resizeable< boost::mpl::_1 > >::type iter; - typedef typename boost::mpl::end< FusionSequence >::type last; - - typedef typename boost::mpl::if_< boost::is_same< iter , last > , boost::false_type , boost::true_type >::type type; - const static bool value = type::value; -}; - - - -} // namespace odeint -} // namespace numeric -} // namespace boost - - - -#endif // BOOST_NUMERIC_ODEINT_UTIL_IS_RESIZEABLE_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resize.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resize.hpp deleted file mode 100644 index 65b5cfb..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resize.hpp +++ /dev/null @@ -1,107 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/util/state_wrapper.hpp - - [begin_description] - State wrapper for the state type in all stepper. The state wrappers are responsible for construction, - destruction, copying construction, assignment and resizing. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_UTIL_RESIZE_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_UTIL_RESIZE_HPP_INCLUDED - -#include - -#include -#include -#include -#include -#include -#include - -#include - -namespace boost { -namespace numeric { -namespace odeint { - -// resize function -// standard implementation relies on boost.range and resize member function -template< class StateOut , class StateIn , class Enabler = void > -struct resize_impl -{ - static void resize( StateOut &x1 , const StateIn &x2 ) - { - x1.resize( boost::size( x2 ) ); - } -}; - - -// do not overload or specialize this function, specialize resize_impl<> instead -template< class StateOut , class StateIn > -void resize( StateOut &x1 , const StateIn &x2 ) -{ - resize_impl< StateOut , StateIn >::resize( x1 , x2 ); -} - - -namespace detail { - - struct resizer - { - typedef void result_type; - - template< class StateOut , class StateIn > - void operator()( StateOut &x1 , const StateIn &x2 ) const - { - resize_op( x1 , x2 , typename is_resizeable< StateOut >::type() ); - } - - template< class StateOut , class StateIn > - void resize_op( StateOut &x1 , const StateIn &x2 , boost::true_type ) const - { - resize( x1 , x2 ); - } - - template< class StateOut , class StateIn > - void resize_op( StateOut &x1 , const StateIn &x2 , boost::false_type ) const - { - } - - }; -} // namespace detail - - -/* - * specialization for fusion sequences - */ -template< class FusionSeq > -struct resize_impl< FusionSeq , FusionSeq , typename boost::enable_if< typename boost::fusion::traits::is_sequence< FusionSeq >::type >::type > -{ - static void resize( FusionSeq &x1 , const FusionSeq &x2 ) - { - typedef boost::fusion::vector< FusionSeq& , const FusionSeq& > Sequences; - Sequences sequences( x1 , x2 ); - boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( detail::resizer() ) ); - } -}; - - - - -} -} -} - - - -#endif // BOOST_NUMERIC_ODEINT_UTIL_RESIZE_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resizer.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resizer.hpp deleted file mode 100644 index de02eab..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resizer.hpp +++ /dev/null @@ -1,93 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/util/resizer.hpp - - [begin_description] - Implementation of the resizers. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_UTIL_RESIZER_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_UTIL_RESIZER_HPP_INCLUDED - - -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - -template< class ResizeWrappedState , class State > -bool adjust_size_by_resizeability( ResizeWrappedState &x , const State &y , boost::true_type ) -{ - if ( !same_size( x.m_v , y ) ) - { - resize( x.m_v , y ); - return true; - } - else - return false; -} - -template< class ResizeWrappedState , class State > -bool adjust_size_by_resizeability( ResizeWrappedState & /* x */ , const State & /* y */ , boost::false_type ) -{ - return false; -} - -struct always_resizer -{ - template< class State , class ResizeFunction > - bool adjust_size( const State &x , ResizeFunction f ) - { - return f( x ); - } -}; - - -struct initially_resizer -{ - - bool m_initialized; - - initially_resizer() : m_initialized( false ) - { } - - template< class State , class ResizeFunction > - bool adjust_size( const State &x , ResizeFunction f ) - { - if( !m_initialized ) - { - m_initialized = true; - return f( x ); - } else - return false; - } -}; - - -struct never_resizer -{ - template< class State , class ResizeFunction > - bool adjust_size( const State &x , ResizeFunction f ) - { - return false; - } -}; - - -} -} -} - -#endif // BOOST_NUMERIC_ODEINT_UTIL_RESIZER_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_instance.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_instance.hpp deleted file mode 100644 index ac86e5d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_instance.hpp +++ /dev/null @@ -1,56 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/util/same_instance.hpp - - [begin_description] - Basic check if two variables are the same instance - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_UTIL_SAME_INSTANCE_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_UTIL_SAME_INSTANCE_HPP_INCLUDED - -namespace boost { -namespace numeric { -namespace odeint { - -template< class T1 , class T2 , class Enabler=void > -struct same_instance_impl -{ - static bool same_instance( const T1 &x1 , const T2 &x2 ) - { - return false; - } -}; - -template< class T > -struct same_instance_impl< T , T > -{ - static bool same_instance( const T &x1 , const T &x2 ) - { - // check pointers - return (&x1 == &x2); - } -}; - - -template< class T1 , class T2 > -bool same_instance( const T1 &x1 , const T2 &x2 ) -{ - return same_instance_impl< T1 , T2 >::same_instance( x1 , x2 ); -} - - -} // namespace odeint -} // namespace numeric -} // namespace boost - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_size.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_size.hpp deleted file mode 100644 index e27db69..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_size.hpp +++ /dev/null @@ -1,105 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/util/state_wrapper.hpp - - [begin_description] - State wrapper for the state type in all stepper. The state wrappers are responsible for construction, - destruction, copying construction, assignment and resizing. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_UTIL_SAME_SIZE_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_UTIL_SAME_SIZE_HPP_INCLUDED - -#include - -#include -#include -#include -#include -#include -#include - -#include - - -namespace boost { -namespace numeric { -namespace odeint { - -// same_size function -// standard implementation relies on boost.range -template< class State1 , class State2 , class Enabler = void > -struct same_size_impl -{ - static bool same_size( const State1 &x1 , const State2 &x2 ) - { - return ( boost::size( x1 ) == boost::size( x2 ) ); - } -}; - - -// do not overload or specialize this function, specialize resize_impl<> instead -template< class State1 , class State2 > -bool same_size( const State1 &x1 , const State2 &x2 ) -{ - return same_size_impl< State1 , State2 >::same_size( x1 , x2 ); -} - -namespace detail { - -struct same_size_fusion -{ - typedef bool result_type; - - template< class S1 , class S2 > - bool operator()( const S1 &x1 , const S2 &x2 ) const - { - return same_size_op( x1 , x2 , typename is_resizeable< S1 >::type() ); - } - - template< class S1 , class S2 > - bool same_size_op( const S1 &x1 , const S2 &x2 , boost::true_type ) const - { - return same_size( x1 , x2 ); - } - - template< class S1 , class S2 > - bool same_size_op( const S1 &x1 , const S2 &x2 , boost::false_type ) const - { - return true; - } -}; - -} // namespace detail - - - -template< class FusionSeq > -struct same_size_impl< FusionSeq , FusionSeq , typename boost::enable_if< typename boost::fusion::traits::is_sequence< FusionSeq >::type >::type > -{ - static bool same_size( const FusionSeq &x1 , const FusionSeq &x2 ) - { - typedef boost::fusion::vector< const FusionSeq& , const FusionSeq& > Sequences; - Sequences sequences( x1 , x2 ); - return boost::fusion::all( boost::fusion::zip_view< Sequences >( sequences ) , - boost::fusion::make_fused( detail::same_size_fusion() ) ); - } -}; - - -} -} -} - - - -#endif // BOOST_NUMERIC_ODEINT_UTIL_SAME_SIZE_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/state_wrapper.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/state_wrapper.hpp deleted file mode 100644 index cce280a..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/state_wrapper.hpp +++ /dev/null @@ -1,50 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/util/state_wrapper.hpp - - [begin_description] - State wrapper for the state type in all stepper. The state wrappers are responsible for construction, - destruction, copying construction, assignment and resizing. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_UTIL_STATE_WRAPPER_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_UTIL_STATE_WRAPPER_HPP_INCLUDED - - -#include - -#include -#include -#include - - -namespace boost { -namespace numeric { -namespace odeint { - - -template< class V , class Enabler = void > -struct state_wrapper -{ - typedef state_wrapper< V > state_wrapper_type; - - V m_v; -}; - - -} -} -} - - - -#endif // BOOST_NUMERIC_ODEINT_UTIL_STATE_WRAPPER_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/ublas_wrapper.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/ublas_wrapper.hpp deleted file mode 100644 index d05e849..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/ublas_wrapper.hpp +++ /dev/null @@ -1,260 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/util/ublas_wrapper.hpp - - [begin_description] - Resizing for ublas::vector and ublas::matrix - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_UTIL_UBLAS_WRAPPER_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_UTIL_UBLAS_WRAPPER_HPP_INCLUDED - - -#include -#include -#include -#include - -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - -/* - * resizeable specialization for boost::numeric::ublas::vector - */ -template< class T , class A > -struct is_resizeable< boost::numeric::ublas::vector< T , A > > -{ - typedef boost::true_type type; - const static bool value = type::value; -}; - - -/* - * resizeable specialization for boost::numeric::ublas::matrix - */ -template< class T , class L , class A > -struct is_resizeable< boost::numeric::ublas::matrix< T , L , A > > -{ - typedef boost::true_type type; - const static bool value = type::value; -}; - - -/* - * resizeable specialization for boost::numeric::ublas::permutation_matrix - */ -template< class T , class A > -struct is_resizeable< boost::numeric::ublas::permutation_matrix< T , A > > -{ - typedef boost::true_type type; - const static bool value = type::value; -}; - - -// specialization for ublas::matrix -// same size and resize specialization for matrix-matrix resizing -template< class T , class L , class A , class T2 , class L2 , class A2 > -struct same_size_impl< boost::numeric::ublas::matrix< T , L , A > , boost::numeric::ublas::matrix< T2 , L2 , A2 > > -{ - static bool same_size( const boost::numeric::ublas::matrix< T , L , A > &m1 , - const boost::numeric::ublas::matrix< T2 , L2 , A2 > &m2 ) - { - return ( ( m1.size1() == m2.size1() ) && ( m1.size2() == m2.size2() ) ); - } -}; - -template< class T , class L , class A , class T2 , class L2 , class A2 > -struct resize_impl< boost::numeric::ublas::matrix< T , L , A > , boost::numeric::ublas::matrix< T2 , L2 , A2 > > -{ - static void resize( boost::numeric::ublas::matrix< T , L , A > &m1 , - const boost::numeric::ublas::matrix< T2 , L2 , A2 > &m2 ) - { - m1.resize( m2.size1() , m2.size2() ); - } -}; - - - -// same size and resize specialization for matrix-vector resizing -template< class T , class L , class A , class T_V , class A_V > -struct same_size_impl< boost::numeric::ublas::matrix< T , L , A > , boost::numeric::ublas::vector< T_V , A_V > > -{ - static bool same_size( const boost::numeric::ublas::matrix< T , L , A > &m , - const boost::numeric::ublas::vector< T_V , A_V > &v ) - { - return ( ( m.size1() == v.size() ) && ( m.size2() == v.size() ) ); - } -}; - -template< class T , class L , class A , class T_V , class A_V > -struct resize_impl< boost::numeric::ublas::matrix< T , L , A > , boost::numeric::ublas::vector< T_V , A_V > > -{ - static void resize( boost::numeric::ublas::matrix< T , L , A > &m , - const boost::numeric::ublas::vector< T_V , A_V > &v ) - { - m.resize( v.size() , v.size() ); - } -}; - - - -// specialization for ublas::permutation_matrix -// same size and resize specialization for matrix-vector resizing -template< class T , class A , class T_V , class A_V > -struct same_size_impl< boost::numeric::ublas::permutation_matrix< T , A > , boost::numeric::ublas::vector< T_V , A_V > > -{ - static bool same_size( const boost::numeric::ublas::permutation_matrix< T , A > &m , - const boost::numeric::ublas::vector< T_V , A_V > &v ) - { - return ( m.size() == v.size() ); // && ( m.size2() == v.size() ) ); - } -}; - -template< class T , class A , class T_V , class A_V > -struct resize_impl< boost::numeric::ublas::vector< T_V , A_V > , boost::numeric::ublas::permutation_matrix< T , A > > -{ - static void resize( const boost::numeric::ublas::vector< T_V , A_V > &v, - boost::numeric::ublas::permutation_matrix< T , A > &m ) - { - m.resize( v.size() , v.size() ); - } -}; - - - - - - - -template< class T , class A > -struct state_wrapper< boost::numeric::ublas::permutation_matrix< T , A > > // with resizing -{ - typedef boost::numeric::ublas::permutation_matrix< T , A > state_type; - typedef state_wrapper< state_type > state_wrapper_type; - - state_type m_v; - - state_wrapper() : m_v( 1 ) // permutation matrix constructor requires a size, choose 1 as default - { } - -}; - - - - -} } } - -//// all specializations done, ready to include state_wrapper -// -//#include -// -//namespace boost { -//namespace numeric { -//namespace odeint { -// -///* specialization for permutation matrices wrapper because we need to change the construction */ -//template< class T , class A > -//struct state_wrapper< boost::numeric::ublas::permutation_matrix< T , A > , true > // with resizing -//{ -// typedef boost::numeric::ublas::permutation_matrix< T , A > state_type; -// typedef state_wrapper< state_type > state_wrapper_type; -// //typedef typename V::value_type value_type; -// typedef boost::true_type is_resizeable; -// -// state_type m_v; -// -// state_wrapper() : m_v( 1 ) // permutation matrix constructor requires a size, choose 1 as default -// { } -// -// template< class T_V , class A_V > -// bool same_size( const boost::numeric::ublas::vector< T_V , A_V > &x ) -// { -// return boost::numeric::odeint::same_size( m_v , x ); -// } -// -// template< class T_V , class A_V > -// bool resize( const boost::numeric::ublas::vector< T_V , A_V > &x ) -// { -// //standard resizing done like for std::vector -// if( !same_size( x ) ) -// { -// boost::numeric::odeint::resize( m_v , x ); -// return true; -// } else -// return false; -// } -//}; -// -//} -//} -//} - - -/* - * preparing ublas::matrix for boost::range, such that ublas::matrix can be used in all steppers with the range algebra - */ - -namespace boost -{ -template< class T , class L , class A > -struct range_mutable_iterator< boost::numeric::ublas::matrix< T , L , A > > -{ - typedef typename boost::numeric::ublas::matrix< T , L , A >::array_type::iterator type; -}; - -template< class T , class L , class A > -struct range_const_iterator< boost::numeric::ublas::matrix< T , L , A > > -{ - typedef typename boost::numeric::ublas::matrix< T , L , A >::array_type::const_iterator type; -}; - -} // namespace boost - - -namespace boost { namespace numeric { namespace ublas { - -template< class T , class L , class A > -inline typename matrix< T , L , A >::array_type::iterator -range_begin( matrix< T , L , A > &x ) -{ - return x.data().begin(); -} - -template< class T , class L , class A > -inline typename matrix< T , L , A >::array_type::const_iterator -range_begin( const matrix< T , L , A > &x ) -{ - return x.data().begin(); -} - -template< class T , class L , class A > -inline typename matrix< T , L , A >::array_type::iterator -range_end( matrix< T , L , A > &x ) -{ - return x.data().end(); -} - -template< class T , class L , class A > -inline typename matrix< T , L , A >::array_type::const_iterator -range_end( const matrix< T , L , A > &x ) -{ - return x.data().end(); -} - -} } } // namespace boost::numeric::ublas - - -#endif // BOOST_NUMERIC_ODEINT_UTIL_UBLAS_WRAPPER_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unit_helper.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unit_helper.hpp deleted file mode 100644 index 67d4cdf..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unit_helper.hpp +++ /dev/null @@ -1,152 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/util/unit_helper.hpp - - [begin_description] - Get and set the value of a unit. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - - -#ifndef BOOST_NUMERIC_ODEINT_UTIL_UNIT_HELPER_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_UTIL_UNIT_HELPER_HPP_INCLUDED - - -#ifndef __CUDACC__ -#include -#include -#include -#endif - - - -namespace boost { -namespace numeric { -namespace odeint { - - -namespace detail { - - template - struct get_unit_value_impl - { - static T value(const T &t) - { - return t; - } - typedef T result_type; - }; - -#ifndef __CUDACC__ - template - struct get_unit_value_impl< boost::units::quantity< Unit , T> > - { - static T value( const boost::units::quantity< Unit , T> &t ) - { - return t.value(); - } - typedef T result_type; - }; -#endif - - - - - - template - struct set_unit_value_impl - { - static void set_value(T &t , const V &v) - { - t = v; - } - }; - -#ifndef __CUDACC__ - template - struct set_unit_value_impl , V> - { - static void set_value(boost::units::quantity &t , const V &v) - { - t = boost::units::quantity::from_value(v); - } - }; -#endif - - - -} // namespace detail - - - template - typename detail::get_unit_value_impl::result_type get_unit_value(const T &t) - { - return detail::get_unit_value_impl::value(t); - } - - - template - - void set_unit_value(T &t , const V &v) - { - return detail::set_unit_value_impl::set_value(t , v); - } - - - - template< class T > - struct unit_value_type - { - typedef T type; - }; - -#ifndef __CUDACC__ - template< class Unit , class Y > - struct unit_value_type< boost::units::quantity< Unit , Y > > - { - typedef Y type; - }; -#endif - - - - - - - - - - - template< typename Time > - struct inverse_time - { - typedef Time type; - }; - -#ifndef __CUDACC__ - template< typename Unit , typename Value > - struct inverse_time< boost::units::quantity< Unit , Value > > - { - typedef boost::units::quantity< Unit , Value > time_type; - typedef typename boost::units::get_dimension< time_type >::type dimension; - typedef typename boost::units::get_system< time_type >::type system; - typedef typename boost::mpl::divides< boost::units::dimensionless_type , dimension >::type inv_dimension; - typedef boost::units::unit< inv_dimension , system > inv_unit; - typedef boost::units::quantity< inv_unit , Value > type; - }; -#endif - - -} // namespace odeint -} // namespace numeric -} // namespace boost - - -#endif // BOOST_NUMERIC_ODEINT_UTIL_UNIT_HELPER_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unwrap_reference.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unwrap_reference.hpp deleted file mode 100644 index a21f234..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unwrap_reference.hpp +++ /dev/null @@ -1,87 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/util/unwrap_reference.hpp - - [begin_description] - unwrap_reference - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_NUMERIC_ODEINT_UTIL_UNWRAP_REFERENCE_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_UTIL_UNWRAP_REFERENCE_HPP_INCLUDED - - -#include - - -#if BOOST_NUMERIC_ODEINT_CXX11 -#include -#else -#include -#endif - -namespace boost { - -#if BOOST_NUMERIC_ODEINT_CXX11 -template class reference_wrapper; - -template class unwrap_reference; -#endif - -namespace numeric { -namespace odeint { - - -#if BOOST_NUMERIC_ODEINT_CXX11 - -template -struct unwrap_reference -{ - typedef typename std::remove_reference::type type; -}; - -template -struct unwrap_reference< std::reference_wrapper > -{ - typedef typename std::remove_reference::type type; -}; - -template -struct unwrap_reference< boost::reference_wrapper > -{ - typedef typename boost::unwrap_reference::type type; -}; - -#else - -using ::boost::unwrap_reference; - -#endif - -namespace detail -{ - -#if BOOST_NUMERIC_ODEINT_CXX11 - -using ::std::ref; - -#else - -using ::boost::ref; - -#endif -} - -} -} -} - -#endif // BOOST_NUMERIC_ODEINT_UTIL_UNWRAP_REFERENCE_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/version.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/version.hpp deleted file mode 100644 index 94c974e..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/version.hpp +++ /dev/null @@ -1,55 +0,0 @@ -/* - [auto_generated] - boost/numeric/odeint/version.hpp - - [begin_description] - Defines the current version of odeint. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#ifndef BOOST_NUMERIC_ODEINT_VERSION_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_VERSION_HPP_INCLUDED - -#include -#include - - -#define ODEINT_MAJOR_VERSION 2 -#define ODEINT_MINOR_VERSION 2 -#define ODEINT_PATCH_LEVEL 0 -#define ODEINT_VERSION ( ODEINT_MAJOR_VERSION * 100000 + ODEINT_MINOR_VERSION * 100 + ODEINT_PATCH_LEVEL ) - - -namespace boost { -namespace numeric { -namespace odeint { - -namespace version { - -const int major = ODEINT_MAJOR_VERSION ; -const int minor = ODEINT_MINOR_VERSION ; -const int patch_level = ODEINT_PATCH_LEVEL ; - -} - -inline std::string get_version_string( void ) -{ - std::ostringstream str; - str << "v" << version::major << "." << version::minor; - if( version::patch_level != 0 ) str << "_" << version::patch_level; - return str.str(); -} - - -} -} -} - -#endif // BOOST_NUMERIC_ODEINT_VERSION_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/Jamfile.v2 b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/Jamfile.v2 deleted file mode 100644 index 88ff311..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/Jamfile.v2 +++ /dev/null @@ -1,277 +0,0 @@ -# (C) Copyright 2009 - 2012 : Karsten Ahnert, Mario Mulansky -# Distributed under the Boost Software License, Version 1.0. -# (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) - - -import quickbook ; -import boostbook ; -import doxygen ; -import modules ; - -project : requirements - $(BOOST_ROOT)/tools/auto_index/include - ; - -if --enable-index in [ modules.peek : ARGV ] -{ - ECHO "Building the odeint docs with automatic index generation enabled." ; - - using auto-index ; - - project : requirements - - on - on - - # Choose indexing method (separately for html and pdf): - html:on # on (or off) to use internally generated indexes. - # html:generate.index=0 # Don't let the XSL stylesheets generate indexes. - - pdf:off # on (or off) to use internally generated indexes. - # index # Use ... as the XML wrapper. - - pdf:index.on.type=1 # For the native stylesheets to generate the different indexes. - # PDF native index support is probably better for PDFs as then you actually get page numbers. - - odeint.idx # Specifies the name of the index script to load. - ../../../.. - - # Inform Quickbook that there is to be an index(es). - enable_index - ; -} -else -{ - ECHO "Building the odeint docs with automatic index generation disabled. To get an auto-index, try building with --enable-index." ; -} - - - -doxygen reference - : -# [ glob ../../../../boost/numeric/odeint/*.hpp ] - [ glob ../../../../boost/numeric/odeint/stepper/*.hpp ] - [ glob ../../../../boost/numeric/odeint/stepper/base/*.hpp ] -# [ glob ../../../../boost/numeric/odeint/stepper/generation/*.hpp ] - [ glob ../../../../boost/numeric/odeint/integrate/*.hpp : ../../../../boost/numeric/odeint/integrate/null_observer.hpp ../../../../boost/numeric/odeint/integrate/observer_collection.hpp ] - [ glob ../../../../boost/numeric/odeint/iterator/*.hpp ] -# [ glob ../../../../boost/numeric/odeint/algebra/*.hpp ] -# [ glob ../../../../boost/numeric/odeint/util/*.hpp ] -# ../../../../boost/numeric/odeint.hpp - : - - # Lots of parameters passed to Doxygen. You can see these in the doxygen docs, or the Wizard Expert tab displays them. - # If you have successfuly built your Doxygen docs standalone using the Wizard (strongly recommended as it is much quicker). - # The values in your project's doxyfile are what to put as the Doxygen parameters passed below. - WARNINGS=YES - WARN_LOGFILE=AutoDoxywarnings.log - WARN_IF_UNDOCUMENTED=NO # Default NO but useful if you aim to Doxygen document *all* members. - QUIET=NO - WARN_NO_PARAMDOC=NO # Default no, but YES useful if you aim to document all function parameters. - DOXYFILE_ENCODING=UTF-8 - PROJECT_NAME="odeint" - PROJECT_NUMBER=2.2 - TAB_SIZE=2 - SORT_MEMBER_DOCS=NO - SORT_BRIEF_DOCS=NO - SORT_MEMBERS_CTORS_1ST=NO - EXTRACT_PRIVATE=NO - INLINE_INHERITED_MEMB=YES - INHERIT_DOCS=YES - EXTRACT_STATIC=YES - EXTRACT_ANON_NSPACES=NO - EXTRACT_LOCAL_CLASSES=YES - EXTRACT_LOCAL_METHODS=YES - HIDE_UNDOC_MEMBERS=NO - HIDE_UNDOC_CLASSES=YES - HIDE_FRIEND_COMPOUNDS=NO - #HIDE_INBODY_DOCS=NO - INTERNAL_DOCS=YES - CASE_SENSE_NAMES=NO - HIDE_SCOPE_NAMES=NO - - # Preprocessor settings. - # Some ugly examples of predefined macro calls (from Boost.Units library) :( - "PREDEFINED= \\ - \"BOOST_UNITS_STATIC_CONSTANT(a,b)=static const b a\" \\ - \"BOOST_UNITS_TYPEOF(a)=typeof(a)\" \\ - \"BOOST_PREVENT_MACRO_SUBSTITUTION=\" \\ - \"BOOST_UNITS_HAS_TYPEOF=1\" \\ - \"DOXYGEN_SKIP=1\" " - ENABLE_PREPROCESSING=YES # Evaluates all C-preprocessor directives found in files. - MACRO_EXPANSION=YES # Will expand all macro names. - EXPAND_ONLY_PREDEF=YES # Only predefined macros expanded. See units library for an example. - SEARCH_INCLUDES=YES # Search #include files found. - INLINE_INFO=YES # If the INLINE_INFO tag is set to YES (the default) then a tag [inline] is inserted in the documentation for inline members. - - SHOW_INCLUDE_FILES=NO # List of the files that are included by a file in the documentation of that file. - REPEAT_BRIEF=YES # Prepend the brief description of a member or function before the detailed description - BRIEF_MEMBER_DESC=YES # Include brief member descriptions after the members that are listed in the file and class - MULTILINE_CPP_IS_BRIEF=YES # Treat a multi-line C++ special comment block (i.e. a block of //! or /// comments) as a brief description. - # May be best to always use \brief and \details to avoid ambiguity? - # STRIP_FROM_PATH=NO # Most useful to leave default to strip just the directory from which Doxygen is run. - # Yes gives the full path, but NO is more useful, only giving enough to be - # CPP_CLI_SUPPORT=NO # unless, most unusually, you are compiled for a 'managed' CLI application. - SHOW_USED_FILES=YES # Default YES to show a list files used to generate documention. - SHOW_DIRECTORIES=YES # Default NO, but useful to show directory heirarchy. - SHOW_FILES=YES # Default YES is to include a tab for a page of files listed. Useful. - SHOW_NAMESPACES=YES # Default YES to include tab for list of namespaces. Useful if you have namespacess other than boost:: - FILE_PATTERNS= # Types of files to be used as input. Default includes *.c *.cc *.cxx *.cpp *.c++ *.ipp *.i++ *.inl *.h *.hh *.hxx *.hpp *.h++ *.py - # Might include .qbk? - - RECURSIVE=YES # Search recursively down subdirectories. - EXCLUDE= # Files or directories that should be excluded from INPUT source files. - # Headers and footers are actually rather attractive, - # HTML_HEADER="doxygen/checks_doxygen_header.html" # A sample including a draft stamp and 'Not_Yet_In_Boost' logo. - # Take care that if you use this (recommended), you need to ensure that the html - # HTML_FOOTER="doxygen/checks_doxygen_footer.html" # This is very useful to add copyright, date of revision, versioning etc. - - # A custom stylesheet is also useful, as the default syntax coloring is 'unusual' ;-) - HTML_STYLESHEET="doxygen/doxygen.css" # Placed in the doxygen directory, - # this will change to your choice of C++ syntax coloring when viewing source from Doxygen. - # Users can place (or edit) their own personal choice CSS file here. - - # Default is just Reference but you can provide your own title for reference section here. - "boost.doxygen.reftitle=odeint Reference" -; - - -xml odeint - : - odeint.qbk - : -; - -boostbook standalone - : - odeint - : - - # Path for links to Boost: - #boost.root=\$(local-boost-root) # Link to Boost logo boost.png - # Links are relative and trying to make absolute does NOT work. - # And remember that all links MUST (unless in quotes) use backslash, not forward that is trip char. - - boost.root=../../../../.. # OK but link to I:/boost_trunk/boost.png - - # Also control links to admonitions, so need to set separately. - #boost.root=../../../../../../../boost_1_47_0 # OK file:///I:/boost_1_48_0/boost.png - # Quickbook [@boost:/boost/units/detail/utility.hpp] should make it relative to xsl parameter boost.root. - - # Use the your own local Boost stylesheet: - # html.stylesheet=../html/boostbook.css - - # Some general style settings: - # see http://docbook.sourceforge.net/release/xsl/current/doc/html/index.html - table.footnote.number.format=1 # Identifies the format used for footnote numbers in tables. - footnote.number.format=1 # Identifies the format used for text footnote numbers. - - # Default to not including the Boost logo in the navbar, when one expressly asks to include the navbar. - # Boost jamroot now includes - # Default to not include a navbar. - #nav.layout=none # No navigation bar (home, prev, next). - # defining creates a runtime error: Global parameter nav.layout already defined - #nav.layout=horizontal # to get a horizontal navigation bar (you probably DO want this). - - boost.image.src=logo.jpg # - boost.image.width=294 # Width of logo in pixels. - boost.image.height=127 # Height of logo in pixels. - - - # HTML options: - # ------------ - navig.graphics=1 # Use graphics not text for navigation. - chunk.section.depth=2 # How far down we chunk nested sections, basically all of them. - chunk.first.sections=1 # Don't put the first section on the same page as the TOC. - toc.section.depth=2 # How far down sections get TOCs. - toc.max.depth=2 # Max depth in each TOC. - generate.section.toc.level=3 # How far down we go with TOCs. - - #html:admon.graphics.extension=".png" # default type for admonitions (important, warning, note ...) - #html:admon.graphics.path=$(nav-images)/ # path to admonition (warning, note...) image (.png) files. - - # http://docbook.sourceforge.net/release/images/draft.png - # but use a local copy of draft.png. - - # PDF Options: - # ----------- - # TOC Generation - fop1.extensions=0 # DISable extensions for FOP version 0.90 and later . - pdf:fop.extensions=0 # DISable extensions for FOP version 0.20.5 and earlier. - pdf:xep.extensions=1 # Use XEP extension- PDF bookmarks, document information and better index processing. - - # No indent on body text: - pdf:body.start.indent=0pt # - pdf:paper.type=A4 # Paper type = A4 - # http://xml.resource.org/public/rfc/html/rfc2346.html - # Making Postscript and PDF International, J Palme, RFC 2346 recommends - # If you are using US letter paper format, ensure that both left and right margins are at least 21 mm (0.8 in). - # If you are using A4 paper, ensure that both the top and bottom margins are at least 33 mm (1.3 in). - # Margins sizes: - #pdf:page.margin.top=1.3in - #pdf:page.margin.inner=0.8in - #pdf:page.margin.bottom=1.3in - #pdf:page.margin.outer=0.8in - - # http://docbook.sourceforge.net/release/xsl/current/doc/index.html - # DocBook XSL Stylesheets: Reference Documentation. - - # Yes, we want graphics for admonishments: - admon.graphics=1 - # Set these one for PDF generation *only*: - # In PDF format, default PNG graphics are awful, so better use SVG images (type .svg) instead. - pdf:admon.graphics.extension=".svg" # - pdf:use.role.for.mediaobject=1 # Use print role on next line. - pdf:preferred.mediaobject.role=print # pdf role is to be printed. - pdf:img.src.path=$(images_location)/ # Path of image (.svg) files. (Note trailing /) ? - pdf:admon.graphics.path=$(nav_images)/ # path to admonition (warning, note...) image (.svg) files. - pdf:draft.mode="yes" # Yes if draft watermark wanted! - #pdf:draft.watermark.image="draft.png" # Watermark (local copy). - #pdf:draft.watermark.image=http://docbook.sourceforge.net/release/images/draft.png # Watermark. - - reference # Doxygen reference section - # pdf-install # final pdf - # png-install # Boost standard icons in both png - # svg-install # and svg. -; - - -# To install a copy of 'master' boostbook.css and logo. -# install html : ../../../doc/html/boostbook.css ; -# install ../ : ../../../boost.png ; - - - -# Install (copy) the 'master' copy of boostbook Cascading Style sheet -# from your current Boost-root to the /doc/html folder. -# path-constant boost-root : [ modules.peek : BOOST ] ; -# install css-install : $(boost-root)/doc/src/boostbook.css : html ; - -# path-constant boost-root : [ modules.peek : BOOST ] ; - - -# Install (copy) the 'master' copies of all icon images (both PNG and SVG) -# and the Boost logo from your current Boost-root -# to the local /doc/html/images folder so that html is complete and standalone. -# install png-install : [ glob $(boost-root)/doc/src/images/*.png $(boost-root)/boost.png ] : html/images ; -# install svg-install : [ glob $(boost-root)/doc/src/images/*.svg ] : html/images ; - -# install unordered_pdf : standalone/pdf : . ; -# explicit unordered_pdf ; -# The explicit rule is there so that it's only installed when the target is explicitly named. - -# Effectively copies the file from \bin folder to the \doc folder. -# install pdf-install : standalone : . PDF ; -# But will not work as expected if doxygen and/or autoindex is used -# because a modified pdf file is created, so this command below -# will rename the file to the expected filename, here quick_auto_dox_index.pdf. -# . means installed in same place as this jamfile, /doc. - -install pdf-install : standalone : PDF . checks.pdf ; - -install callouts : [ glob src/images/callouts/*.png ] : html/images/callouts ; - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/acknowledgements.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/acknowledgements.qbk deleted file mode 100644 index 417154e..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/acknowledgements.qbk +++ /dev/null @@ -1,37 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - -[section Acknowledgments] - - -[/ - -* Steven Watanabe for managing the Boost review process. -* All people who participated in the odeint review process on the Boost mailing list. -* Paul Bristow for helping with the documentation. -* The Google Summer Of Code (GSOC) program for funding and Andrew Sutton for supervising us during the GSOC and for lots of useful discussions and feedback about many implementation details.. -* Joachim Faulhaber for motivating us to participate in the Boost review process and many detailed comments about the library. -* All users of odeint. They are the main motivation for our efforts. - - -[h3 Contributers] - -* Andreas Angelopoulos implemented the sparse matrix implicit Euler stepper using the MTL4 library. -* Rajeev Singh implemented the stiff Van der Pol oscillator example. -* Sylwester Arabas improved the documentation. -* Denis Demidov provided the adaption to the VexCL and Viennacl libraries. -* Christoph Koke provided improved binders. -* Lee Hodgkinson provided the black hole example. -] - - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts.qbk deleted file mode 100644 index 84b628b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts.qbk +++ /dev/null @@ -1,26 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - -[section:concepts Concepts] -[# odeint.concepts] - -[include concepts/system.qbk] -[include concepts/symplectic_system.qbk] -[include concepts/implicit_system.qbk] -[include concepts/stepper.qbk] -[include concepts/error_stepper.qbk] -[include concepts/controlled_stepper.qbk] -[include concepts/dense_output_stepper.qbk] -[include concepts/state_algebra_operations.qbk] -[include concepts/state_wrapper.qbk] - -[endsect] \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/controlled_stepper.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/controlled_stepper.qbk deleted file mode 100644 index 996b005..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/controlled_stepper.qbk +++ /dev/null @@ -1,74 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - -[section Controlled Stepper] - -This concept specifies the interface a controlled stepper has to fulfill to be used within __integrate_functions. - -[heading Description] - -A controlled stepper following this Controlled Stepper concept provides the possibility to perform one step of the solution /x(t)/ of an ODE with step-size /dt/ to obtain /x(t+dt)/ with a given step-size /dt/. -Depending on an error estimate of the solution the step might be rejected and a smaller step-size is suggested. - -[heading Associated types] - -* ''''''[*state_type]'''''' -''''''`Stepper::state_type`'''''' -''''''The type characterizing the state of the ODE, hence ['x].'''''' - -* ''''''[*deriv_type]'''''' -''''''`Stepper::deriv_type`'''''' -''''''The type characterizing the derivative of the ODE, hence ['d x/dt].'''''' - -* ''''''[*time_type]'''''' -''''''`Stepper::time_type`'''''' -''''''The type characterizing the dependent variable of the ODE, hence the time ['t].'''''' - -* ''''''[*value_type]'''''' -''''''`Stepper::value_type`'''''' -''''''The numerical data type which is used within the stepper, something like `float`, `double`, `complex< double >`.'''''' - -* ''''''[*stepper_category]'''''' -''''''`Stepper::stepper_category`'''''' -''''''A tag type characterizing the category of the stepper. This type must be convertible to `controlled_stepper_tag`.'''''' - - - -[heading Notation] - -[variablelist - [[`ControlledStepper`] [A type that is a model of Controlled Stepper]] - [[`State`] [A type representing the state /x/ of the ODE]] - [[`Time`] [A type representing the time /t/ of the ODE]] - [[`stepper`] [An object of type `ControlledStepper`]] - [[`x`] [Object of type `State`]] - [[`t`, `dt`] [Objects of type `Time`]] - [[`sys`] [An object defining the ODE, should be a model of __system, __symplectic_system, __simple_symplectic_system or __implicit_system.]] -] - -[heading Valid Expressions] - -[table - [[Name] [Expression] [Type] [Semantics]] - [[Do step] [``stepper.try_step( sys , x , t , dt )``] [`controlled_step_result`] [Tries one step of step size `dt`. If the step was successful, `success` is returned, the resulting state is written to `x`, the new time is stored in `t` and `dt` now contains a new (possibly larger) step-size for the next step. If the error was too big, `rejected` is returned and the results are neglected - `x` and `t` are unchanged and `dt` now contains a reduced step-size to be used for the next try.] ] - [/ [Do step with reference] [`stepper.try_step( boost::ref(sys) , x , t , dt )`] [`void`] [Same as above with `System` as reference] ] -] - -[heading Models] - -* `controlled_error_stepper< runge_kutta_cash_karp54 >` -* `controlled_error_stepper_fsal< runge_kutta_dopri5 >` -* `controlled_error_stepper< runge_kutta_fehlberg78 >` -* `rosenbrock4_controller` -* `bulirsch_stoer` - -[endsect] \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/dense_output_stepper.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/dense_output_stepper.qbk deleted file mode 100644 index 8834f61..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/dense_output_stepper.qbk +++ /dev/null @@ -1,81 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - - -[section Dense Output Stepper] - -This concept specifies the interface a dense output stepper has to fulfill to be used within __integrate_functions. - -[heading Description] -A dense output stepper following this Dense Output Stepper concept provides the possibility to perform a single step of the solution /x(t)/ of an ODE to obtain /x(t+dt)/. -The step-size `dt` might be adjusted automatically due to error control. -Dense output steppers also can interpolate the solution to calculate the state /x(t')/ at any point /t <= t' <= t+dt/. - -[heading Associated types] - -* ''''''[*state_type]'''''' -''''''`Stepper::state_type`'''''' -''''''The type characterizing the state of the ODE, hence ['x].'''''' - -* ''''''[*deriv_type]'''''' -''''''`Stepper::deriv_type`'''''' -''''''The type characterizing the derivative of the ODE, hence ['d x/dt].'''''' - -* ''''''[*time_type]'''''' -''''''`Stepper::time_type`'''''' -''''''The type characterizing the dependent variable of the ODE, hence the time ['t].'''''' - -* ''''''[*value_type]'''''' -''''''`Stepper::value_type`'''''' -''''''The numerical data type which is used within the stepper, something like `float`, `double`, `complex< double >`.'''''' - -* ''''''[*stepper_category]'''''' -''''''`Stepper::stepper_category`'''''' -''''''A tag type characterizing the category of the stepper. This type must be convertible to `dense_output_stepper_tag`.'''''' - - -[heading Notation] - -[variablelist - [[`Stepper`] [A type that is a model of Dense Output Stepper]] - [[`State`] [A type representing the state /x/ of the ODE]] - [[`stepper`] [An object of type `Stepper`]] - [[`x0`, `x`] [Object of type `State`]] - [[`t0`, `dt0`, `t`] [Objects of type `Stepper::time_type`]] - [[`sys`] [An object defining the ODE, should be a model of __system, __symplectic_system, __simple_symplectic_system or __implicit_system.]] -] - -[heading Valid Expressions] - -[table - [[Name] [Expression] [Type] [Semantics]] - - [[Initialize integration] [`stepper.initialize( x0 , t0 , dt0 )`] [void] [Initializes the stepper with initial values `x0`, `t0` and `dt0`.]] - - [[Do step] [`stepper.do_step( sys )`] [`std::pair< Stepper::time_type , Stepper::time_type >`] [Performs one step using the ODE defined by `sys`. The step-size might be changed internally due to error control. This function returns a pair containing `t` and `t+dt` representing the interval for which interpolation can be performed.] ] - - [/ [Do step with reference] [`stepper.do_step( boost::ref( sys ) )`] [`std::pair< Stepper::time_type , Stepper::time_type >`] [Same as above with `System` as reference] ] - - [[Do interpolation] [`stepper.calc_state( t_inter , x )`] [`void`] [Performs the interpolation to calculate /x(t[sub inter]/) where /t <= t[sub inter] <= t+dt/.]] - - [[Get current time] [`stepper.current_time()`] [`const Stepper::time_type&`] [Returns the current time /t+dt/ of the stepper, that is the end time of the last step and the starting time for the next call of `do_step`]] - - [[Get current state] [`stepper.current_state()`] [`const Stepper::state_type&`] [Returns the current state of the stepper, that is /x(t+dt)/, the state at the time returned by `stepper.current_time()`]] -] - -[heading Models] - -* `dense_output_controlled_explicit_fsal< controlled_error_stepper_fsal< runge_kutta_dopri5 >` -* `bulirsch_stoer_dense_out` -* `rosenbrock4_dense_output` - -[endsect] \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/error_stepper.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/error_stepper.qbk deleted file mode 100644 index 842c341..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/error_stepper.qbk +++ /dev/null @@ -1,100 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - - -[section Error Stepper] - -This concepts specifies the interface an error stepper has to fulfill to be used within a ControlledErrorStepper. An error stepper must always fulfill the stepper concept. This can trivially implemented by - -`` -template< class System > -error_stepper::do_step( System sys , state_type &x , time_type t , time_type dt ) -{ - state_type xerr; - // allocate xerr - do_step( sys , x , t , dt , xerr ); -} -`` - -[heading Description] - -An error stepper following this Error Stepper concept is capable of doing one step of the solution /x(t)/ of an ODE with step-size /dt/ to obtain /x(t+dt)/ and also computing an error estimate ['x[sub err]] of the result. -Error Steppers can be Runge-Kutta steppers, symplectic steppers as well as implicit steppers. -Based on the stepper type, the ODE is defined as __system, __symplectic_system, __simple_symplectic_system or __implicit_system. - -[heading Refinement of] - -* DefaultConstructable -* CopyConstructable -* Stepper - -[heading Associated types] - -* ''''''[*state_type]'''''' -''''''`Stepper::state_type`'''''' -''''''The type characterizing the state of the ODE, hence ['x].'''''' - -* ''''''[*deriv_type]'''''' -''''''`Stepper::deriv_type`'''''' -''''''The type characterizing the derivative of the ODE, hence ['d x/dt].'''''' - -* ''''''[*time_type]'''''' -''''''`Stepper::time_type`'''''' -''''''The type characterizing the dependent variable of the ODE, hence the time ['t].'''''' - -* ''''''[*value_type]'''''' -''''''`Stepper::value_type`'''''' -''''''The numerical data type which is used within the stepper, something like `float`, `double`, `complex< double >`.'''''' - -* ''''''[*order_type]'''''' -''''''`Stepper::order_type`'''''' -''''''The type characterizing the order of the ODE, typically `unsigned short`.'''''' - -* ''''''[*stepper_category]'''''' -''''''`Stepper::stepper_category`'''''' -''''''A tag type characterizing the category of the stepper. This type must be convertible to `error_stepper_tag`.'''''' - - -[heading Notation] - -[variablelist - [[`ErrorStepper`] [A type that is a model of Error Stepper]] - [[`State`] [A type representing the state /x/ of the ODE]] - [[`Error`] [A type representing the error calculated by the stepper, usually same as `State`]] - [[`Time`] [A type representing the time /t/ of the ODE]] - [[`stepper`] [An object of type `ErrorStepper`]] - [[`x`] [Object of type `State`]] - [[`xerr`] [Object of type `Error`]] - [[`t`, `dt`] [Objects of type `Time`]] - [[`sys`] [An object defining the ODE, should be a model of either __system, __symplectic_system, __simple_symplectic_system or __implicit_system.]] -] - -[heading Valid Expressions] - -[table - [[Name] [Expression] [Type] [Semantics]] - [[Get the stepper order] [`stepper.order()`] [`order_type`] [Returns the order of the stepper for one step without error estimation.]] - [[Get the stepper order] [`stepper.stepper_order()`] [`order_type`] [Returns the order of the stepper for one error estimation step which is used for error calculation.]] - [[Get the error order] [`stepper.errorr_order()`] [`order_type`] [Returns the order of the error step which is used for error calculation.]] - [[Do step] [`stepper.do_step( sys , x , t , dt )`] [`void`] [Performs one step of step size `dt`. The newly obtained state is written in-place to `x`.] ] - [[Do step with error estimation] [`stepper.do_step( sys , x , t , dt , xerr )`] [`void`] [Performs one step of step size `dt` with error estimation. The newly obtained state is written in-place to `x` and the estimated error to `xerr`.] ] - [/ [Do step with reference] [`stepper.do_step( boost::ref(sys) , x , t , dt , xerr )`] [`void`] [Performs one step of step size `dt`. The newly obtained state is written in-place to `x` and the estimated error to `xerr`.] ] -] - -[heading Models] - -* `runge_kutta_cash_karp54` -* `runge_kutta_dopri5` -* `runge_kutta_fehlberg78` -* `rosenbrock4` - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/implicit_system.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/implicit_system.qbk deleted file mode 100644 index 2b1336d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/implicit_system.qbk +++ /dev/null @@ -1,43 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - - -[section Implicit System] - -[heading Description] - -This concept describes how to define a ODE that can be solved by an implicit routine. -Implicit routines need not only the function /f(x,t)/ but also the Jacobian /df/dx = A(x,t)/. -/A/ is a matrix and implicit routines need to solve the linear problem /Ax = b/. -In odeint this is implemented with use of __ublas, therefore, the ['state_type] implicit routines is ['ublas::vector] and the matrix is defined as ['ublas::matrix]. - -[heading Notation] - -[variablelist - [[`System`] [A type that is a model of `Implicit System`]] - [[`Time`] [A type representing the time of the ODE]] - [[`sys`] [An object of type `System`]] - [[`x`] [Object of type ublas::vector]] - [[`dxdt`] [Object of type ublas::vector]] - [[`jacobi`] [Object of type ublas::matrix]] - [[`t`] [Object of type `Time`]] -] - -[heading Valid Expressions] - -[table - [[Name] [Expression] [Type] [Semantics]] - [[Calculate ['dx/dt := f(x,t)]] [`sys.first( x , dxdt , t )`] [`void`] [Calculates `f(x,t)`, the result is stored into dxdt] ] - [[Calculate ['A := df/dx (x,t)]] [`sys.second( x , jacobi , t )`] [`void`] [Calculates the Jacobian of /f/ at /x/,/t/, the result is stored into `jacobi`] ] -] - -[endsect] \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/state_algebra_operations.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/state_algebra_operations.qbk deleted file mode 100644 index c807fb5..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/state_algebra_operations.qbk +++ /dev/null @@ -1,123 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - - -[section State Algebra Operations] - -[note The following does not apply to implicit steppers like implicit_euler or Rosenbrock 4 as there the `state_type` can not be changed from `ublas::vector` and no algebra/operations are used.] - -[heading Description] - -The `State`, `Algebra` and `Operations` together define a concept describing how the mathematical vector operations required for the stepper algorithms are performed. -The typical vector operation done within steppers is - -['*y* = __Sigma __alpha[sub i] [*x[sub i]]]. - -The `State` represents the state variable of an ODE, usually denoted with /x/. -Algorithmically, the state is often realized as a `vector< double >` or `array< double , N >`, however, the genericity of odeint enables you to basically use anything as a state type. -The algorithmic counterpart of such mathematical expressions is divided into two parts. -First, the `Algebra` is used to account for the vector character of the equation. -In the case of a `vector` as state type this means the `Algebra` is responsible for iteration over all vector elements. -Second, the `Operations` are used to represent the actual operation applied to each of the vector elements. -So the `Algebra` iterates over all elements of the `State`s and calls an operation taken from the `Operations` for each element. -This is where `State`, `Algebra` and `Operations` have to work together to make odeint running. -Please have a look at the `range_algebra` and `default_operations` to see an example how this is implemented. - -In the following we describe how `State`, `Algebra` and `Operations` are used together within the stepper implementations. - -[section Operations] - -[heading Notation] - -[variablelist - [[`Operations`] [The operations type]] - [/[`Time`] [A type representing the time type of steppers]] - [[`Value1`, ... , `ValueN`] [Types representing the value or time type of stepper]] - [[`Scale`] [Type of the scale operation]] - [[`scale`] [Object of type `Scale`]] - [[[^ScaleSum['N]]] [Type that represents a general scale_sum operation, [^/N/] should be replaced by a number from 1 to 14.]] - [[[^scale_sum['N]]] [Object of type [^ScaleSum['N]], [^/N/] should be replaced by a number from 1 to 14.]] - [[`ScaleSumSwap2`] [Type of the scale sum swap operation]] - [[`scale_sum_swap2`] [Object of type `ScaleSumSwap2`]] - [[`a1, a2, ...`] [Objects of type `Value1`, `Value2`, ...]] - [[`y, x1, x2, ...`] [Objects of `State`'s value type]] -] - -[heading Valid Expressions] - -[table - [[Name] [Expression] [Type] [Semantics]] - [[Get scale operation] [`Operations::scale< Value >`] [`Scale`] [Get `Scale` from `Operations`]] - [[`Scale` constructor] [`Scale< Value >( a )`] [`Scale`] [Constructs a `Scale` object]] - [[`Scale` operation] [`scale( x )`] [`void`] [Calculates `x *= a`]] - [[Get general `scale_sum` operation] [[^Operations::scale_sum['N]< Value1 , ... , ValueN >]] [[^ScaleSum['N]]] [Get the [^ScaleSum['N]] type from `Operations`, [^/N/] should be replaced by a number from 1 to 14.]] - [[`scale_sum` constructor] [[^ScaleSum['N]< Value1 , ... , ValueN >( a1 , ... , aN )]] [[^ScaleSum['N]]] [Constructs a `scale_sum` object given [^/N/] parameter values with [^/N/] between 1 and 14.]] - [[`scale_sum` operation] [[^scale_sum['N]( y , x1 , ... , xN )]] [`void`] [Calculates `y = a1*x1 + a2*x2 + ... + aN*xN`. Note that this is an [^/N/+1]-ary function call.]] - [[Get scale sum swap operation] [`Operations::scale_sum_swap2< Value1 , Value2 >`] [`ScaleSumSwap2`] [Get scale sum swap from operations]] - [[`ScaleSumSwap2` constructor] [`ScaleSumSwap2< Value1 , Value2 >( a1 , a2 )`] [`ScaleSumSwap2`] [Constructor]] - [[`ScaleSumSwap2` operation] [`scale_sum_swap2( x1 , x2 , x3 )`] [`void`] [Calculates `tmp = x1`, `x1 = a1*x2 + a2*x3` and `x2 = tmp`.]] -] - -[endsect] - -[section Algebra] - -[heading Notation] - -[variablelist - [[`State`] [The state type]] - [[`Algebra`] [The algebra type]] - [[[^Operation['N]]] [An [^/N/]-ary operation type, [^/N/] should be a number from 1 to 14.]] - [[`algebra`] [Object of type `Algebra`]] - [[[^operation['N]]] [Object of type [^Operation['N]]]] - [[`y, x1, x2, ...`] [Objects of type `State`]] -] - - -[heading Valid Expressions] - -[table - [[Name] [Expression] [Type] [Semantics]] - [[Vector Operation with arity 2] [`algebra.for_each2( y , x , operation2 )`] [void] [Calls `operation2( y_i , x_i )` for each element `y_i` of `y` and `x_i` of `x`.]] - [[Vector Operation with arity 3] [`algebra.for_each3( y , x1 , x2 , operation3 )`] [void] [Calls `operation3( y_i , x1_i , x2_i )` for each element `y_i` of `y` and `x1_i` of `x1` and `x2_i` of `x2`.]] - [[Vector Operation with arity [^/N/]] [[^algebra.for_each['N]( y , x1 , ... , xN , operation['N] )]] [void] [Calls [^operation['N]( y_i , x1_i , ... , xN_i )] for each element `y_i` of `y` and `x1_i` of `x1` and so on. [^/N/] should be replaced by a number between 1 and 14.]] -] - -[endsect] - -[section Pre-Defined implementations] - -As standard configuration odeint uses the `range_algebra` and `default_operations` which suffices most situations. -However, a few more possibilities exist either to gain better performance or to ensure interoperability with other libraries. -In the following we list the existing `Algebra`/`Operations` configurations that can be used in the steppers. - -[table - [[`State`] [`Algebra`] [`Operations`] [Remarks]] - [[Anything supporting __boost_range, like `std::vector`, `std::list`, `boost::array`,... based on a `value_type` that supports operators +,* (typically `double`)] [`range_algebra`] [`default_operations`] [Standard implementation, applicable for most typical situations.]] - [[`boost::array` based on a `value_type` that supports operators +,*] [`array_algebra`] [`default_operations`] [Special implementation for boost::array with better performance than `range_algebra`]] - [[Anything that defines operators + within itself and * with scalar (Mathematically spoken, anything that is a vector space).] [`vector_space_algebra`] [`default_operations`] [For the use of __controlled_stepper, the template `vector_space_reduce` has to be instantiated.]] - [[`thrust::device_vector`, `thrust::host_vector`] [`thrust_algebra`] [`thrust_operations`] [For running odeint on CUDA devices by using __thrust]] - [[`boost::array` or anything which allocates the elements in a C-like manner] [`vector_space_algebra`] [`mkl_operations`] [Using the __intel_mkl in odeint for maximum performance. Currently, only the RK4 stepper is supported.]] -] - -[endsect] - -[section Example expressions] - -[table - [[Name] [Expression] [Type] [Semantics]] - [[Vector operation] [`algebra.for_each3( y , x1 , x2 , Operations::scale_sum2< Value1 , Value2 >( a1 , a2 ) )`] [void] [Calculates ['*y* = a1 *x1* + a2 *x2*]]] -] - -[endsect] - -[endsect] \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/state_wrapper.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/state_wrapper.qbk deleted file mode 100644 index 15c7a68..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/state_wrapper.qbk +++ /dev/null @@ -1,39 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - -[section State Wrapper] - -[heading Description] - -The `State Wrapper` concept describes the way odeint creates temporary state objects to store intermediate results within the stepper's `do_step` methods. - -[heading Notation] - -[variablelist - [[`State`] [A type that is the `state_type` of the ODE]] - [[`WrappedState`] [A type that is a model of State Wrapper for the state type `State`.]] - [[`x`] [Object of type `State`]] - [[`w`] [Object of type `WrappedState`]] -] - -[heading Valid Expressions] - -[table - [[Name] [Expression] [Type] [Semantics]] - [[Get resizeability] [`is_resizeable< State >`] [`boost::false_type` or `boost::true_type`] [Returns `boost::true_type` if the `State` is resizeable, `boost::false_type` otherwise.]] - [[Create `WrappedState` type] [`state_wrapper< State >`] [`WrappedState`] [Creates the type for a `WrappedState` for the state type `State`]] - [[Constructor] [`WrappedState()`] [`WrappedState`] [Constructs a state wrapper with an empty state]] - [[Copy Constructor] [`WrappedState( w )`] [`WrappedState`] [Constructs a state wrapper with a state of the same size as the state in `w`]] - [[Get state] [`w.m_v`] [`State`] [Returns the `State` object of this state wrapper.]] -] - -[endsect] \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/stepper.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/stepper.qbk deleted file mode 100644 index 532ccf7..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/stepper.qbk +++ /dev/null @@ -1,92 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - -[section Stepper] - -This concepts specifies the interface a simple stepper has to fulfill to be used within the __integrate_functions. - -[heading Description] - -The basic stepper concept. -A basic stepper following this Stepper concept is able to perform a single step of the solution /x(t)/ of an ODE to obtain /x(t+dt)/ using a given step size /dt/. -Basic steppers can be Runge-Kutta steppers, symplectic steppers as well as implicit steppers. -Depending on the actual stepper, the ODE is defined as __system, __symplectic_system, __simple_symplectic_system or __implicit_system. -Note that all error steppers are also basic steppers. - -[heading Refinement of] - -* DefaultConstructable -* CopyConstructable - - -[heading Associated types] - -* ''''''[*state_type]'''''' -''''''`Stepper::state_type`'''''' -''''''The type characterizing the state of the ODE, hence ['x].'''''' - -* ''''''[*deriv_type]'''''' -''''''`Stepper::deriv_type`'''''' -''''''The type characterizing the derivative of the ODE, hence ['d x/dt].'''''' - -* ''''''[*time_type]'''''' -''''''`Stepper::time_type`'''''' -''''''The type characterizing the dependent variable of the ODE, hence the time ['t].'''''' - -* ''''''[*value_type]'''''' -''''''`Stepper::value_type`'''''' -''''''The numerical data type which is used within the stepper, something like `float`, `double`, `complex< double >`.'''''' - -* ''''''[*order_type]'''''' -''''''`Stepper::order_type`'''''' -''''''The type characterizing the order of the ODE, typically `unsigned short`.'''''' - -* ''''''[*stepper_category]'''''' -''''''`Stepper::stepper_category`'''''' -''''''A tag type characterizing the category of the stepper. This type must be convertible to `stepper_tag`.'''''' - - -[heading Notation] - -[variablelist - [[`Stepper`] [A type that is a model of Stepper]] - [[`State`] [A type representing the state /x/ of the ODE]] - [[`Time`] [A type representing the time /t/ of the ODE]] - [[`stepper`] [An object of type `Stepper`]] - [[`x`] [Object of type `State`]] - [[`t`, `dt`] [Objects of type `Time`]] - [[`sys`] [An object defining the ODE. Depending on the Stepper this might be a model of __system, __symplectic_system, __simple_symplectic_system or __implicit_system ]] -] - -[heading Valid Expressions] - -[table - [[Name] [Expression] [Type] [Semantics]] - [[Get the order] [`stepper.order()`] [`order_type`] [Returns the order of the stepper.]] - [[Do step] [`stepper.do_step( sys , x , t , dt )`] [`void`] [Performs one step of step size `dt`. The newly obtained state is written in place in `x`.] ] - - [/ [Do step with reference] [`stepper.do_step( boost::ref(sys) , x , t , dt )`] [`void`] [Performs one step of step size `dt`. The newly obtained state is written in place in `x`.] ] - - [/ [Do step out-of-place] [`stepper.do_step( sys , in , t , out , dt )`] [`void`] [Performs one step. The newly obtained state is written to `out`] ] -] - -[heading Models] - -* `runge_kutta4` -* `euler` -* `runge_kutta_cash_karp54` -* `runge_kutta_dopri5` -* `runge_kutta_fehlberg78` -* `modified_midpoint` -* `rosenbrock4` - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/symplectic_system.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/symplectic_system.qbk deleted file mode 100644 index 0caaa31..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/symplectic_system.qbk +++ /dev/null @@ -1,99 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - -[section Symplectic System] - -[heading Description] - -This concept describes how to define a symplectic system written with generalized coordinate `q` and generalized momentum `p`: - -[' q'(t) = f(p) ] - -[' p'(t) = g(q) ] - -Such a situation is typically found for Hamiltonian systems with a separable Hamiltonian: - -[' H(p,q) = H[sub kin](p) + V(q) ] - -which gives the equations of motion: - -[' q'(t) = dH[sub kin] / dp = f(p) ] - -[' p'(t) = dV / dq = g(q) ] - - -The algorithmic implementation of this situation is described by a pair of callable objects for /f/ and /g/ with a specific parameter signature. -Such a system should be implemented as a std::pair of functions or a functors. -Symplectic systems are used in symplectic steppers like `symplectic_rkn_sb3a_mclachlan`. - -[heading Notation] - -[variablelist - [[`System`] [A type that is a model of SymplecticSystem]] - [[`Coor`] [The type of the coordinate ['q]]] - [[`Momentum`] [The type of the momentum ['p]]] - [[`CoorDeriv`] [The type of the derivative of coordinate ['q']]] - [[`MomentumDeriv`] [The type of the derivative of momentum ['p']]] - [[`sys`] [An object of the type `System`]] - [[`q`] [Object of type Coor]] - [[`p`] [Object of type Momentum]] - [[`dqdt`] [Object of type CoorDeriv]] - [[`dpdt`] [Object of type MomentumDeriv]] -] - -[heading Valid expressions] - -[table - [[Name] [Expression] [Type] [Semantics]] - [[Check for pair] [`boost::is_pair< System >::type`] [`boost::mpl::true_`] [Check if System is a pair]] - [[Calculate ['dq/dt = f(p)]] [`sys.first( p , dqdt )`] [`void`] [Calculates ['f(p)], the result is stored into `dqdt`] ] - [[Calculate ['dp/dt = g(q)]] [`sys.second( q , dpdt )`] [`void`] [Calculates ['g(q)], the result is stored into `dpdt`] ] -] - -[endsect] - - -[section Simple Symplectic System] - -[heading Description] - -In most Hamiltonian systems the kinetic term is a quadratic term in the momentum ['H[sub kin] = p^2 / 2m] and in many cases it is possible to rescale coordinates and set /m=1/ which leads to a trivial equation of motion: - -[' q'(t) = f(p) = p. ] - -while for /p'/ we still have the general form - -[' p'(t) = g(q) ] - -As this case is very frequent we introduced a concept where only the nontrivial equation for /p'/ has to be provided to the symplectic stepper. -We call this concept ['SimpleSymplecticSystem] - -[heading Notation] - -[variablelist - [[System] [A type that is a model of SimpleSymplecticSystem]] - [[Coor] [The type of the coordinate ['q]]] - [[MomentumDeriv] [The type of the derivative of momentum ['p']]] - [[sys] [An object that models System]] - [[q] [Object of type Coor]] - [[dpdt] [Object of type MomentumDeriv]] -] - -[heading Valid Expressions] - -[table - [[Name] [Expression] [Type] [Semantics]] - [[Check for pair] [`boost::is_pair< System >::type`] [`boost::mpl::false_`] [Check if System is a pair, should be evaluated to false in this case.]] - [[Calculate ['dp/dt = g(q)]] [`sys( q , dpdt )`] [`void`] [Calculates ['g(q)], the result is stored into `dpdt`] ] -] - -[endsect] \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/system.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/system.qbk deleted file mode 100644 index 09763c0..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/system.qbk +++ /dev/null @@ -1,43 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - -[section System] - -[heading Description] - -The System concept models the algorithmic implementation of the rhs. of the ODE ['x' = f(x,t)]. -The only requirement for this concept is that it should be callable with a specific parameter syntax (see below). -A System is typically implemented as a function or a functor. -Systems fulfilling this concept are required by all Runge-Kutta steppers as well as the Bulirsch-Stoer steppers. -However, symplectic and implicit steppers work with other system concepts, see __symplectic_system and __implicit_system. - -[heading Notation] - -[variablelist - [[`System`] [A type that is a model of System]] - [[`State`] [A type representing the state /x/ of the ODE]] - [[`Deriv`] [A type representing the derivative /x'/ of the ODE]] - [[`Time`] [A type representing the time]] - [[`sys`] [An object of type `System`]] - [[`x`] [Object of type `State`]] - [[`dxdt`] [Object of type `Deriv`]] - [[`t`] [Object of type `Time`]] -] - -[heading Valid expressions] - -[table - [[Name] [Expression] [Type] [Semantics]] - [[Calculate ['dx/dt := f(x,t)]] [`sys( x , dxdt , t )`] [`void`] [Calculates f(x,t), the result is stored into dxdt] ] -] - -[endsect] \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/controlled_stepper_table.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/controlled_stepper_table.qbk deleted file mode 100644 index 77d9476..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/controlled_stepper_table.qbk +++ /dev/null @@ -1,55 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - -[table Adaptive step size algorithms - [ [Stepper] [Tolerance formula] [Norm] [Step size adaption] ] - [ [`controlled_runge_kutta`] - [ - ['val = || | err[subl i] | / ( __epsilon[subl abs] + __epsilon[subl rel] * ( a[subl x] | x[subl i] | + a[subl dxdt] | | dxdt[subl i] | )|| ] - ] - [['||x|| = max( x[subl i] )]] - [ - ['val > 1 : dt[subl new] = dt[subl current] max( 0.9 pow( val , -1 / ( O[subl E] - 1 ) ) , 0.2 )] - - ['val < 0.5 : dt[subl new] = dt[subl current] min( 0.9 pow( val , -1 / O[subl S] ) , 5 )] - - ['else : dt[subl new] = dt[subl current]] - ] ] - [ [`rosenbrock4_controller`] - [ - ['val = || err[subl i] / ( __epsilon[subl abs] + __epsilon[subl rel] max( | x[subl i] | , | xold[subl i] | ) ) || ] - ] - [['||x||=(__Sigma[subl i] x[subl i][super 2])[super 1/2]]] - [ - ['fac = max( 1 / 6 , min( 5 , pow( val , 1 / 4 ) / 0.9 ) ] - - ['fac2 = max( 1 / 6 , min( 5 , dt[subl old] / dt[subl current] pow( val[super 2] / val[subl old] , 1 / 4 ) / 0.9 ) ] - - ['val > 1 : dt[subl new] = dt[subl current] / fac ] - - ['val < 1 : dt[subl new] = dt[subl current] / max( fac , fac2 ) ] - ] - ] - [ [bulirsch_stoer] [['tol=1/2]] [-] [['dt[subl new] = dt[subl old][super 1/a]]] ] -] - -[/ - -safe = 0.9 , fac1 = 5.0 , fac2 = 1.0 / 6.0 - -value_type fac_pred = ( m_dt_old / dt ) * pow( err * err / m_err_old , 0.25 ) / safe; - fac_pred = std::max( fac2 , std::min( fac1 , fac_pred ) ); - fac = std::max( fac , fac_pred ); - dt_new = dt / fac; - - -fac = max( fac2 , min( fac1 , pow( err , 0.25 ) / safe ) ) -] \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details.qbk deleted file mode 100644 index 9bc0ff0..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details.qbk +++ /dev/null @@ -1,28 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - -[section odeint in detail] - -[include details_steppers.qbk] - -[include details_generation_functions.qbk] - -[include details_integrate_functions.qbk] - -[include details_state_types_algebras_operations.qbk] - -[include details_boost_ref.qbk] - -[include details_boost_range.qbk] - -[include details_bind_member_functions.qbk] - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_bind_member_functions.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_bind_member_functions.qbk deleted file mode 100644 index 8d817a4..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_bind_member_functions.qbk +++ /dev/null @@ -1,36 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - -[section Binding member functions] - -[import ../examples/bind_member_functions.cpp] - -Binding member functions to a function objects suitable for odeint system function is not easy, at least in C++03. The usual way of using __boost_bind does not work because of the forwarding problem. odeint provides two `do_step` method which only differ in the const specifiers of the arguments and __boost_bind binders only provide the specializations up to two argument which is not enough for odeint. - -But one can easily implement the according binders themself: - -[ode_wrapper] - -One can use this binder as follows - -[bind_member_function] - -[section Binding member functions in C++11] - -[import ../examples/bind_member_functions_cpp11.cpp] -In C++11 one can use `std::bind` and one does not need to implement the bind themself: - -[bind_member_function_cpp11] - -[endsect] - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_boost_range.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_boost_range.qbk deleted file mode 100644 index bf81686..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_boost_range.qbk +++ /dev/null @@ -1,60 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - -[section Using boost::range] - -Most steppers in odeint also accept the state give as a range. A range is -sequence of values modeled by a range concept. See __boost_range for an -overview over existing concepts and examples of ranges. This means that the -`state_type` of the stepper need not necessarily be used to call the `do_step` method. - -One use-case for __boost_range in odeint has been shown in __tut_chaotic_system where the state consists of two parts: one for the original system and one for the perturbations. The ranges are used to initialize (solve) only the system part where the perturbation part is not touched, that is a range consisting only of the system part is used. After that the complete state including the perturbations is solved. - -Another use case is a system consisting of coupled units where you want to initialize each unit separately with the ODE of the uncoupled unit. An example is a chain of coupled van-der-Pol-oscillators which are initialized uniformly from the uncoupled van-der-Pol-oscillator. Then you can use __boost_range to solve only one individual oscillator in the chain. - -In short, you can __boost_range to use one state within two system functions which expect states with different sizes. - -An example was given in the __tut_chaotic_system tutorial. Using Boost.Range usually means that your system function needs to adapt to the iterators of Boost.Range. That is, your function is called with a range and you need to get the iterators from that range. This can easily be done. You have to implement your system as a class or a struct and you have to templatize the `operator()`. Then you can use the `range_iterator`-meta function and `boost::begin` and `boost::end` to obtain the iterators of your range: - -`` -class sys -{ - template< class State , class Deriv > - void operator()( const State &x_ , Deriv &dxdt_ , double t ) const - { - typename boost::range_iterator< const State >::type x = boost::begin( x_ ); - typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ ); - - // fill dxdt - } -}; -`` - -If your range is a random access-range you can also apply the bracket operator to the iterator to access the elements in the range: -`` -class sys -{ - template< class State , class Deriv > - void operator()( const State &x_ , Deriv &dxdt_ , double t ) const - { - typename boost::range_iterator< const State >::type x = boost::begin( x_ ); - typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ ); - - dxdt[0] = f1( x[0] , x[1] ); - dxdt[1] = f2( x[0] , x[1] ); - } -}; -`` - -The following two tables show which steppers and which algebras are compatible with __boost_range. -[include range_table.qbk] - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_boost_ref.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_boost_ref.qbk deleted file mode 100644 index 5ba41e2..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_boost_ref.qbk +++ /dev/null @@ -1,35 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - -[section Using boost::ref] - -In odeint all system functions and observers are passed by value. For example, if you call a `do_step` method of a particular stepper or the integration functions, your system and your stepper will be passed by value: - -[c++] -`` -rk4.do_step( sys , x , t , dt ); // pass sys by value -`` - -This behavior is suitable for most systems, especially if your system does not contain any data or only a few parameters. However, in some cases you might contain some large amount of data with you system function and passing them by value is not desired since the data would be copied. - -In such cases you can easily use `boost::ref` (and its relative `boost::cref`) -which passes its argument by reference (or constant reference). odeint will -unpack the arguments and no copying at all of your system object will take place: - -`` -rk4.do_step( boost::ref( sys ) , x , t , dt ); // pass sys as references -`` - -The same mechanism can be used for the observers in the integrate functions. - -[tip If you are using C++11 you can also use `std::ref` and `std::cref`] - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_generation_functions.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_generation_functions.qbk deleted file mode 100644 index 50f4cf6..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_generation_functions.qbk +++ /dev/null @@ -1,43 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - -[section Generation functions] - -[import ../examples/generation_functions.cpp] - -In the __tutorial we have learned how we can use the generation functions `make_controlled` and `make_dense_output` to create controlled and dense output stepper from a simple stepper or an error stepper. The syntax of these two functions is very simple: - -[generation_functions_syntax_auto] - -The first two parameters are the absolute and the relative error tolerances and the third parameter is the stepper. In C++03 you can infer the type from the `result_of` mechanism: - -[generation_functions_syntax_result_of] - -To use your own steppers with the `make_controlled` or `make_dense_output` you need to specialize two class templates. Suppose your steppers are called `custom_stepper`, `custom_controller` and `custom_dense_output`. Then, the first class you need to specialize is `boost::numeric::get_controller`, a meta function returning the type of the controller: - -[generation_functions_get_controller] - -The second one is a factory class `boost::numeric::odeint::controller_factory` which constructs the controller from the tolerances and the stepper. In our dummy implementation this class is - -[generation_functions_controller_factory] - -This is all to use the `make_controlled` mechanism. Now you can use your controller via - -[generation_functions_example_custom_controller] - -For the dense_output_stepper everything works similar. Here you have to specialize `boost::numeric::odeint::get_dense_output` and `boost::numeric::odeint::dense_output_factory`. These two classes have the same syntax as their relatives `get_controller` and `controller_factory`. - -All controllers and dense-output steppers in odeint can be used with these mechanisms. In the table below you will find, which steppers is constructed from `make_controlled` or `make_dense_output` if applied on a stepper from odeint: - -[include make_controlled_table.qbk] -[include make_dense_output_table.qbk] - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_integrate_functions.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_integrate_functions.qbk deleted file mode 100644 index da810e4..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_integrate_functions.qbk +++ /dev/null @@ -1,124 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - -[section Integrate functions] - -Integrate functions perform the time evolution of a given ODE from some -starting time ['t[sub 0]] to a given end time ['t[sub 1]] and starting at state ['x[sub 0]] by subsequent calls of a given stepper's `do_step` function. -Additionally, the user can provide an __observer to analyze the state during time evolution. -There are five different integrate functions which have different strategies on when to call the observer function during integration. -All of the integrate functions except `integrate_n_steps` can be called with any stepper following one of the stepper concepts: __stepper , __error_stepper , __controlled_stepper , __dense_output_stepper. -Depending on the abilities of the stepper, the integrate functions make use of step-size control or dense output. - -[heading Equidistant observer calls] - -If observer calls at equidistant time intervals /dt/ are needed, the -`integrate_const` or `integrate_n_steps` function should be used. -We start with explaining `integrate_const`: - -`integrate_const( stepper , system , x0 , t0 , t1 , dt )` - -`integrate_const( stepper , system , x0 , t0 , t1 , dt , observer )` - -These integrate the ODE given by `system` with subsequent steps from `stepper`. -Integration start at `t0` and `x0` and ends at some ['t' = t[sub 0] + n dt] with /n/ such that ['t[sub 1] - dt < t' <= t[sub 1]]. -`x0` is changed to the approximative solution ['x(t')] at the end of integration. -If provided, the `observer` is invoked at times ['t[sub 0]], ['t[sub 0] + dt], ['t[sub 0] + 2dt], ... ,['t']. -`integrate_const` returns the number of steps performed during the integration. -Note that if you are using a simple __stepper or __error_stepper and want to make exactly `n` steps you should prefer the `integrate_n_steps` function below. - -* If `stepper` is a __stepper or __error_stepper then `dt` is also the step size used for integration and the observer is called just after every step. -* If `stepper` is a __controlled_stepper then `dt` is the initial step size. -The actual step size will change due to error control during time evolution. -However, if an observer is provided the step size will be adjusted such that the algorithm always calculates /x(t)/ at ['t = t[sub 0] + n dt] and calls the observer at that point. -Note that the use of __controlled_stepper is reasonable here only if `dt` is considerably larger than typical step sizes used by the stepper. -* If `stepper` is a __dense_output_stepper then `dt` is the initial step size. -The actual step size will be adjusted during integration due to error control. -If an observer is provided dense output is used to calculate /x(t)/ at ['t = t[sub 0] + n dt]. - -[heading Integrate a given number of steps] - -This function is very similar to `integrate_const` above. The only difference -is that it does not take the end time as parameter, but rather the number of -steps. The integration is then performed until the time `t0+n*dt`. - -`integrate_n_steps( stepper , system , x0 , t0 , dt , n )` - -`integrate_n_steps( stepper , system , x0 , t0 , dt , n , observer )` - -Integrates the ODE given by `system` with subsequent steps from `stepper` starting at ['x[sub 0]] and ['t[sub 0]]. -If provided, `observer` is called after every step and at the beginning with -`t0`, similar as above. -The approximate result for ['x( t[sub 0] + n dt )] is stored in `x0`. -This function returns the end time `t0 + n*dt`. - - -[heading Observer calls at each step] - -If the observer should be called at each time step then the `integrate_adaptive` function should be used. -Note that in the case of __controlled_stepper or __dense_output_stepper this leads to non-equidistant observer calls as the step size changes. - -`integrate_adaptive( stepper , system , x0 , t0 , t1 , dt )` - -`integrate_adaptive( stepper , system , x0 , t0 , t1 , dt , observer )` - -Integrates the ODE given by `system` with subsequent steps from `stepper`. -Integration start at `t0` and `x0` and ends at ['t[sub 1]]. -`x0` is changed to the approximative solution ['x(t[sub 1])] at the end of integration. -If provided, the `observer` is called after each step (and before the first step at `t0`). -`integrate_adaptive` returns the number of steps performed during the integration. - -* If `stepper` is a __stepper or __error_stepper then `dt` is the step size used for integration and `integrate_adaptive` behaves like `integrate_const` except that for the last step the step size is reduced to ensure we end exactly at `t1`. -If provided, the observer is called at each step. -* If `stepper` is a __controlled_stepper then `dt` is the initial step size. -The actual step size is changed according to error control of the stepper. -For the last step, the step size will be reduced to ensure we end exactly at `t1`. -If provided, the observer is called after each time step (and before the first step at `t0`). -* If stepper is a __dense_output_stepper then `dt` is the initial step size and `integrate_adaptive` behaves just like for __controlled_stepper above. No dense output is used. - -[heading Observer calls at given time points] - -If the observer should be called at some user given time points the `integrate_times` function should be used. -The times for observer calls are provided as a sequence of time values. -The sequence is either defined via two iterators pointing to begin and end of the sequence or in terms of a __boost_range object. - -`integrate_times( stepper , system , x0 , times_start , times_end , dt , observer )` - -`integrate_times( stepper , system , x0 , time_range , dt , observer )` - -Integrates the ODE given by `system` with subsequent steps from `stepper`. -Integration starts at `*times_start` and ends exactly at `*(times_end-1)`. -`x0` contains the approximate solution at the end point of integration. -This function requires an observer which is invoked at the subsequent times `*times_start++` until `times_start == times_end`. -If called with a __boost_range `time_range` the function behaves the same with `times_start = boost::begin( time_range )` and `times_end = boost::end( time_range )`. -`integrate_times` returns the number of steps performed during the integration. - -* If `stepper` is a __stepper or __error_stepper `dt` is the step size used for integration. -However, whenever a time point from the sequence is approached the step size `dt` will be reduced to obtain the state /x(t)/ exactly at the time point. -* If `stepper` is a __controlled_stepper then `dt` is the initial step size. -The actual step size is adjusted during integration according to error control. -However, if a time point from the sequence is approached the step size is reduced to obtain the state /x(t)/ exactly at the time point. -* If `stepper` is a __dense_output_stepper then `dt` is the initial step size. -The actual step size is adjusted during integration according to error control. -Dense output is used to obtain the states /x(t)/ at the time points from the sequence. - -[heading Convenience integrate function] - -Additionally to the sophisticated integrate function above odeint also provides a simple `integrate` routine which uses a dense output stepper based on `runge_kutta_dopri5` with standard error bounds ['10[super -6]] for the steps. - -`integrate( system , x0 , t0 , t1 , dt )` - -`integrate( system , x0 , t0 , t1 , dt , observer )` - -This function behaves exactly like `integrate_adaptive` above but no stepper has to be provided. -It also returns the number of steps performed during the integration. - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_state_types_algebras_operations.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_state_types_algebras_operations.qbk deleted file mode 100644 index a327ebd..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_state_types_algebras_operations.qbk +++ /dev/null @@ -1,473 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - -[section State types, algebras and operations] - -In odeint the stepper algorithms are implemented independently of the -underlying fundamental mathematical operations. -This is realized by giving the user full control over the state type and the -mathematical operations for this state type. -Technically, this is done by introducing three concepts: StateType, Algebra, -Operations. -Most of the steppers in odeint expect three class types fulfilling these -concepts as template parameters. -Note that these concepts are not fully independent of each other but rather a -valid combination must be provided in order to make the steppers work. -In the following we will give some examples on reasonable -state_type-algebra-operations combinations. -For the most common state types, like `vector` or `array` -the default values range_algebra and default_operations are perfectly fine and -odeint can be used as is without worrying about algebra/operations at all. - -[important state_type, algebra and operations are not independent, a valid -combination must be provided to make odeint work properly] - -Moreover, as odeint handles the memory required for intermediate temporary -objects itself, it also needs knowledge about how to create state_type objects -and maybe how to allocate memory (resizing). -All in all, the following things have to be taken care of when odeint is used -with non-standard state types: - -* construction/destruction -* resizing (if possible/required) -* algebraic operations - -Again, odeint already provides basic interfaces for most of the usual state -types. -So if you use a `std::vector`, or a `boost::array` as state type no additional -work is required, they just work out of the box. - -[section Construction/Resizing] - -We distinguish between two basic state types: fixed sized and dynamically -sized. -For fixed size state types the default constructor `state_type()` already -allocates the required memory, prominent example is `boost::array`. -Dynamically sized types have to be resized to make sure enough memory is -allocated, the standard constructor does not take care of the resizing. -Examples for this are the STL containers like `vector`. - -The most easy way of getting your own state type to work with odeint is to use -a fixed size state, base calculations on the range_algebra and provide the -following functionality: -[table - [[Name] [Expression] [Type] [Semantics]] - [[Construct State] [`State x()`] [`void`] [Creates an instance of `State` - and allocates memory.] ] - [[Begin of the sequence] [boost::begin(x)] [Iterator] [Returns an iterator - pointing to the begin of the sequence]] - [[End of the sequence] [boost::end(x)] [Iterator] [Returns an iterator - pointing to the end of the sequence]] -] - -[warning If your state type does not allocate memory by default construction, -you [*must define it as resizeable] and provide resize functionality (see -below). Otherwise segmentation faults will occur.] - -So fixed sized arrays supported by __boost_range immediately work with odeint. -For dynamically sized arrays one has to additionally supply the resize -functionality. -First, the state has to be tagged as resizeable by specializing the struct -`is_resizeable` which consists of one typedef and one bool value: -[table - [[Name] [Expression] [Type] [Semantics]] - [[Resizability] [`is_resizeable::type`] - [`boost::true_type` or `boost::false_type`] - [Determines resizeability of the state type, returns `boost::true_type` if - the state is resizeable.]] - [[Resizability] [`is_resizeable::value`] - [`bool`] - [Same as above, but with `bool` value.]] -] - -Defining `type` to be `true_type` and `value` as `true` tells odeint that your -state is resizeable. -By default, odeint now expects the support of `boost::size(x)` and a -`x.resize( boost::size(y) )` member function for resizing: -[table - [[Name] [Expression] [Type] [Semantics]] - [[Get size] [`boost::size( x )`] - [`size_type`] [Returns the current size of x.]] - [[Resize] [`x.resize( boost::size( y ) )`] - [`void`] [Resizes x to have the same size as y.]] -] - -[section Using the container interface] -[import ../examples/my_vector.cpp] - -As a first example we take the most simple case and implement our own vector -`my_vector` which will provide a container interface. -This makes __boost_range working out-of-box. -We add a little functionality to our vector which makes it allocate some -default capacity by construction. -This is helpful when using resizing as then a resize can be assured to not -require a new allocation. - -[my_vector] - - -The only thing that has to be done other than defining is thus declaring -my_vector as resizeable: - -[my_vector_resizeable] - -If we wouldn't specialize the `is_resizeable` template, the code would still -compile but odeint would not adjust the size of temporary internal instances -of my_vector and hence try to fill zero-sized vectors resulting in -segmentation faults! -The full example can be found in [github_link libs/numeric/odeint/examples/my_vector.cpp my_vector.cpp] - -[endsect] - -[section std::list] - -If your state type does work with __boost_range, but handles resizing -differently you are required to specialize two implementations used by odeint -to check a state's size and to resize: -[table - [[Name] [Expression] [Type] [Semantics]] - [[Check size] [`same_size_impl::same_size(x , y)`] - [`bool`] [Returns true if the size of x equals the size of y.]] - [[Resize] [`resize_impl::resize(x , y)`] - [`void`] [Resizes x to have the same size as y.]] -] - -As an example we will use a `std::list` as state type in odeint. -Because `std::list` is not supported by `boost::size` we have to replace the -same_size and resize implementation to get list to work with odeint. -The following code shows the required template specializations: - -[import ../examples/list_lattice.cpp] - -[list_bindings] - -With these definitions odeint knows how to resize `std::list`s and so they can -be used as state types. -A complete example can be found in [github_link libs/numeric/odeint/examples/list_lattice.cpp list_lattice.cpp]. - -[endsect] - -[endsect] - -[section Algebras and Operations] - -To provide maximum flexibility odeint is implemented in a highly modularized -way. This means it is possible to change the underlying mathematical -operations without touching the integration algorithms. -The fundamental mathematical operations are those of a vector space, that is -addition of `state_types` and multiplication of `state_type`s with a scalar -(`time_type`). In odeint this is realized in two concepts: _Algebra_ and -_Operations_. -The standard way how this works is by the range algebra which provides -functions that apply a specific operation to each of the individual elements -of a container based on the __boost_range library. -If your state type is not supported by __boost_range there are several -possibilities to tell odeint how to do algebraic operations: - -* Implement `boost::begin` and `boost::end` for your state type so it works -with __boost_range. -* Implement vector-vector addition operator `+` and scalar-vector -multiplication operator `*` and use the non-standard `vector_space_algebra`. -* Implement your own algebra that implements the required functions. - -[section GSL Vector] - -In the following example we will try to use the `gsl_vector` type from __gsl (GNU -Scientific Library) as state type in odeint. -We will realize this by implementing a wrapper around the gsl_vector that -takes care of construction/destruction. -Also, __boost_range is extended such that it works with `gsl_vector`s as well -which required also the implementation of a new `gsl_iterator`. - -[note odeint already includes all the code presented here, see [github_link -boost/numeric/odeint/external/gsl/gsl_wrapper.hpp gsl_wrapper.hpp], so `gsl_vector`s -can be used straight out-of-box. -The following description is just for educational purpose.] - -The GSL is a C library, so `gsl_vector` has neither constructor, nor -destructor or any `begin` or `end` function, no iterators at all. -So to make it work with odeint plenty of things have to be implemented. -Note that all of the work shown here is already included in odeint, so using -`gsl_vector`s in odeint doesn't require any further adjustments. -We present it here just as an educational example. -We start with defining appropriate constructors and destructors. -This is done by specializing the `state_wrapper` for `gsl_vector`. -State wrappers are used by the steppers internally to create and manage -temporary instances of state types: - -`` -template<> -struct state_wrapper< gsl_vector* > -{ - typedef double value_type; - typedef gsl_vector* state_type; - typedef state_wrapper< gsl_vector* > state_wrapper_type; - - state_type m_v; - - state_wrapper( ) - { - m_v = gsl_vector_alloc( 1 ); - } - - state_wrapper( const state_wrapper_type &x ) - { - resize( m_v , x.m_v ); - gsl_vector_memcpy( m_v , x.m_v ); - } - - - ~state_wrapper() - { - gsl_vector_free( m_v ); - } - -}; -`` - -This `state_wrapper` specialization tells odeint how gsl_vectors are created, -copied and destroyed. -Next we need resizing, this is required because gsl_vectors are dynamically -sized objects: -`` -template<> -struct is_resizeable< gsl_vector* > -{ - typedef boost::true_type type; - const static bool value = type::value; -}; - -template <> -struct same_size_impl< gsl_vector* , gsl_vector* > -{ - static bool same_size( const gsl_vector* x , const gsl_vector* y ) - { - return x->size == y->size; - } -}; - -template <> -struct resize_impl< gsl_vector* , gsl_vector* > -{ - static void resize( gsl_vector* x , const gsl_vector* y ) - { - gsl_vector_free( x ); - x = gsl_vector_alloc( y->size ); - } -}; -`` - -Up to now, we defined creation/destruction and resizing, but gsl_vectors also -don't support iterators, so we first implement a gsl iterator: - -`` -/* - * defines an iterator for gsl_vector - */ -class gsl_vector_iterator - : public boost::iterator_facade< gsl_vector_iterator , double , - boost::random_access_traversal_tag > -{ -public : - - gsl_vector_iterator( void ): m_p(0) , m_stride( 0 ) { } - explicit gsl_vector_iterator( gsl_vector *p ) : m_p( p->data ) , m_stride( p->stride ) { } - friend gsl_vector_iterator end_iterator( gsl_vector * ); - -private : - - friend class boost::iterator_core_access; - friend class const_gsl_vector_iterator; - - void increment( void ) { m_p += m_stride; } - void decrement( void ) { m_p -= m_stride; } - void advance( ptrdiff_t n ) { m_p += n*m_stride; } - bool equal( const gsl_vector_iterator &other ) const { return this->m_p == other.m_p; } - bool equal( const const_gsl_vector_iterator &other ) const; - double& dereference( void ) const { return *m_p; } - - double *m_p; - size_t m_stride; -}; -`` -A similar class exists for the `const` version of the iterator. -Then we have a function returning the end iterator (similarly for `const` again): -`` -gsl_vector_iterator end_iterator( gsl_vector *x ) -{ - gsl_vector_iterator iter( x ); - iter.m_p += iter.m_stride * x->size; - return iter; -} -`` - -Finally, the bindings for __boost_range are added: -`` -// template<> -inline gsl_vector_iterator range_begin( gsl_vector *x ) -{ - return gsl_vector_iterator( x ); -} - -// template<> -inline gsl_vector_iterator range_end( gsl_vector *x ) -{ - return end_iterator( x ); -} -`` -Again with similar definitions for the `const` versions. -This eventually makes odeint work with gsl vectors as state types. -The full code for these bindings is found in [github_link -boost/numeric/odeint/external/gsl/gsl_wrapper.hpp gsl_wrapper.hpp]. -It might look rather complicated but keep in mind that gsl is a pre-compiled C -library. -[endsect] - - -[section Vector Space Algebra] - -As seen above, the standard way of performing algebraic operations on -container-like state types in odeint is to iterate through the elements of the -container and perform the operations element-wise on the underlying value type. -This is realized by means of the `range_algebra` that uses __boost_range for -obtaining iterators of the state types. -However, there are other ways to implement the algebraic operations on -containers, one of which is defining the addition/multiplication operators for -the containers directly and then using the `vector_space_algebra`. -If you use this algebra, the following operators have to be defined for the -state_type: - -[table - [[Name] [Expression] [Type] [Semantics]] - [[Addition] [`x + y`] [`state_type`] [Calculates the vector sum 'x+y'.]] - [[Assign addition] [`x += y`] [`state_type`] [Performs x+y in place.]] - [[Scalar multiplication] [`a * x `] [`state_type`] [Performs multiplication of vector x with scalar a.]] - [[Assign scalar multiplication] [`x *= a`] [`state_type`] [Performs in-place multiplication of vector x with scalar a.]] -] - -Defining these operators makes your state type work with any basic Runge-Kutta -stepper. -However, if you want to use step-size control, some more functionality is -required. -Specifically, operations like -[' max[sub i]( |err[sub i]| / (alpha * |s[sub i]|) )] -have to be performed. -['err] and ['s] are state_types, alpha is a scalar. -As you can see, we need element wise absolute value and division as well as an -reduce operation to get the maximum value. -So for controlled steppers the following things have to be implemented: - -[table - [[Name] [Expression] [Type] [Semantics]] - [[Division] [`x / y`] [`state_type`] [Calculates the element-wise division 'x/y']] - [[Absolute value] [`abs( x )`] [`state_type`] [Element wise absolute value]] - [[Reduce] [`vector_space_reduce_impl< state_type >::reduce( state , operation , init )`] [`value_type`] - [Performs the `operation` for subsequently each element of `state` and returns the aggregate value. - E.g. - -`init = operator( init , state[0] );` - -`init = operator( init , state[1] )` - -`...` - ]] -] - -[endsect] - -[section Boost.Ublas] -As an example for the employment of the `vector_space_algebra` we will adopt -`ublas::vector` from __ublas to work as a state type in odeint. -This is particularly easy because `ublas::vector` supports vector-vector -addition and scalar-vector multiplication described above as well as `boost::size`. -It also has a resize member function so all that has to be done in this case -is to declare resizability: - -[import ../examples/ublas/lorenz_ublas.cpp] - -[ublas_resizeable] - -Now ublas::vector can be used as state type for simple Runge-Kutta steppers -in odeint by specifying the `vector_space_algebra` as algebra in the template -parameter list of the stepper. -The following code shows the corresponding definitions: - -[ublas_main] - -Note again, that we haven't supported the requirements for controlled steppers, -but only for simple Runge-Kutta methods. -You can find the full example in [github_link -libs/numeric/odeint/examples/ublas/lorenz_ublas.cpp lorenz_ublas.cpp]. - -[endsect] - -[section Point type] - -[import ../examples/lorenz_point.cpp] - -Here we show how to implement the required operators on a state type. -As example we define a new class `point3D` representing a three-dimensional -vector with components x,y,z and define addition and scalar multiplication -operators for it. -We use __boost_operators to reduce the amount of code to be written. -The class for the point type looks as follows: - -[point3D] - -By deriving from __boost_operators classes we don't have to define outer class -operators like `operator+( point3D , point3D )` because that is taken care of -by the operators library. -Note that for simple Runge-Kutta schemes (like `runge_kutta4`) only the `+` -and `*` operators are required. -If, however, a controlled stepper is used one also needs to specify the -division operator `/` because calculation of the error term involves an -element wise division of the state types. -Additionally, controlled steppers require an `abs` function calculating the -element-wise absolute value for the state type: - -[point3D_abs_div] - -Finally, we have to add a specialization for `reduce` implementing a reduction -over the state type: - -[point3D_reduce] - -Again, note that the two last steps were only required if you want to use -controlled steppers. -For simple steppers definition of the simple `+=` and `*=` operators are -sufficient. -Having defined such a point type, we can easily perform the integration on a Lorenz -system by using the `vector_space_algebra` again: - -[point3D_main] - -The whole example can be found in [github_link -libs/numeric/odeint/examples/lorenz_point.cpp lorenz_point.cpp] - -[endsect] - -[endsect] - -gsl_vector, gsl_matrix, ublas::matrix, blitz::matrix, thrust - -[section Adapt your own operations] - -to be continued - -*thrust -*gsl_complex -*min, max, pow - -[endsect] - - - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_steppers.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_steppers.qbk deleted file mode 100644 index 5668f36..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_steppers.qbk +++ /dev/null @@ -1,420 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - -[section Steppers] - -[import ../examples/stepper_details.cpp] - -Solving ordinary differential equation numerically is usually done iteratively, that is a given state of an ordinary differential equation is iterated forward ['x(t) -> x(t+dt) -> x(t+2dt)]. The steppers in odeint perform one single step. The most general stepper type is described by the __stepper concept. The stepper concepts of odeint are described in detail in section __concepts, here we briefly present the mathematical and numerical details of the steppers. The __stepper has two versions of the `do_step` method, one with an in-place transform of the current state and one with an out-of-place transform: - -`do_step( sys , inout , t , dt )` - -`do_step( sys , in , t , out , dt )` - -The first parameter is always the system function - a function describing the -ODE. In the first version the second parameter is the step which is here -updated in-place and the third and the fourth parameters are the time and step -size (the time step). After a call to `do_step` the state `inout` is updated -and now represents an approximate solution of the ODE at time ['t+dt]. In the -second version the second argument is the state of the ODE at time ['t], the -third argument is t, the fourth argument is the approximate solution at time -['t+dt] which is filled by `do_step` and the fifth argument is the time step. -Note that these functions do not change the time `t`. - -[* System functions] - -Up to now, we have nothing said about the system function. This function -depends on the stepper. For the explicit Runge-Kutta steppers this function -can be a simple callable object hence a simple (global) C-function or a -functor. The parameter syntax is `sys( x , dxdt , t )` and it is assumed that -it calculates ['dx/dt = f(x,t)]. -The function structure in most cases looks like: - -[system_function_structure] - -Other types of system functions might represent Hamiltonian systems or systems which also compute the Jacobian needed in implicit steppers. For information which stepper uses which system function see the stepper table below. It might be possible that odeint will introduce new system types in near future. Since the system function is strongly related to the stepper type, such an introduction of a new stepper might result in a new type of system function. - -[section Explicit steppers] - -A first specialization are the explicit steppers. Explicit means that the new -state of the ode can be computed explicitly from the current state without -solving implicit equations. Such steppers have in common that they evaluate the system at time ['t] such that the result of ['f(x,t)] can be passed to the stepper. In odeint, the explicit stepper have two additional methods - -`do_step( sys , inout , dxdtin , t , dt )` - -`do_step( sys , in , dxdtin , t , out , dt )` - -Here, the additional parameter is the value of the function ['f] at state ['x] and time ['t]. An example is the Runge-Kutta stepper of fourth order: - -[explicit_stepper_detail_example] - -In fact, you do not need to call these two methods. You can always use the -simpler `do_step( sys , inout , t , dt )`, but sometimes the derivative of the -state is needed externally to do some external computations or to perform some statistical analysis. - -A special class of the explicit steppers are the FSAL (first-same-as-last) -steppers, where the last evaluation of the system function is also the first -evaluation of the following step. For such steppers the `do_step` method are -slightly different: - -`do_step( sys , inout , dxdtinout , t , dt )` - -`do_step( sys , in , dxdtin , out , dxdtout , t , dt )` - -This method takes the derivative at time `t` and also stores -the derivative at time ['t+dt]. Calling these functions subsequently iterating -along the solution one saves one function call by passing the result for dxdt -into the next function call. -However, when using FSAL steppers without supplying derivatives: - -`do_step( sys , inout , t , dt )` - -the stepper internally satisfies the FSAL property which means it remembers -the last `dxdt` and uses it for the next step. -An example for a FSAL stepper is the Runge-Kutta-Dopri5 stepper. The FSAL trick is sometimes also referred as the Fehlberg trick. An example how the FSAL steppers can be used is - -[fsal_stepper_detail_example] - -[caution The FSAL-steppers save the derivative at time ['t+dt] internally if -they are called via `do_step( sys , in , out , t , dt )`. The first call of -`do_step` will initialize `dxdt` and for all following calls it is assumed -that the same system and the same state are used. If you use the FSAL stepper -within the integrate functions this is taken care of automatically. See the __using_steppers section for more details or look into the table below to see which stepper have an internal state.] - - -[endsect] - -[section Symplectic solvers] - -As mentioned above symplectic solvers are used for Hamiltonian systems. Symplectic solvers conserve the phase space volume exactly and if the Hamiltonian system is energy conservative they also conserve the energy approximately. A special class of symplectic systems are separable systems which can be written in the form ['dqdt/dt = f1(p)], ['dpdt/dt = f2(q)], where ['(q,p)] are the state of system. The space of ['(q,p)] is sometimes referred as the phase space and ['q] and ['p] are said the be the phase space variables. Symplectic systems in this special form occur widely in nature. For example the complete classical mechanics as written down by Newton, Lagrange and Hamilton can be formulated in this framework. The separability of the system depends on the specific choice of coordinates. - -Symplectic systems can be solved by odeint by means of the symplectic_euler stepper and a symplectic Runge-Kutta-Nystrom method of fourth order. These steppers assume that the system is autonomous, hence the time will not explicitly occur. Further they fulfill in principle the default Stepper concept, but they expect the system to be a pair of callable objects. The first entry of this pair calculates ['f1(p)] while the second calculates ['f2(q)]. The syntax is `sys.first(p,dqdt)` and `sys.second(q,dpdt)`, where the first and second part can be again simple C-functions of functors. An example is the harmonic oscillator: - -[symplectic_stepper_detail_system_function] - -The state of such an ODE consist now also of two parts, the part for q (also called the coordinates) and the part for p (the momenta). The full example for the harmonic oscillator is now: - -[symplectic_stepper_detail_example] - -If you like to represent the system with one class you can easily bind two public method: - -[symplectic_stepper_detail_system_class] - -[symplectic_stepper_detail_system_class_example] - -Many Hamiltonian system can be written as ['dq/dt=p], ['dp/dt=f(q)] which is computationally much easier than the full separable system. Very often, it is also possible to transform the original equations of motion to bring the system in this simplified form. This kind of system can be used in the symplectic solvers, by simply passing ['f(p)] to the `do_step` method, again ['f(p)] will be represented by a simple C-function or a functor. Here, the above example of the harmonic oscillator can be written as - -[simplified_symplectic_stepper_example] - -In this example the function `harm_osc_f1` is exactly the same function as in the above examples. - -Note, that the state of the ODE must not be constructed explicitly via `pair< vector_type , vector_type > x`. One can also use a combination of `make_pair` and `ref`. Furthermore, a convenience version of `do_step` exists which takes q and p without combining them into a pair: - -[symplectic_stepper_detail_ref_usage] - -[endsect] - -[section Implicit solvers] - -[caution This section is not up-to-date.] - -For some kind of systems the stability properties of the classical Runge-Kutta are not sufficient, especially if the system is said to be stiff. A stiff system possesses two or more time scales of very different order. Solvers for stiff systems are usually implicit, meaning that they solve equations like ['x(t+dt) = x(t) + dt * f(x(t+1))]. This particular scheme is the implicit Euler method. Implicit methods usually solve the system of equations by a root finding algorithm like the Newton method and therefore need to know the Jacobian of the system ['J[subl ij] = df[subl i] / dx[subl j]]. - -For implicit solvers the system is again a pair, where the first component computes ['f(x,t)] and the second the Jacobian. The syntax is `sys.first( x , dxdt , t )` and `sys.second( x , J , t )`. For the implicit solver the `state_type` is `ublas::vector` and the Jacobian is represented by `ublas::matrix`. - -[important Implicit solvers only work with ublas::vector as state type. At -the moment, no other state types are supported.] - -[endsect] - -[section Multistep methods] - -Another large class of solvers are multi-step method. They save a small part of the history of the solution and compute the next step with the help of this history. Since multi-step methods know a part of their history they do not need to compute the system function very often, usually it is only computed once. This makes multi-step methods preferable if a call of the system function is expensive. Examples are ODEs defined on networks, where the computation of the interaction is usually where expensive (and might be of order O(N^2)). - -Multi-step methods differ from the normal steppers. They save a part of their history and this part has to be explicitly calculated and initialized. In the following example an Adams-Bashforth-stepper with a history of 5 steps is instantiated and initialized; - -[multistep_detail_example] - -The initialization uses a fourth-order Runge-Kutta stepper and after the call -of `initialize` the state of `inout` has changed to the current state, such -that it can be immediately used by passing it to following calls of `do_step`. You can also use you own steppers to initialize the internal state of the Adams-Bashforth-Stepper: - -[multistep_detail_own_stepper_initialization] - -Many multi-step methods are also explicit steppers, hence the parameter of `do_step` method do not differ from the explicit steppers. - -[caution The multi-step methods have some internal variables which depend on -the explicit solution. Hence after any external changes of your state (e.g. size) or -system the initialize function has to be called again to adjust the internal -state of the stepper. If you use the integrate functions this will -be taken into account. See the __using_steppers section for more details.] - - -[endsect] - -[section Controlled steppers] - -Many of the above introduced steppers possess the possibility to use adaptive step-size control. Adaptive step size integration works in principle as follows: - -# The error of one step is calculated. This is usually done by performing two steps with different orders. The difference between these two steps is then used as a measure for the error. Stepper which can calculate the error are __error_stepper and they form an own class with an separate concept. -# This error is compared against some predefined error tolerances. Are the tolerance violated the step is reject and the step-size is decreases. Otherwise the step is accepted and possibly the step-size is increased. - -The class of controlled steppers has their own concept in odeint - the __controlled_stepper concept. They are usually constructed from the underlying error steppers. An example is the controller for the explicit Runge-Kutta steppers. The Runge-Kutta steppers enter the controller as a template argument. Additionally one can pass the Runge-Kutta stepper to the constructor, but this step is not necessary; the stepper is default-constructed if possible. - -Different step size controlling mechanism exist. They all have in common that -they somehow compare predefined error tolerance against the error and that -they might reject or accept a step. If a step is rejected the step size is -usually decreased and the step is made again with the reduced step size. This -procedure is repeated until the step is accepted. This algorithm is -implemented in the integration functions. - -A classical way to decide whether a step is rejected or accepted is to calculate - -['val = || | err[subl i] | / ( __epsilon[subl abs] + __epsilon[subl rel] * ( a[subl x] | x[subl i] | + a[subl dxdt] | | dxdt[subl i] | )|| ] - -['__epsilon[subl abs]] and ['__epsilon[subl rel]] are the absolute and the relative error tolerances, and ['|| x ||] is a norm, typically ['||x||=(__Sigma[subl i] x[subl i][super 2])[super 1/2]] or the maximum norm. The step is rejected if ['val] is greater then 1, otherwise it is accepted. For details of the used norms and error tolerance see the table below. - -For the `controlled_runge_kutta` stepper the new step size is then calculated via - -['val > 1 : dt[subl new] = dt[subl current] max( 0.9 pow( val , -1 / ( O[subl E] - 1 ) ) , 0.2 )] - -['val < 0.5 : dt[subl new] = dt[subl current] min( 0.9 pow( val , -1 / O[subl S] ) , 5 )] - -['else : dt[subl new] = dt[subl current]] - -Here, ['O[subl S]] and ['O[subl E]] are the order of the stepper and the error stepper. These formulas also contain some safety factors, avoiding that the step size is reduced or increased to much. For details of the implementations of the controlled steppers in odeint see the table below. - -[include controlled_stepper_table.qbk] - -To ease to generation of the controlled stepper, generation functions exist which take the absolute and relative error tolerances and a predefined error stepper and construct from this knowledge an appropriate controlled stepper. The generation functions are explained in detail in __generation_functions. - -[endsect] - -[section Dense output steppers] - -A fourth class of stepper exists which are the so called dense output steppers. Dense-output steppers might take larger steps and interpolate the solution between two consecutive points. This interpolated points have usually the same order as the order of the stepper. Dense-output steppers are often composite stepper which take the underlying method as a template parameter. An example is the `dense_output_runge_kutta` stepper which takes a Runge-Kutta stepper with dense-output facilities as argument. Not all Runge-Kutta steppers provide dense-output calculation; at the moment only the Dormand-Prince 5 stepper provides dense output. An example is - -[dense_output_detail_example] - -Dense output stepper have their own concept. The main difference to usual -steppers is that they manage the state and time internally. If you call -`do_step`, only the ODE is passed as argument. Furthermore `do_step` return -the last time interval: `t` and `t+dt`, hence you can interpolate the solution between these two times points. Another difference is that they must be initialized with `initialize`, otherwise the internal state of the stepper is default constructed which might produce funny errors or bugs. - -The construction of the dense output stepper looks a little bit nasty, since in the case of the `dense_output_runge_kutta` stepper a controlled stepper and an error stepper have to be nested. To simplify the generation of the dense output stepper generation functions exist: - -[dense_output_detail_generation1] - -This statement is also lengthy; it demonstrates how `make_dense_output` can be used with the `result_of` protocol. The parameters to `make_dense_output` are the absolute error tolerance, the relative error tolerance and the stepper. This explicitly assumes that the underlying stepper is a controlled stepper and that this stepper has an absolute and a relative error tolerance. For details about the generation functions see __generation_functions. The generation functions have been designed for easy use with the integrate functions: - -[dense_output_detail_generation2] - -[endsect] - -[section Using steppers] - -This section contains some general information about the usage of the steppers in odeint. - -[* Steppers are copied by value] - -The stepper in odeint are always copied by values. They are copied for the creation of the controlled steppers or the dense output steppers as well as in the integrate functions. - -[* Steppers might have a internal state] - -[caution Some of the features described in this section are not yet implemented] - -Some steppers require to store some information about the state of the ODE between two steps. Examples are the multi-step methods which store a part of the solution during the evolution of the ODE, or the FSAL steppers which store the last derivative at time ['t+dt], to be used in the next step. In both cases the steppers expect that consecutive calls of `do_step` are from the same solution and the same ODE. In this case it is absolutely necessary that you call `do_step` with the same system function and the same state, see also the examples for the FSAL steppers above. - -Stepper with an internal state support two additional methods: `reset` which resets the state and `initialize` which initializes the internal state. The parameters of `initialize` depend on the specific stepper. For example the Adams-Bashforth-Moulton stepper provides two initialize methods: `initialize( system , inout , t , dt )` which initializes the internal states with the help of the Runge-Kutta 4 stepper, and `initialize( stepper , system , inout , t , dt )` which initializes with the help of `stepper`. For the case of the FSAL steppers, `initialize` is `initialize( sys , in , t )` which simply calculates the r.h.s. of the ODE and assigns its value to the internal derivative. - -All these steppers have in common, that they initially fill their internal state by themselves. Hence you are not required to call initialize. See how this works for the Adams-Bashforth-Moulton stepper: in the example we instantiate a fourth order Adams-Bashforth-Moulton stepper, meaning that it will store 4 internal derivatives of the solution at times `(t-dt,t-2*dt,t-3*dt,t-4*dt)`. - -`` -adams_bashforth_moulton< 4 , state_type > stepper; -stepper.do_step( sys , x , t , dt ); // make one step with the classical Runge-Kutta stepper and initialize the first internal state - // the internal array is now [x(t-dt)] - -stepper.do_step( sys , x , t , dt ); // make one step with the classical Runge-Kutta stepper and initialize the second internal state - // the internal state array is now [x(t-dt), x(t-2*dt)] - -stepper.do_step( sys , x , t , dt ); // make one step with the classical Runge-Kutta stepper and initialize the third internal state - // the internal state array is now [x(t-dt), x(t-2*dt), x(t-3*dt)] - -stepper.do_step( sys , x , t , dt ); // make one step with the classical Runge-Kutta stepper and initialize the fourth internal state - // the internal state array is now [x(t-dt), x(t-2*dt), x(t-3*dt), x(t-4*dt)] - -stepper.do_step( sys , x , t , dt ); // make one step with Adam-Bashforth-Moulton, the internal array of states is now rotated -`` - -In the stepper table at the bottom of this page one can see which stepper have an internal state and hence provide the `reset` and `initialize` methods. - - -[* Stepper might be resizable] - -Nearly all steppers in odeint need to store some intermediate results of the -type `state_type` or `deriv_type`. To do so odeint need some memory management -for the internal temporaries. As this memory management is typically related -to adjusting the size of vector-like types, it is called resizing in -odeint. So, most steppers in odeint provide an additional template parameter -which controls the size adjustment of the internal variables - the resizer. In -detail odeint provides three policy classes (resizers) `always_resizer`, -`initially_resizer`, and `never_resizer`. Furthermore, all stepper have a -method `adjust_size` which takes a parameter representing a state type and -which manually adjusts the size of the internal variables matching the size of -the given instance. Before performing the actual resizing odeint always checks -if the sizes of the state and the internal variable differ and only resizes if -they are different. - -[note You only have to worry about memory allocation when using dynamically -sized vector types. If your state type is heap allocated, like `boost::array`, -no memory allocation is required whatsoever.] - -By default the resizing parameter is `initially_resizer`, meaning that the -first call to `do_step` performs the resizing, hence memory allocation. -If you have changed the size of your system and your state you have to -call `adjust_size` by hand in this case. The second resizer is the -`always_resizer` which tries to resize the internal variables at every call of -`do_step`. Typical use cases for this kind of resizer are self expanding -lattices like shown in the tutorial (__resizing_lattice_example) or partial differential equations with an -adaptive grid. Here, no calls of `adjust_size` are required, the steppers manage -everything themselves. The third class of resizer is the `never_resizer` which -means that the internal variables are never adjusted automatically and always -have to be adjusted by hand . - -There is a second mechanism which influences the resizing and which controls if a state type is at least resizeable - a meta-function `is_resizeable`. This meta-function returns a static Boolean value if any type is resizable. For example it will return `true` for `std::vector< T >` but `false` for `boost::array< T >`. By default and for unknown types `is_resizeable` returns `false`, so if you have your own type you need to specialize this meta-function. For more details on the resizing mechanism see the section __adapt_state_types. - - - -[* Which steppers should be used in which situation] - -odeint provides a quite large number of different steppers such that the user is left with the question of which stepper fits his needs. Our personal recommendations are: - -* `runge_kutta_dopri5` is maybe the best default stepper. It has step size control as well as dense-output functionality. Simple create a dense-output stepper by `make_dense_output( 1.0e-6 , 1.0e-5 , runge_kutta_dopri5< state_type >() )`. -* `runge_kutta4` is a good stepper for constant step sizes. It is widely used and very well known. If you need to create artificial time series this stepper should be the first choice. -* 'runge_kutta_fehlberg78' is similar to the 'runge_kutta4' with the advantage that it has higher precision. It can also be used with step size control. -* `adams_bashforth_moulton` is very well suited for ODEs where the r.h.s. is expensive (in terms of computation time). It will calculate the system function only once during each step. - -[endsect] - -[section Stepper overview] - -[include stepper_table.qbk] - -[endsect] - - -[section Custom steppers] - -[import ../examples/stochastic_euler.cpp] - -Finally, one can also write new steppers which are fully compatible with odeint. They only have to fulfill one or several of the stepper __concepts of odeint. - -We will illustrate how to write your own stepper with the example of the stochastic Euler method. This method is suited to solve stochastic differential equations (SDEs). A SDE has the form - -['dx/dt = f(x) + g(x) __xi(t)] - -where ['__xi] is Gaussian white noise with zero mean and a standard deviation ['__sigma(t)]. ['f(x)] is said to be the deterministic part while [' g(x) __xi] is the noisy part. In case ['g(x)] is independent of ['x] the SDE is said to have additive noise. It is not possible to solve SDE with the classical solvers for ODEs since the noisy part of the SDE has to be scaled differently then the deterministic part with respect to the time step. But there exist many solvers for SDEs. A classical and easy method is the stochastic Euler solver. It works by iterating - -['x(t+__Delta t) = x(t) + __Delta t f(x(t)) + __Delta t[super 1/2] g(x) __xi(t)] - -where __xi(t) is an independent normal distributed random variable. - -Now we will implement this method. We will call the stepper -`stochastic_euler`. It models the __stepper concept. For simplicity, we fix -the state type to be an `array< double , N >` The class definition looks like - -[stochastic_euler_class_definition] - -The types are needed in order to fulfill the stepper concept. As internal state and deriv type we use simple arrays in the stochastic Euler, they are needed for the temporaries. The stepper has the order one which is returned from the `order()` function. - -The system functions needs to calculate the deterministic and the stochastic part of our stochastic differential equation. So it might be suitable that the system function is a pair of functions. The first element of the pair computes the deterministic part and the second the stochastic one. Then, the second part also needs to calculate the random numbers in order to simulate the stochastic process. We can now implement the `do_step` method - -[stochastic_euler_do_step] - -This is all. It is quite simple and the stochastic Euler stepper implement here is quite general. Of course it can be enhanced, for example - -* use of operations and algebras as well as the resizing mechanism for maximal flexibility and portability -* use of `boost::ref` for the system functions -* use of `boost::range` for the state type in the `do_step` method -* ... - -Now, lets look how we use the new stepper. A nice example is the Ornstein-Uhlenbeck process. It consists of a simple Brownian motion overlapped with an relaxation process. Its SDE reads - -['dx/dt = - x + __xi] - -where __xi is Gaussian white noise with standard deviation ['__sigma]. Implementing the Ornstein-Uhlenbeck process is quite simple. We need two functions or functors - one for the deterministic and one for the stochastic part: - -[stochastic_euler_ornstein_uhlenbeck_def] - -In the stochastic part we have used the Mersenne twister for the random number generation and a Gaussian white noise generator `normal_distribution` with standard deviation ['__sigma]. Now, we can use the stochastic Euler stepper with the integrate functions: - -[ornstein_uhlenbeck_main] - -Note, how we have used the `make_pair` function for the generation of the system function. - -[endsect] - -[section Custom Runge-Kutta steppers] - -[import ../examples/heun.cpp] - -odeint provides a C++ template meta-algorithm for constructing arbitrary -Runge-Kutta schemes [footnote M. Mulansky, K. Ahnert, Template-Metaprogramming -applied to numerical problems, [@http://arxiv.org/abs/1110.3233 arxiv:1110.3233]]. Some schemes are predefined in odeint, for -example the classical Runge-Kutta of fourth order, or the -Runge-Kutta-Cash-Karp 54 and the Runge-Kutta-Fehlberg 78 method. -You can use this meta algorithm to construct you own solvers. This has the -advantage that you can make full use of odeint's algebra and operation system. - -Consider for example the method of Heun, defined by the following Butcher tableau: - -[pre -c1 = 0 - -c2 = 1/3, a21 = 1/3 - -c3 = 2/3, a31 = 0 , a32 = 2/3 - - b1 = 1/4, b2 = 0 , b3 = 3/4 -] - -Implementing this method is very easy. First you have to define the constants: - -[heun_define_coefficients] - -While this might look cumbersome, packing all -parameters into a templatized class which is not immediately evaluated has the -advantage that you can change the `value_type` of your stepper to any type you -like - presumably arbitrary precision types. One could also instantiate -the coefficients directly - -`` -const boost::array< double , 1 > heun_a1 = {{ 1.0 / 3.0 }}; -const boost::array< double , 2 > heun_a2 = {{ 0.0 , 2.0 / 3.0 }}; -const boost::array< double , 3 > heun_b = {{ 1.0 / 4.0 , 0.0 , 3.0 / 4.0 }}; -const boost::array< double , 3 > heun_c = {{ 0.0 , 1.0 / 3.0 , 2.0 / 3.0 }}; -`` - -But then you are nailed down to use doubles. - -Next, you need to define your stepper, note that the Heun method has 3 stages -and produces approximations of order 3: - -[heun_stepper_definition] - -That's it. Now, we have a new stepper method and we can use it, for example with the Lorenz system: - -[heun_example] - -[endsect] - - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/examples_table.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/examples_table.qbk deleted file mode 100644 index 5c7252e..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/examples_table.qbk +++ /dev/null @@ -1,119 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - -[table Examples Overview - [[File] [Brief Description]] - - [[[github_link libs/numeric/odeint/examples/bind_member_functions.cpp bind_member_functions.cpp]] - [This examples shows how member functions can be used as system functions in odeint.]] - - [[[github_link libs/numeric/odeint/examples/bind_member_functions.cpp bind_member_functions_cpp11.cpp]] - [This examples shows how member functions can be used as system functions in odeint with `std::bind` in C++11.]] - - [[[github_link libs/numeric/odeint/examples/bulirsch_stoer.cpp bulirsch_stoer.cpp]] - [Shows the usage of the Bulirsch-Stoer method.]] - - [[[github_link libs/numeric/odeint/examples/chaotic_system.cpp chaotic_system.cpp]] - [The chaotic system examples integrates the Lorenz system and calculates the Lyapunov exponents.]] - - [[[github_link libs/numeric/odeint/examples/elliptic_functions.cpp elliptic_functions.cpp]] - [Example calculating the elliptic functions using Bulirsch-Stoer and Runge-Kutta-Dopri5 Steppers with dense output.]] - - [[[github_link libs/numeric/odeint/examples/fpu.cpp fpu.cpp]] - [The Fermi-Pasta-Ulam (FPU) example shows how odeint can be used to integrate lattice systems.]] - - [[[github_link libs/numeric/odeint/examples/generation_functions.cpp generation_functions.cpp]] - [Shows skeletal code on how to implement own factory functions.]] - - [[[github_link libs/numeric/odeint/examples/harmonic_oscillator.cpp harmonic_oscillator.cpp]] - [The harmonic oscillator examples gives a brief introduction to odeint and shows the usage of the classical Runge-Kutta-solvers.]] - - [[[github_link libs/numeric/odeint/examples/harmonic_oscillator_units.cpp harmonic_oscillator_units.cpp]] - [This examples shows how __boost_units can be used with odeint.]] - - [[[github_link libs/numeric/odeint/examples/heun.cpp heun.cpp]] - [The Heun example shows how an custom Runge-Kutta stepper can be created with odeint generic Runge-Kutta method.]] - - [[[github_link libs/numeric/odeint/examples/list_lattice.cpp list_lattice.cpp]] - [Example of a phase lattice integration using `std::list` as state type.]] - - [[[github_link libs/numeric/odeint/examples/lorenz_point.cpp lorenz_point.cpp]] - [Alternative way of integrating lorenz by using a self defined point3d data type as state type.]] - - [[[github_link libs/numeric/odeint/examples/my_vector.cpp my_vector.cpp]] - [Simple example showing how to get odeint to work with a self-defined vector type.]] - - [[[github_link libs/numeric/odeint/examples/phase_oscillator_ensemble.cpp phase_oscillator_ensemble.cpp]] - [The phase oscillator ensemble example shows how globally coupled oscillators can be analyzed and how statistical measures can be computed during integration.]] - - [[[github_link libs/numeric/odeint/examples/resizing_lattice.cpp resizing_lattice.cpp]] - [Shows the strength of odeint's memory management by simulating a Hamiltonian system on an expanding lattice.]] - - [[[github_link libs/numeric/odeint/examples/simple1d.cpp simple1d.cpp]] - [Integrating a simple, one-dimensional ODE showing the usage of integrate- and generate-functions.]] - - [[[github_link libs/numeric/odeint/examples/solar_system.cpp solar_system.cpp]] - [The solar system example shows the usage of the symplectic solvers.]] - - [[[github_link libs/numeric/odeint/examples/stepper_details.cpp stepper_details.cpp]] - [Trivial example showing the usability of the several stepper classes.]] - - [[[github_link libs/numeric/odeint/examples/stiff_system.cpp stiff_system.cpp]] - [The stiff system example shows the usage of the stiff solvers using the Jacobian of the system function.]] - - [[[github_link libs/numeric/odeint/examples/stochastic_euler.cpp stochastic_euler.cpp]] - [Implementation of a custom stepper - the stochastic euler - for solving stochastic differential equations.]] - - [[[github_link libs/numeric/odeint/examples/stuart_landau.cpp stuart_landau.cpp]] - [The Stuart-Landau example shows how odeint can be used with complex state types.]] - - [[[github_link libs/numeric/odeint/examples/two_dimensional_phase_lattice.cpp two_dimensional_phase_lattice.cpp]] - [The 2D phase oscillator example shows how a two-dimensional lattice works with odeint and how matrix types can be used as state types in odeint.]] - - [[[github_link libs/numeric/odeint/examples/van_der_pol_stiff.cpp van_der_pol_stiff.cpp]] - [This stiff system example again shows the usage of the stiff solvers by integrating the van der Pol oscillator.]] - - [[[github_link libs/numeric/odeint/examples/gmpxx/lorenz_gmpxx.cpp gmpxx/lorenz_gmpxx.cpp]] - [This examples integrates the Lorenz system by means of an arbitrary precision type.]] - - [[[github_link libs/numeric/odeint/examples/mtl/gauss_packet.cpp mtl/gauss_packet.cpp]] - [The MTL-Gauss-packet example shows how the MTL can be easily used with odeint.]] - - [[[github_link libs/numeric/odeint/examples/mtl/implicit_euler_mtl.cpp mtl/implicit_euler_mtl.cpp]] - [This examples shows the usage of the MTL implicit Euler method with a sparse matrix type.]] - - [[[github_link libs/numeric/odeint/examples/thrust/phase_oscillator_ensemble.cu thrust/phase_oscillator_ensemble.cu]] - [The Thrust phase oscillator ensemble example shows how globally coupled oscillators can be analyzed with Thrust and CUDA, employing the power of modern graphic devices.]] - - [[[github_link libs/numeric/odeint/examples/thrust/phase_oscillator_chain.cu thrust/phase_oscillator_chain.cu]] - [The Thrust phase oscillator chain example shows how chains of nearest neighbor coupled oscillators can be integrated with Thrust and odeint.]] - - [[[github_link libs/numeric/odeint/examples/thrust/lorenz_parameters.cu thrust/lorenz_parameters.cu]] - [The Lorenz parameters examples show how ensembles of ordinary differential equations can be solved by means of Thrust to study - the dependence of an ODE on some parameters.]] - - [[[github_link libs/numeric/odeint/examples/thrust/relaxation.cu thrust/relaxation.cu]] - [Another examples for the usage of Thrust.]] - - [[[github_link libs/numeric/odeint/examples/ublas/lorenz_ublas.cpp ublas/lorenz_ublas.cpp]] - [This example shows how the ublas vector types can be used with odeint.]] - - [[[github_link libs/numeric/odeint/examples/vexcl/lorenz_ensemble.cpp vexcl/lorenz_ensemble.cpp]] - [This example shows how the VexCL - a framework for OpenCL computation - can be used with odeint.]] - - [[[github_link libs/numeric/odeint/examples/2d_lattice/spreading.cpp 2d_lattice/spreading.cpp]] - [This examples shows how a `vector< vector< T > >` can be used a state type for odeint and how a resizing mechanism of this state can be implemented.]] - - [[[github_link libs/numeric/odeint/examples/quadmath/black_hole.cpp quadmath/black_hole.cpp]] - [This examples shows how gcc libquadmath can be used with odeint. It provides a high precision floating point type which is adapted to odeint in this example.]] - -] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/getting_started.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/getting_started.qbk deleted file mode 100644 index 8b48125..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/getting_started.qbk +++ /dev/null @@ -1,143 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - - -[section Getting started] - -[section Overview] - -[caution Boost.Numeric.Odeint is not an official boost library!] - -odeint is a library for solving initial value problems (IVP) of ordinary -differential equations. Mathematically, these problems are formulated as -follows: - -['x'(t) = f(x,t)], ['x(0) = x0]. - -['x] and ['f] can be vectors and the solution is some function ['x(t)] fulfilling both equations above. In the following we will refer to ['x'(t)] also `dxdt` which is also our notation for the derivative in the source code. - -Ordinary differential equations occur nearly everywhere in natural sciences. For example, the whole Newtonian mechanics are described by second order differential equations. Be sure, you will find them in every discipline. They also occur if partial differential equations (PDEs) are discretized. Then, a system of coupled ordinary differential occurs, sometimes also referred as lattices ODEs. - -Numerical approximations for the solution ['x(t)] are calculated iteratively. The easiest algorithm is the Euler scheme, where starting at ['x(0)] one finds ['x(dt) = x(0) + dt f(x(0),0)]. Now one can use ['x(dt)] and obtain ['x(2dt)] in a similar way and so on. The Euler method is of order 1, that means the error at each step is ['~ dt[super 2]]. This is, of course, not very satisfying, which is why the Euler method is rarely used for real life problems and serves just as illustrative example. - -The main focus of odeint is to provide numerical methods implemented in a way where the algorithm is completely independent on the data structure used to represent the state /x/. -In doing so, odeint is applicable for a broad variety of situations and it can be used with many other libraries. Besides the usual case where the state is defined as a `std::vector` or a `boost::array`, we provide native support for the following libraries: - -* __ublas -* __thrust, making odeint naturally running on CUDA devices -* gsl_vector for compatibility with the many numerical function in the GSL -* __boost_range -* __boost_fusion (the state type can be a fusion vector) -* __boost_units -* __intel_mkl for maximum performance -* __vexcl for OpenCL -* __boost_graph (still experimentally) - -In odeint, the following algorithms are implemented: - -[include stepper_table.qbk] - -[endsect] - - - -[section Usage, Compilation, Headers] - -odeint is a header-only library, no linking against pre-compiled code is required. It can be included by - -`` -#include -`` - -which includes all headers of the library. All functions and classes from odeint live in the namespace - -`` - using namespace boost::numeric::odeint; -`` - -It is also possible to include only parts of the library. This is the recommended way since it saves a lot of compilation time. - -* `#include ` - the include path for all steppers, XYZ is a placeholder for a stepper. -* `#include ` - all algebras. -* `#include ` - the utility functions like `is_resizeable`, `same_size`, or `resize`. -* `#include ` - the integrate routines. -* `#include ` - the range and iterator functions. -* `#include ` - any binders to external libraries. - - - -[endsect] - -[section Short Example] - -Imaging, you want to numerically integrate a harmonic oscillator with -friction. The equations of motion are given by ['x'' = -x + __gamma x']. -Odeint only deals with first order ODEs that have no higher derivatives than -x' involved. However, any higher order ODE can be transformed to a system of -first order ODEs by introducing the new variables ['q=x] and ['p=x'] such that ['w=(q,p)]. To apply numerical integration one first has to design the right hand side of the equation ['w' = f(w) = (p,-q+__gamma p)]: - -[import ../examples/harmonic_oscillator.cpp] -[rhs_function] - -Here we chose `vector` as the state type, but others are also -possible, for example `boost::array`. odeint is designed in such a -way that you can easily use your own state types. Next, the ODE is defined -which is in this case a simple function calculating ['f(x)]. The parameter -signature of this function is crucial: the integration methods will always -call them in the form `f(x, dxdt, t)` (there are exceptions for some special routines). So, even if there is no explicit time dependence, one has to define `t` as a function parameter. - -Now, we have to define the initial state from which the integration should start: - -[state_initialization] - -For the integration itself we'll use the `integrate` function, which is a convenient way to get quick results. It is based on the error-controlled `runge_kutta54_cash_karp` stepper (5th order) and uses adaptive step-size. - -[integration] - -The integrate function expects as parameters the rhs of the ode as defined -above, the initial state `x`, the start-and end-time of the integration as -well as the initial time step=size. Note, that `integrate` uses an adaptive step-size during -the integration steps so the time points will not be equally spaced. The -integration returns the number of steps that were applied and updates x which -is set to the approximate solution of the ODE at the end of integration. - -It is also possible to represent the ode system as a class. The -rhs must then be implemented as a functor - a class with an overloaded function call operator: - -[rhs_class] - -which can be used via - -[integration_class] - -In order to observe the solution -during the integration steps all you have to do is -to provide a reasonable observer. An example is - -[integrate_observer] - -which stores the intermediate steps in a container. -Note, the argument structure of the ()-operator: odeint calls the observer -exactly in this way, providing the current state and time. Now, you only have -to pass this container to the integration function: - -[integrate_observ] - -That is all. You can use functional libraries like __boost_lambda or __boost_phoenix to ease the creation of observer functions. - -The full cpp file for this example can be found here: [github_link libs/numeric/odeint/examples/harmonic_oscillator.cpp harmonic_oscillator.cpp] - - - -[endsect] - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/html/boostbook.css b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/html/boostbook.css deleted file mode 100644 index 42e8996..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/html/boostbook.css +++ /dev/null @@ -1,611 +0,0 @@ -/*============================================================================= - Copyright (c) 2004 Joel de Guzman - http://spirit.sourceforge.net/ - - Distributed under the Boost Software License, Version 1.0. 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a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/make_dense_output_table.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/make_dense_output_table.qbk deleted file mode 100644 index d928134..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/make_dense_output_table.qbk +++ /dev/null @@ -1,19 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - - -[table Generation functions make_dense_output( abs_error , rel_error , stepper ) - [[Stepper] [Result of make_dense_output] [Remarks]] - [[`runge_kutta_dopri5`] [`dense_output_runge_kutta< controlled_runge_kutta< runge_kutta_dopri5 , default_error_checker<...> > >`] [['a [sub x]=1], ['a[sub dxdt]=1]]] - [[`rosenbrock4`] [`rosenbrock4_dense_output< rosenbrock4_controller< rosenbrock4 > >`] [-]] -] - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/odeint.idx b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/odeint.idx deleted file mode 100644 index 993673a..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/odeint.idx +++ /dev/null @@ -1,53 +0,0 @@ -# odeint.idx list of files and keyword to be indexed. - -# Copyright (c) 2011 Pierre Talbot -# -# Use, modification and distribution is subject to the Boost Software -# License, Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at -# http://www.boost.org/LICENSE_1_0.txt) - -!scan-path "boost/numeric/odeint/" ".*\.*pp" true -# recurse in any sub-directories. - -# List of terms in the docbook (from Quickbook) to be indexed. -# Convenient to order these alphabetically. - -# TODO - add more! - -acknowledgements -book -# C++ \ -card -credit -deprecated -Doxygen -example \ -equations \ -graphics \ -Gumm -links \ -images \ -ISBN -ISSN -IBM -italic \ -# index index and indexes (assume not using plural indices!) -index \ -Luhn -Mastercard -modulus -path \ -pre-conditions \ -post-conditions \ -remark \ -snippet \ -png -Quickbook -Verhoeff -# version \ -VISA -warning \ - -# Remove leading "A" or "The" prefixes from section titles. -# !rewrite-name "(?:A|An|The)\s+(.*)" "\1" - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/odeint.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/odeint.qbk deleted file mode 100644 index 77baa99..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/odeint.qbk +++ /dev/null @@ -1,237 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - - -[library Boost.Numeric.Odeint - [quickbook 1.5] - [id odeint] - [dirname odeint] - [authors [Ahnert, Karsten], [Mulansky, Mario]] - [copyright 2009-2012 Karsten Ahnert and Mario Mulansky] - [category math] - [purpose - Numerical integration of ordinary differential equations. - ] - [license - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or copy - at [@http://www.boost.org/LICENSE_1_0.txt]) - ] -] - -[include auto_index_helpers.qbk] - - - -[def __boost_lambda - [@http://www.boost.org/doc/libs/release/doc/html/lambda.html Boost.Lambda]] -[def __boost_phoenix - [@http://www.boost.org/doc/libs/1_46_1/libs/spirit/phoenix/doc/html/index.html Boost.Phoenix]] -[def __boost_operators - [@http://www.boost.org/doc/libs/release/doc/html/operators.html Boost.Operators]] -[def __boost_ref - [@http://www.boost.org/doc/libs/release/doc/html/ref.html Boost.Ref]] -[def __boost_range - [@http://www.boost.org/doc/libs/release/libs/range/index.html Boost.Range]] -[def __boost_units - [@http://www.boost.org/doc/libs/release/libs/units/index.html Boost.Units]] -[def __boost_fusion - [@http://www.boost.org/doc/libs/release/libs/fusion/index.html Boost.Fusion]] -[def __boost_graph - [@http://www.boost.org/doc/libs/1_47_0/libs/graph/doc/table_of_contents.html Boost.Graph]] - -[def __thrust - [@http://code.google.com/p/thrust/ Thrust]] -[def __ublas - [@http://www.boost.org/doc/libs/release/libs/numeric/ublas/index.html Boost.uBLAS]] -[def __intel_mkl - [@http://software.intel.com/en-us/articles/intel-mkl/ Intel Math Kernel Library]] -[def __gsl - [@http://www.gsl.org GSL]] -[def __vexcl - [@https://github.com/ddemidov/vexcl VexCL]] - -[def __concepts - [link boost_numeric_odeint.concepts Concepts]] -[def __system - [link boost_numeric_odeint.concepts.system System]] -[def __symplectic_system - [link boost_numeric_odeint.concepts.symplectic_system Symplectic System]] -[def __simple_symplectic_system - [link boost_numeric_odeint.concepts.simple_symplectic_system Simple Symplectic System]] -[def __implicit_system - [link boost_numeric_odeint.concepts.implicit_system Implicit System]] -[def __stepper - [link boost_numeric_odeint.concepts.stepper Stepper]] -[def __error_stepper - [link boost_numeric_odeint.concepts.error_stepper Error Stepper]] -[def __controlled_stepper - [link boost_numeric_odeint.concepts.controlled_stepper Controlled Stepper]] -[def __dense_output_stepper - [link boost_numeric_odeint.concepts.dense_output_stepper Dense Output Stepper]] -[def __integrate_functions - [link boost_numeric_odeint.odeint_in_detail.integrate_functions integrate functions]] -[def __tutorial - [link boost_numeric_odeint.tutorial Tutorial]] -[def __tut_solar_system - [link boost_numeric_odeint.tutorial.solar_system Solar System]] -[def __tut_chaotic_system - [link boost_numeric_odeint.tutorial.chaotic_systems_and_lyapunov_exponents Chaotic System]] -[def __tut_harmonic_oscillator - [link boost_numeric_odeint.tutorial.harmonic_oscillator Harmonic Oscillator]] -[def __using_steppers - [link boost_numeric_odeint.odeint_in_detail.steppers.using_steppers Using steppers]] -[def __generation_functions - [link boost_numeric_odeint.odeint_in_detail.generation_functions Generation functions]] -[def __adapt_state_types - [link boost_numeric_odeint.odeint_in_detail.state_types__algebras_and_operations Adapt your own state types]] -[def __resizing_lattice_example - [link boost_numeric_odeint.tutorial.self_expanding_lattices Self expanding lattices]] -[def __odeint_stepper_table - [link boost_numeric_odeint.odeint_in_detail.steppers.stepper_overview Stepper overview]] - - - -[def __nr_ref [link numerical_recipies \[1\] ]] -[def __hairer_1_ref [link hairer_solving_odes_1 \[2\] ]] -[def __hairer_2_ref [link hairer_solving_odes_2 \[3\] ]] -[def __hairer_geom_ref [link hairer_geometrical_numeric_integration \[4\] ]] -[def __leimkuhler_reich_ref [link leimkuhler_reich_simulating_hamiltonian_dynamics \[5\] ]] -[def __symplectic_integrator_1_ref [link symplectic_yoshida_symplectic_integrators \[6\] ]] -[def __symplectic_integrator_2_ref [link symplectic_mylachlan_symmetric_composition_mehtods \[7\] ]] -[def __fpu_scholarpedia_ref [link fpu_scholarpedia \[8\] ]] -[def __synchronization_pikovsky_ref [link synchronization_pikovsky_rosenblum \[9\] ]] - - - - - -[def __alpha '''α'''] -[def __beta '''β'''] -[def __delta '''δ'''] -[def __Delta '''Δ'''] -[def __lambda '''λ'''][/lower case] -[def __Lambda '''Λ'''][/upper case] -[def __gamma '''γ'''] -[def __Gamma '''Γ'''] -[def __sigma '''σ'''] -[def __Sigma '''Σ'''] -[def __Omega '''Ω'''] -[def __omega '''ω'''] -[def __phi '''φ'''] -[def __psi '''&ä968;'''] -[def __Phi '''Φ'''] -[def __Psi '''Ψ'''] -[def __epsilon '''ε'''] -[def __eta '''η'''] -[def __theta '''θ'''] -[def __Theta '''Θ'''] -[def __xi '''ξ'''] - -[def __space '''​'''] - - - -[template super[x]''''''[x]''''''] -[template sub[x]''''''[x]''''''] -[template subl[x]''''''__space[x]''''''] - -[/ [template github_link[url text]''''''[text]'''''']] -[template github_link[url text]''''''[text]''''''] - - - - -[include getting_started.qbk] - -[include tutorial.qbk] - -[include details.qbk] - -[include concepts.qbk] - -[include literature.qbk] - -[include acknowledgements.qbk] - -[xinclude reference.xml] - -[section:indexes Indexes] - -[named_index class_name Class Index] -[named_index function_name Function Index] -[/ -[named_index typedef_name Typedef Index] -[named_index macro_name Macro Index] -] -[index] - -[endsect] - - - - -[/ -# Α Α Α U+0391 Greek capital letter alpha -# Β Β Β U+0392 Greek capital letter beta -# Γ Γ Γ U+0393 Greek capital letter gamma ISOgrk3 -# Δ Δ Δ U+0394 Greek capital letter delta ISOgrk3 -# Ε Ε Ε U+0395 Greek capital letter epsilon -# Ζ Ζ Ζ U+0396 Greek capital letter zeta -# Η Η Η U+0397 Greek capital letter eta -# Θ Θ Θ U+0398 Greek capital letter theta ISOgrk3 -# Ι Ι Ι U+0399 Greek capital letter iota -# Κ Κ Κ U+039A Greek capital letter kappa -# Λ Λ Λ U+039B Greek capital letter lambda ISOgrk3 -# Μ Μ Μ U+039C Greek capital letter mu -# Ν Ν Ν U+039D Greek capital letter nu -# Ξ Ξ Ξ U+039E Greek capital letter xi ISOgrk3 -# Ο Ο Ο U+039F Greek capital letter omicron -# Π Π Π U+03A0 Greek capital letter pi ISOgrk3 -# Ρ Ρ Ρ U+03A1 Greek capital letter rho -# Σ Σ Σ U+03A3 Greek capital letter sigma ISOgrk3 -# Τ Τ Τ U+03A4 Greek capital letter tau -# Υ Υ Υ U+03A5 Greek capital letter upsilon ISOgrk3 -# Φ Φ Φ U+03A6 Greek capital letter phi ISOgrk3 -# Χ Χ Χ U+03A7 Greek capital letter chi -# Ψ Ψ Ψ U+03A8 Greek capital letter psi ISOgrk3 -# Ω Ω Ω U+03A9 Greek capital letter omega ISOgrk3 -# α α α U+03B1 Greek small letter alpha ISOgrk3 -# β β β U+03B2 Greek small letter beta ISOgrk3 -# γ γ γ U+03B3 Greek small letter gamma ISOgrk3 -# δ δ δ U+03B4 Greek small letter delta ISOgrk3 -# ε ε ε U+03B5 Greek small letter epsilon ISOgrk3 -# ζ ζ ζ U+03B6 Greek small letter zeta ISOgrk3 -# η η η U+03B7 Greek small letter eta ISOgrk3 -# θ θ θ U+03B8 Greek small letter theta ISOgrk3 -# ι ι ι U+03B9 Greek small letter iota ISOgrk3 -# κ κ κ U+03BA Greek small letter kappa ISOgrk3 -# λ λ λ U+03BB Greek small letter lambda ISOgrk3 -# μ μ μ U+03BC Greek small letter mu ISOgrk3 -# ν ν ν U+03BD Greek small letter nu ISOgrk3 -# ξ ξ ξ U+03BE Greek small letter xi ISOgrk3 -# ο ο ο U+03BF Greek small letter omicron New -# π π π U+03C0 Greek small letter pi ISOgrk3 -# ρ ρ ρ U+03C1 Greek small letter rho ISOgrk3 -# ς ς ς U+03C2 Greek small letter final sigma ISOgrk3 -# σ σ σ U+03C3 Greek small letter sigma ISOgrk3 -# τ τ τ U+03C4 Greek small letter tau ISOgrk3 -# υ υ υ U+03C5 Greek small letter upsilon ISOgrk3 -# φ φ φ U+03C6 Greek small letter phi ISOgrk3 -# χ χ χ U+03C7 Greek small letter chi ISOgrk3 -# ψ ψ ψ U+03C8 Greek small letter psi ISOgrk3 -# ω ω ω U+03C9 Greek small letter omega ISOgrk3 -# ϑ ϑ ϑ U+03D1 Greek small letter theta symbol New -# ϒ ϒ ϒ U+03D2 Greek upsilon with hook symbol New -# ϖ ϖ ϖ U+03D6 Greek pi symbol ISOgrk3 - -/] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/range_table.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/range_table.qbk deleted file mode 100644 index 40995eb..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/range_table.qbk +++ /dev/null @@ -1,70 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - - -[/ -Steppers supporting __boost_range: - -* adams_bashforth_moulton -* bulirsch_stoer_dense_out -* bulirsch_stoer -* controlled_runge_kutta -* dense_output_runge_kutta -* euler -* explicit_error_generic_rk -* explicit_generic_rk -* rosenbrock4_controller -* rosenbrock4_dense_output -* rosenbrock4 -* runge_kutta4_classic -* runge_kutta4 -* runge_kutta_cash_karp54_classic -* runge_kutta_cash_karp54 -* runge_kutta_dopri5 -* runge_kutta_fehlberg78 -* symplectic_euler -* symplectic_rkn_sb3a_mclachlan - -Algebras supporting __boost_range - -* range_algebra -* thrust_algebra -/] - -[table Steppers supporting Boost.Range - [[Stepper]] - [[adams_bashforth_moulton]] - [[bulirsch_stoer_dense_out]] - [[bulirsch_stoer]] - [[controlled_runge_kutta]] - [[dense_output_runge_kutta]] - [[euler]] - [[explicit_error_generic_rk]] - [[explicit_generic_rk]] - [[rosenbrock4_controller]] - [[rosenbrock4_dense_output]] - [[rosenbrock4]] - [[runge_kutta4_classic]] - [[runge_kutta4]] - [[runge_kutta_cash_karp54_classic]] - [[runge_kutta_cash_karp54]] - [[runge_kutta_dopri5]] - [[runge_kutta_fehlberg78]] - [[symplectic_euler]] - [[symplectic_rkn_sb3a_mclachlan]] -] - -[table Algebras supporting Boost.Range - [[algebra]] - [[range_algebra]] - [[thrust_algebra]] -] \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/stepper_table.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/stepper_table.qbk deleted file mode 100644 index fca0c4c..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/stepper_table.qbk +++ /dev/null @@ -1,40 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - -[table Stepper Algorithms - [[Algorithm] [Class] [Concept] [System Concept] [Order] [Error Estimation] [Dense Output] [Internal state] [Remarks]] - [[Explicit Euler] [`euler`] [__dense_output_stepper] [__system] [1] [No] [Yes] [No] [Very simple, only for demonstrating purpose]] - [[Modified Midpoint] [`modified_midpoint`] [__stepper] [__system] [configurable (2)] [No] [No] [No] [Used in Bulirsch-Stoer implementation]] - [[Runge-Kutta 4] [`runge_kutta4`] [__stepper] [__system] [4] [No] [No] [No] [The classical Runge-Kutta scheme, good general scheme without error control]] - [[Cash-Karp] [`runge_kutta_cash_karp54`] [__error_stepper] [__system] [5] [Yes (4)] [No] [No] [Good general scheme with error estimation, to be used in controlled_error_stepper]] - [[Dormand-Prince 5] [`runge_kutta_dopri5`] [__error_stepper] [__system] [5] [Yes (4)] [Yes] [Yes] [Standard method with error control and dense output, to be used in controlled_error_stepper and in dense_output_controlled_explicit_fsal.]] - [[Fehlberg 78] [`runge_kutta_fehlberg78`] [__error_stepper] [__system] [8] [Yes (7)] [No] [No] [Good high order method with error estimation, to be used in controlled_error_stepper.]] - - [[Adams Bashforth] [`adams_bashforth`] [__stepper] [__system] [configurable] [No] [No] [Yes] [Multistep method]] - [[Adams Moulton] [`adams_moulton`] [__stepper] [__system] [configurable] [No] [No] [Yes] [Multistep method]] - [[Adams Bashforth Moulton] [`adams_bashforth_moulton`] [__stepper] [__system] [configurable] [No] [No] [Yes] [Combined multistep method]] - - [[Controlled Runge-Kutta] [`controlled_runge_kutta`] [__controlled_stepper] [__system] [depends] [Yes] [No] [depends] [Error control for __error_stepper. Requires an __error_stepper from above. Order depends on the given ErrorStepper]] - [[Dense Output Runge-Kutta] [`dense_output_runge_kutta`] [__dense_output_stepper] [__system] [depends] [No] [Yes] [Yes] [Dense output for __stepper and __error_stepper from above if they provide dense output functionality (like `euler` and `runge_kutta_dopri5`). Order depends on the given stepper.]] - - [[Bulirsch-Stoer] [`bulirsch_stoer`] [__controlled_stepper] [__system] [variable] [Yes] [No] [No] [Stepper with step size and order control. Very good if high precision is required.]] - [[Bulirsch-Stoer Dense Output] [`bulirsch_stoer_dense_out`] [__dense_output_stepper] [__system] [variable] [Yes] [Yes] [No] [Stepper with step size and order control as well as dense output. Very good if high precision and dense output is required.]] - - [[Implicit Euler] [`implicit_euler`] [__stepper] [__implicit_system] [1] [No] [No] [No] [Basic implicit routine. Requires the Jacobian. Works only with __ublas vectors as state types.]] - [[Rosenbrock 4] [`rosenbrock4`] [__error_stepper] [__implicit_system] [4] [Yes] [Yes] [No] [Good for stiff systems. Works only with __ublas vectors as state types.]] - [[Controlled Rosenbrock 4] [`rosenbrock4_controller`] [__controlled_stepper] [__implicit_system] [4] [Yes] [Yes] [No] [Rosenbrock 4 with error control. Works only with __ublas vectors as state types.]] - [[Dense Output Rosenbrock 4] [`rosenbrock4_dense_output`] [__dense_output_stepper] [__implicit_system] [4] [Yes] [Yes] [No] [Controlled Rosenbrock 4 with dense output. Works only with __ublas vectors as state types.]] - - [[Symplectic Euler] [`symplectic_euler`] [__stepper] [__symplectic_system __simple_symplectic_system] [1] [No] [No] [No] [Basic symplectic solver for separable Hamiltonian system]] - [[Symplectic RKN McLachlan] [`symplectic_rkn_sb3a_mclachlan`] [__stepper] [__symplectic_system __simple_symplectic_system] [4] [No] [No] [No] [Symplectic solver for separable Hamiltonian system with 6 stages and order 4.]] - [[Symplectic RKN McLachlan] [`symplectic_rkn_sb3a_m4_mclachlan`] [__stepper] [__symplectic_system __simple_symplectic_system] [4] [No] [No] [No] [Symplectic solver with 5 stages and order 4, can be used with arbitrary precision types.]] -] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial.qbk deleted file mode 100644 index daab527..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial.qbk +++ /dev/null @@ -1,44 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - -[section Tutorial] - - -[include tutorial_harmonic_oscillator.qbk] - -[include tutorial_solar_system.qbk] - -[include tutorial_chaotic_system.qbk] - -[include tutorial_stiff_systems.qbk] - -[include tutorial_special_topics.qbk] - -[include tutorial_thrust_cuda.qbk] - -[include tutorial_vexcl_opencl.qbk] - - -[section All examples] - -The following table gives an overview over all examples. - -[include examples_table.qbk] - -[endsect] - - - - - - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_chaotic_system.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_chaotic_system.qbk deleted file mode 100644 index b90d8c1..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_chaotic_system.qbk +++ /dev/null @@ -1,156 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - -[section Chaotic systems and Lyapunov exponents] - -[import ../examples/chaotic_system.cpp] - -In this example we present application of odeint to investigation of the properties of chaotic -deterministic systems. In mathematical terms chaotic refers to an exponential -growth of perturbations ['__delta x]. In order to observe this exponential growth one usually solves the equations for the tangential dynamics which is again an ordinary differential equation. These equations are linear but time dependent and can be obtained via - -['d __delta x / dt = J(x) __delta x] - -where ['J] is the Jacobian of the system under consideration. ['__delta x] can -also be interpreted as a perturbation of the original system. In principle -['n] of these perturbations exist, they form a hypercube and evolve in the -time. The Lyapunov exponents are then defined as logarithmic growth rates of -the perturbations. If one Lyapunov exponent is larger then zero the nearby -trajectories diverge exponentially hence they are chaotic. If the largest -Lyapunov exponent is zero one is usually faced with periodic motion. In the -case of a largest Lyapunov exponent smaller then zero convergence to a -fixed point is expected. More information's about Lyapunov exponents and nonlinear -dynamical systems can be found in many textbooks, see for example: E. Ott "Chaos is -Dynamical Systems", Cambridge. - -To calculate the Lyapunov exponents numerically one usually solves the equations of motion for ['n] perturbations and orthonormalizes them every ['k] steps. The Lyapunov exponent is the average of the logarithm of the stretching factor of each perturbation. - -To demonstrate how one can use odeint to determine the Lyapunov exponents we choose the Lorenz system. It is one of the most studied dynamical systems in the nonlinear dynamics community. For the standard parameters it possesses a strange attractor with non-integer dimension. The Lyapunov exponents take values of approximately 0.9, 0 and -12. - -The implementation of the Lorenz system is - -`` -const double sigma = 10.0; -const double R = 28.0; -const double b = 8.0 / 3.0; - -typedef boost::array< double , 3 > lorenz_state_type; - -void lorenz( const lorenz_state_type &x , lorenz_state_type &dxdt , double t ) -{ - dxdt[0] = sigma * ( x[1] - x[0] ); - dxdt[1] = R * x[0] - x[1] - x[0] * x[2]; - dxdt[2] = -b * x[2] + x[0] * x[1]; -} -`` -We need also to integrate the set of the perturbations. This is done in parallel to the original system, hence within one system function. Of course, we want to use the above definition of the Lorenz system, hence the definition of the system function including the Lorenz system itself and the perturbation could look like: - -`` -const size_t n = 3; -const size_t num_of_lyap = 3; -const size_t N = n + n*num_of_lyap; - -typedef std::tr1::array< double , N > state_type; -typedef std::tr1::array< double , num_of_lyap > lyap_type; - -void lorenz_with_lyap( const state_type &x , state_type &dxdt , double t ) -{ - lorenz( x , dxdt , t ); - - for( size_t l=0 ; l - void operator()( const StateIn &x , StateOut &dxdt , Value t ) - { - dxdt[0] = sigma * ( x[1] - x[0] ); - dxdt[1] = R * x[0] - x[1] - x[0] * x[2]; - dxdt[2] = -b * x[2] + x[0] * x[1]; - } -}; - -void lorenz_with_lyap( const state_type &x , state_type &dxdt , double t ) -{ - lorenz()( x , dxdt , t ); - ... -} - -`` -This works fine and `lorenz_with_lyap` can be used for example via -`` -state_type x; -// initialize x -explicit_rk4< state_type > rk4; -integrate_n_steps( rk4 , lorenz_with_lyap , x , 0.0 , 0.01 , 1000 ); -`` -This code snippet performs 1000 steps with constant step size 0.01. - -A real world use case for the calculation of the Lyapunov exponents of Lorenz system would always include some transient steps, just to ensure that the current state lies on the attractor, hence it would look like - -`` -state_type x; -// initialize x -explicit_rk4< state_type > rk4; -integrate_n_steps( rk4 , lorenz , x , 0.0 , 0.01 , 1000 ); -`` -The problem is now, that `x` is the full state containing also the -perturbations and `integrate_n_steps` does not know that it should only use 3 -elements. In detail, odeint and its steppers determine the length of the -system under consideration by determining the length of the state. In the -classical solvers, e.g. from Numerical Recipes, the problem was solved by -pointer to the state and an appropriate length, something similar to - -`` -void lorenz( double* x , double *dxdt , double t, void* params ) -{ - ... -} - -int system_length = 3; -rk4( x , system_length , t , dt , lorenz ); -`` - -But odeint supports a similar and much more sophisticated concept: __boost_range. To make the steppers and the system ready to work with __boost_range the system has to by changed: - -[system_function_without_perturbations] - -This is in principle all. Now, we only have to call `integrate_n_steps` with a -range including only the first 3 components of ['x]: - -[integrate_transients_with_range] - -Having integrated a sufficient number of transients steps we are now able to calculate the Lyapunov exponents: - -# Initialize the perturbations. They are stored linearly behind the state of the Lorenz system. The perturbations are initialized such that [' p [subl ij] = __delta [subl ij]], where ['p [subl ij]] is the ['j]-component of the ['i].-th perturbation and ['__delta [subl ij]] is the Kronecker symbol. -# Integrate 100 steps of the full system with perturbations -# Orthonormalize the perturbation using Gram-Schmidt orthonormalization algorithm. -# Repeat step 2 and 3. Every 10000 steps write the current Lyapunov exponent. - -[lyapunov_full_code] - -The full code can be found here: [github_link libs/numeric/odeint/examples/chaotic_system.cpp chaotic_system.cpp] - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_harmonic_oscillator.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_harmonic_oscillator.qbk deleted file mode 100644 index 89a4d54..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_harmonic_oscillator.qbk +++ /dev/null @@ -1,114 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - - -[section Harmonic oscillator] - -[section Define the ODE] - -First of all, you have to specify the data type that represents a state ['x] of your system. Mathematically, this usually is an n-dimensional vector with real numbers or complex numbers as scalar objects. For odeint the most natural way is to use `vector< double >` or `vector< complex< double > >` to represent the system state. However, odeint can deal with other container types as well, e.g. `boost::array< double , N >`, as long as it fulfills some requirements defined below. - -To integrate a differential equation numerically, one also has to define the rhs of the equation ['x' = f(x)]. In odeint you supply this function in terms of an object that implements the ()-operator with a certain parameter structure. Hence, the straightforward way would be to just define a function, e.g: - -[rhs_function] - -The parameters of the function must follow the example above where `x` is the -current state, here a two-component vector containing position ['q] and -momentum ['p] of the oscillator, `dxdt` is the derivative ['x'] and should be -filled by the function with ['f(x)], and `t` is the current time. -Note that in this example ['t] is not required to calculate ['f], however -odeint expects the function signature to have exactly three parameters (there -are exception, discussed later). - -A more sophisticated approach is to implement the system as a class where the rhs function is defined as the ()-operator of the class with the same parameter structure as above: - -[rhs_class] - -odeint can deal with instances of such classes instead of pure functions which -allows for cleaner code. - -[endsect] - -[section Stepper Types] - -Numerical integration works iteratively, that means you start at a state ['x(t)] and perform a time-step of length ['dt] to obtain the approximate state ['x(t+dt)]. There exist many different methods to perform such a time-step each of which has a certain order ['q]. If the order of a method is ['q] than it is accurate up to term ['~dt[super q]] that means the error in ['x] made by such a step is ['~dt[super q+1]]. odeint provides several steppers of different orders, see __odeint_stepper_table. - -Some of steppers in the table above are special: Some need the Jacobian of the ODE, others are constructed for special ODE-systems like Hamiltonian systems. We will show typical examples and use-cases in this tutorial and which kind of steppers should be applied. - -[endsect] - -[section Integration with Constant Step Size] - -The basic stepper just performs one time-step and doesn't give you any information about the error that was made (except that you know it is of order ['q+1]). Such steppers are used with constant step size that should be chosen small enough to have reasonable small errors. However, you should apply some sort of validity check of your results (like observing conserved quantities) because you have no other control of the error. The following example defines a basic stepper based on the classical Runge-Kutta scheme of 4th order. The declaration of the stepper requires the state type as template parameter. The integration can now be done by using the `integrate_const( Stepper, System, state, start_time, end_time, step_size )` function from odeint: - -[define_const_stepper] - -This call integrates the system defined by `harmonic_oscillator` using the RK4 method from ['t=0] to ['10] with a step-size ['dt=0.01] and the initial condition given in `x`. The result, ['x(t=10)] is stored in `x` (in-place). Each stepper defines a `do_step` method which can also be used directly. So, you write down the above example as - -[integrate_const_loop] - -[tip If you have a C++11 enabled compiler you can easily use lambdas to create the system function : - -[define_const_stepper_cpp11] - -] - -[endsect] - -[section Integration with Adaptive Step Size] - -To improve the numerical results and additionally minimize the computational -effort, the application of a step size control is advisable. Step size control -is realized via stepper algorithms that additionally provide an error -estimation of the applied step. odeint provides a number of such -*ErrorSteppers* and we will show their usage on the example of -`explicit_error_rk54_ck` - a 5th order Runge-Kutta method with 4th order -error estimation and coefficients introduced by Cash and Karp. - -[define_adapt_stepper] - -Given the error stepper, one still needs an instance that checks the error and adjusts the step size accordingly. In odeint, this is done by *ControlledSteppers*. For the `runge_kutta_cash_karp54` stepper a `controlled_runge_kutta` stepper exists which can be used via - -[integrate_adapt] - -As above, this integrates the system defined by `harmonic_oscillator`, but now using an adaptive step size method based on the Runge-Kutta Cash-Karp 54 scheme from ['t=0] to ['10] with an initial step size of ['dt=0.01] (will be adjusted) and the initial condition given in x. The result, ['x(t=10)], will also be stored in x (in-place). - -In the above example an error stepper is nested in a controlled stepper. This is a nice technique; however one drawback is that one always needs to define both steppers. One could also write the instantiation of the controlled stepper into the call of the integrate function but a complete knowledge of the underlying stepper types is still necessary. Another point is, that the error tolerances for the step size control are not easily included into the controlled stepper. Both issues can be solved by using `make_controlled`: - -[integrate_adapt_make_controlled] - -`make_controlled` can be used with many of the steppers of odeint. The first -parameter is the absolute error tolerance ['eps_abs] and the second is the -relative error tolerance ['eps_rel] which is used during the integration. The template parameter determines from which error stepper a controlled stepper should be instantiated. An alternative syntax of `make_controlled` is - -[integrate_adapt_make_controlled_alternative] - -For the Runge-Kutta controller the error made during one step is compared with ['eps_abs + eps_rel * ( a[sub x] * |x| + a[sub dxdt] * dt * |dxdt| )]. If the error is smaller than this value the current step is accepted, otherwise it is rejected and the step size is decreased. Note, that the step size is also increased if the error gets too small compared to the rhs of the above relation. The full instantiation of the `controlled_runge_kutta` with all parameters is therefore - -[integrate_adapt_full] - -When using `make_controlled` the parameter ['a[sub x]] and ['a[sub dxdt]] are used with their standard values of 1. - -In the tables below, one can find all steppers which are working with `make_controlled` and `make_dense_output` which is the analog for the dense output steppers. - -[include make_controlled_table.qbk] - -[include make_dense_output_table.qbk] - -When using `make_controlled` or `make_dense_output` one should be aware which exact type is used and how the step size control works. - -[endsect] - -The full source file for this example can be found here: [github_link libs/numeric/odeint/examples/harmonic_oscillator.cpp harmonic_oscillator.cpp] - - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_solar_system.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_solar_system.qbk deleted file mode 100644 index 5151f6f..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_solar_system.qbk +++ /dev/null @@ -1,108 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - - -[section Solar system] - -[section Gravitation and energy conservation] - -The next example in this tutorial is a simulation of the outer solar system, consisting of the sun, Jupiter, Saturn, Uranus, Neptune and Pluto. - -[$solar_system.jpg] - -Each planet and of course the sun will be represented by mass points. The interaction force between each object is the gravitational force which can be written as - -['F[subl ij] = -__gamma m[subl i] m[subl j] ( q[subl i] - q[subl j] ) / | q[subl i] - q[subl j] | [super 3]] - -where [' __gamma] is the gravitational constant, ['m[subl i]] and ['m[subl j]] are the masses and ['q[subl i]] and ['q[subl j]] are the locations of the two objects. The equations of motion are then - -['dq[subl i] / dt = p[subl i]] - -['dp[subl i] / dt = 1 / m[subl i] __Sigma[subl ji] F[subl ij]] - -where ['p[subl i]] is the momenta of object ['i]. The equations of motion can also be derived from the Hamiltonian - -['H = __Sigma[subl i] p[subl i][super 2] / ( 2 m[subl i] ) + __Sigma[subl j] V( q[subl i] , q[subl j] )] - -with the interaction potential ['V(q[subl i],q[subl j])]. The Hamiltonian equations give the -equations of motion - -['dq[subl i] / dt = dH / dp[subl i]] - -['dp[subl i] / dt = -dH / dq[subl i]] - -In time independent Hamiltonian system the energy and the phase space volume -are conserved and special integration methods have to be applied in order to -ensure these conservation laws. The odeint library provides classes for -separable Hamiltonian systems, which can be written in the form ['H = __Sigma -p[subl i][super 2] / (2m[subl i]) + H[subl q](q)], where ['H[subl q](q)] only -depends on the coordinates. Although this functional form might look a bit -arbitrary, it covers nearly all classical mechanical systems with inertia and -without dissipation, or where the equations of motion can be written in the -form ['dq[subl i] / dt = p[subl i]] / m[subl i] , ['dp[subl i] / dt = f( -q[subl i] )]. - -[note A short physical note: While the two-body-problem is known to be -integrable, that means it can be solved with purely analytic techniques, -already the three-body-problem is not solvable. This was found in the end of the -19th century by H. Poincare which led to the whole new subject of -[@http://en.wikipedia.org/wiki/Chaos_theory Chaos Theory].] - -[endsect] - - -[section Define the system function] - -To implement this system we define a 3D point type which will represent the space as well as the velocity. Therefore, we use the operators from __boost_operators: - -[import ../examples/point_type.hpp] -[point_type] - - -The next step is to define a container type storing the values of ['q] and ['p] and to define system functions. As container type we use `boost::array` - -[import ../examples/solar_system.cpp] -[container_type_definition] - -The `container_type` is different from the state type of the ODE. The state type of the ode is simply a `pair< container_type , container_type >` since it needs the information about the coordinates and the momenta. - -Next we define the system's equations. -As we will use a stepper that accounts for the Hamiltonian (energy-preserving) -character of the system, we have to define the rhs different from the usual -case where it is just a single function. -The stepper will make use of the separable character, which means the system -will be defined by two objects representing ['f(p) = -dH/dq] and ['g(q) = dH/dp]: - -[coordinate_function] - -[momentum_function] - -In general a three body-system is chaotic, hence we can not expect that arbitrary initial conditions of the system will lead to a solution comparable with the solar system dynamics. That is we have to define proper initial conditions, which are taken from the book of Hairer, Wannier, Lubich __hairer_geom_ref. - -As mentioned above, we need to use some special integrators in order to -conserve phase space volume. There is a well known family of such integrators, -the so-called Runge-Kutta-Nystroem solvers, which we apply here in terms of a -`symplectic_rkn_sb3a_mclachlan` stepper: - -[integration_solar_system] - -These integration routine was used to produce the above sketch of the solar system. Note, that there are two particularities in this example. First, the state of the symplectic stepper is not `container_type` but a pair of `container_type`. Hence, we must pass such a pair to the integrate function. Since, we want to pass them as references we can simply pack them into __boost_ref. The second point is the observer, which is called with a state type, hence a pair of `container_type`. The reference wrapper is also passed, but this is not a problem at all: - -[streaming_observer] - -[tip You can use C++11 lambda to create the observers] - -The full example can be found here: [github_link libs/numeric/odeint/examples/solar_system.cpp solar_system.cpp] - -[endsect] - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_special_topics.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_special_topics.qbk deleted file mode 100644 index f8f8e9e..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_special_topics.qbk +++ /dev/null @@ -1,258 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - -[/ [section Special topics] /] - -[section Complex state types] - -[import ../examples/stuart_landau.cpp] - -Thus far we have seen several examples defined for real values. -odeint can handle complex state types, hence ODEs which are defined on complex -vector spaces, as well. An example is the Stuart-Landau oscillator - -['d __Psi / dt = ( 1 + i __eta ) __Psi + ( 1 + i __alpha ) | __Psi |[super 2] __Psi ] - -where ['__Psi] and ['i] is a complex variable. The definition of this ODE in C++ -using complex< double > as a state type may look as follows - -[stuart_landau_system_function] - -One can also use a function instead of a functor to implement it - -[stuart_landau_system_function_alternative] - -We strongly recommend to use the first ansatz. In this case you have explicit control over the parameters of the system and are not restricted to use global variables to parametrize the oscillator. - -When choosing the stepper type one has to account for the "unusual" state type: -it is a single `complex` opposed to the vector types used in the -previous examples. This means that no iterations over vector elements have to -be performed inside the stepper algorithm. You can enforce this by supplying -additional template arguments to the stepper including the -`vector_space_algebra`. Details on the usage of algebras can be found in the -section __adapt_state_types. - -[stuart_landau_integration] - -The full cpp file for the Stuart-Landau example can be found here [github_link -libs/numeric/odeint/examples/stuart_landau.cpp stuart_landau.cpp] - -[note The fact that we have to configure a different algebra is solely due to -the fact that we use a non-vector state type and not to the usage of complex -values. So for, e.g. `vector< complex >`, this would not be required.] - -[endsect] - -[section Lattice systems] - -[import ../examples/fpu.cpp] - - -odeint can also be used to solve ordinary differential equations defined on lattices. A prominent example is the Fermi-Pasta-Ulam system __fpu_scholarpedia_ref. It is a Hamiltonian system of nonlinear coupled harmonic oscillators. The Hamiltonian is - -[' H = __Sigma[subl i] p[subl i][super 2]/2 + 1/2 ( q[subl i+1] - q[subl i] )^2 + __beta / 4 ( q[subl i+1] - q[subl i] )^4 ] - -Remarkably, the Fermi-Pasta-Ulam system was the first numerical experiment to be implemented on a computer. It was studied at Los Alamos in 1953 on one of the first computers (a MANIAC I) and it triggered a whole new tree of mathematical and physical science. - -Like the __tut_solar_system, the FPU is solved again by a symplectic solver, but in this case we can speed up the computation because the ['q] components trivially reduce to ['dq[subl i] / dt = p[subl i]]. odeint is capable of doing this performance improvement. All you have to do is to call the symplectic solver with an state function for the ['p] components. Here is how this function looks like - -[fpu_system_function] - -You can also use `boost::array< double , N >` for the state type. - -Now, you have to define your initial values and perform the integration: - -[fpu_integration] - -The observer uses a reference to the system object to calculate the local energies: - -[fpu_observer] - -The full cpp file for this FPU example can be found here [github_link libs/numeric/odeint/examples/fpu.cpp fpu.cpp] - -[endsect] - -[section Ensembles of oscillators] - -[import ../examples/phase_oscillator_ensemble.cpp] - -Another important high dimensional system of coupled ordinary differential equations is an ensemble of ['N] all-to-all coupled phase oscillators __synchronization_pikovsky_ref. It is defined as - -[' d__phi[subl k] / dt = __omega[subl k] + __epsilon / N __Sigma[subl j] sin( __phi[subl j] - __phi[subl k] )] - -The natural frequencies ['__omega[subl i]] of each oscillator follow some distribution and ['__epsilon] is the coupling strength. We choose here a Lorentzian distribution for ['__omega[subl i]]. Interestingly a phase transition can be observed if the coupling strength exceeds a critical value. Above this value synchronization sets in and some of the oscillators oscillate with the same frequency despite their different natural frequencies. The transition is also called Kuramoto transition. Its behavior can be analyzed by employing the mean field of the phase - -['Z = K e[super i __Theta] = 1 / N __Sigma[subl k]e[super i __phi[subl k]]] - -The definition of the system function is now a bit more complex since we also need to store the individual frequencies of each oscillator. - -[phase_oscillator_ensemble_system_function] - -Note, that we have used ['Z] to simplify the equations of motion. Next, we create an observer which computes the value of ['Z] and we record ['Z] for different values of ['__epsilon]. - -[phase_oscillator_ensemble_observer] - -Now, we do several integrations for different values of ['__epsilon] and record ['Z]. The result nicely confirms the analytical result of the phase transition, i.e. in our example the standard deviation of the Lorentzian is 1 such that the transition will be observed at ['__epsilon = 2]. - -[phase_oscillator_ensemble_integration] - -The full cpp file for this example can be found here [github_link libs/numeric/odeint/examples/phase_oscillator_ensemble.cpp phase_oscillator_ensemble.cpp] - -[endsect] - -[section Using boost::units] - -[import ../examples/harmonic_oscillator_units.cpp] - -odeint also works well with __boost_units - a library for compile time unit -and dimension analysis. It works by decoding unit information into the types -of values. For a one-dimensional unit you can just use the Boost.Unit types as -state type, deriv type and time type and hand the `vector_space_algebra` to -the stepper definition and everything works just fine: - -``` -typedef units::quantity< si::time , double > time_type; -typedef units::quantity< si::length , double > length_type; -typedef units::quantity< si::velocity , double > velocity_type; - -typedef runge_kutta4< length_type , double , velocity_type , time_type , - vector_space_algebra > stepper_type; -``` - -If you want to solve more-dimensional problems the individual entries -typically have different units. That means that the `state_type` is now -possibly heterogeneous, meaning that every entry might have a different type. -To solve this problem, compile-time sequences from __boost_fusion can be used. - -To illustrate how odeint works with __boost_units we use the harmonic oscillator as primary example. We start with defining all quantities - -[units_define_basic_quantities] - -Note, that the `state_type` and the `deriv_type` are now a compile-time fusion -sequences. `deriv_type` represents ['x'] and is now different from the state -type as it has different unit definitions. Next, we define the ordinary -differential equation which is completely equivalent to the example in __tut_harmonic_oscillator: - -[units_define_ode] - -Next, we instantiate an appropriate stepper. We must explicitly parametrize -the stepper with the `state_type`, `deriv_type`, `time_type`. Furthermore, the -iteration over vector elements is now done by the `fusion_algebra` which must -also be given. For more on the state types / algebras see chapter __adapt_state_types. - -[units_define_stepper] - -It is quite easy but the compilation time might take very long. Furthermore, the observer is defined a bit different - -[units_observer] - -[caution Using __boost_units works nicely but compilation can be very time and -memory consuming. For example the unit test for the usage of __boost_units in odeint take up to 4 GB -of memory at compilation.] - -The full cpp file for this example can be found here [github_link libs/numeric/odeint/examples/harmonic_oscillator_units.cpp harmonic_oscillator_units.cpp]. - -[endsect] - -[section Using matrices as state types] - -[import ../examples/two_dimensional_phase_lattice.cpp] - -odeint works well with a variety of different state types. It is not restricted to pure vector-wise types, like `vector< double >`, `array< double , N >`, `fusion::vector< double , double >`, etc. but also works with types having a different topology then simple vectors. Here, we show how odeint can be used with matrices as states type, in the next section we will show how can be used to solve ODEs defined on complex networks. - -By default, odeint can be used with `ublas::matrix< T >` as state type for matrices. A simple example is a two-dimensional lattice of coupled phase oscillators. Other matrix types like `mtl::dense_matrix` or blitz arrays and matrices can used as well but need some kind of activation in order to work with odeint. This activation is described in following sections, - -The definition of the system is - -[two_dimensional_phase_lattice_definition] - -In principle this is all. Please note, that the above code is far from being optimal. Better performance can be achieved if every interaction is only calculated once and iterators for columns and rows are used. Below are some visualizations of the evolution of this lattice equation. - -[$phase_lattice_2d_0000.jpg] [$phase_lattice_2d_0100.jpg] [$phase_lattice_2d_1000.jpg] - -The full cpp for this example can be found here [github_link libs/numeric/odeint/examples/two_dimensional_phase_lattice.cpp two_dimensional_phase_lattice.cpp]. - -[endsect] - -[/ -[section Partial differential equations] -To be continued: -*Wave equation -*KdV -*Ginzburg-Landau -[endsect] -[section Ordinary differential equations on networks] -to be continued -[endsect] -] - -[section Using arbitrary precision floating point types] - -[import ../examples/gmpxx/lorenz_gmpxx.cpp] - -Besides the classical floating point number like `float`, `double`, `complex< double >` you can also use arbitrary precision types, like the types from [@http://gmplib.org/ gmp] and [@http://www.mpfr.org/ mpfr]. But you have to be careful about instantiating any numbers. - -For gmp types you have to set the default precision before any number is instantiated. This can be done by calling `mpf_set_default_prec( precision )` as the first function in your main program. Secondly, you can not use any global constant variables since they will not be set with the default precision you have already set. - -Here is a simple example: - -[gmpxx_lorenz] - -which can be integrated: - -[gmpxx_integration] - -[caution The full support of arbitrary precision types depends on the functionality they provide. For example, the types from gmp are lacking of functions for calculating the power and arbitrary roots, hence they can not be used with the controlled steppers. In detail, for full support the `min( x , y )`, `max( x , y )`, `pow( x , y )` must be callable.] - -The full example can be found at [github_link libs/numeric/odeint/examples/gmpxx/lorenz_gmpxx.cpp lorenz_gmpxx.cpp]. - - -[endsect] - -[section Self expanding lattices] - -[import ../examples/resizing_lattice.cpp] - -odeint supports changes of the state size during integration if a state_type -is used which can be resized, like `std::vector`. -The adjustment of the state's size has to be done from outside and the stepper -has to be instantiated with `always_resizer` as the template argument for the -`resizer_type`. -In this configuration, the stepper checks for changes in the state size and -adjust it's internal storage accordingly. - -We show this for a Hamiltonian system of nonlinear, disordered oscillators with nonlinear nearest neighbor coupling. - -The system function is implemented in terms of a class that also provides functions for calculating the energy. -Note, that this class stores the random potential internally which is not resized, but rather a start index is kept which should be changed whenever the states' size change. - -[resizing_lattice_system_class] - -The total size we allow is 1024 and we start with an initial state size of 60. - -[resizing_lattice_initialize] - -The lattice gets resized whenever the energy distribution comes close to the borders `distr[10] > 1E-150`, `distr[distr.size()-10] > 1E-150`. -If we increase to the left, `q` and `p` have to be rotated because their resize function always appends at the end. -Additionally, the start index of the potential changes in this case. - -[resizing_lattice_steps_loop] - -The `do_resize` function simply calls `vector.resize` of `q` , `p` and `distr`. - -[resizing_lattice_resize_function] - -The full example can be found in [github_link libs/numeric/odeint/examples/resizing_lattice.cpp resizing_lattice.cpp] - -[endsect] - -[/ [endsect] /] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_stiff_systems.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_stiff_systems.qbk deleted file mode 100644 index a0aa4ec..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_stiff_systems.qbk +++ /dev/null @@ -1,61 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - - -[section Stiff systems] - -[import ../examples/stiff_system.cpp] - -An important class of ordinary differential equations are so called stiff -system which are characterized by two or more time scales of different -order. Examples of such systems are found in chemical systems where reaction -rates of individual sub-reaction might differ over large ranges, for example: - -['d S[subl 1] / dt = - 101 S[subl 2] - 100 S[subl 1]] - -['d S[subl 2] / dt = S[subl 1]] - - -In order to efficiently solve stiff systems numerically the Jacobian - -['J = d f[subl i] / d x[subl j]] - -is needed. Here is the definition of the above example - -[stiff_system_definition] - -The state type has to be a `ublas::vector` and the matrix type must by a -`ublas::matrix` since the stiff integrator only accepts these types. -However, you might want use non-stiff integrators on this system, too - we will -do so later for demonstration. Therefore we want to use the same function also -with other state_types, realized by templatizing the `operator()`: - -[stiff_system_alternative_definition] - -Now you can use `stiff_system` in combination with `std::vector` or -`boost::array`. In the example the explicit time derivative of ['f(x,t)] is -introduced separately in the Jacobian. If ['df / dt = 0] simply fill `dfdt` with zeros. - -A well know solver for stiff systems is the Rosenbrock method. It has a step size control and dense output facilities and can be used like all the other steppers: - -[integrate_stiff_system] - -During the integration 71 steps have been done. Comparing to a classical Runge-Kutta solver this is a very good result. For example the Dormand-Prince 5 method with step size control and dense output yields 1531 steps. - -[integrate_stiff_system_alternative] - -Note, that we have used __boost_phoenix, a great functional programming library, to create and compose the observer. - -The full example can be found here: [github_link libs/numeric/odeint/examples/stiff_system.cpp stiff_system.cpp] - - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_thrust_cuda.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_thrust_cuda.qbk deleted file mode 100644 index 6008848..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_thrust_cuda.qbk +++ /dev/null @@ -1,165 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - -[section Using CUDA (or OpenMP, TBB, ...) via Thrust] - -Modern graphic cards (graphic processing units - GPUs) can be used to speed up -the performance of time consuming algorithms by means of massive -parallelization. They are designed to execute many operations in -parallel. odeint can utilize the power of GPUs by means of CUDA and __thrust, -which is a STL-like interface for the native CUDA API. - -[important Thrust also supports parallelization using OpenMP and Intel Threading Building Blocks (TBB). You can switch -between CUDA, OpenMP and TBB parallelizations by a simple compiler -switch. Hence, this also provides an easy way to get basic OpenMP -parallelization into odeint. The examples discussed below are focused on GPU parallelization, though. ] - -To use odeint with CUDA a few points have to be taken into account. First of all, the problem has to be well chosen. It makes absolutely no sense to try to parallelize the code for a three dimensional system, it is simply too small and not worth the effort. One single function call (kernel execution) on the GPU is slow but you can do the operation on a huge set of data with only one call. We have experienced that the vector size over which is parallelized should be of the order of ['10[super 6]] to make full use of the GPU. Secondly, you have to use __thrust's algorithms and functors when implementing the rhs the ODE. This might be tricky since it involves some kind of functional programming knowledge. - -Typical applications for CUDA and odeint are large systems, like lattices or discretizations of PDE, and parameter studies. We introduce now three examples which show how the power of GPUs can be used in combination with odeint. - -[important The full power of CUDA is only available for really large systems where the number of coupled ordinary differential equations is of order ['N=10[super 6]] or larger. For smaller systems the CPU is usually much faster. You can also integrate an ensemble of different uncoupled ODEs in parallel as shown in the last example.] - -[section Phase oscillator ensemble] - -[import ../examples/thrust/phase_oscillator_ensemble.cu] - -The first example is the phase oscillator ensemble from the previous -section: - -[' d__phi[subl k] / dt = __omega[subl k] + __epsilon / N __Sigma[subl j] sin( __phi[subl j] - __phi[subl k] ).] - -It has a phase transition at ['__epsilon = 2] in the limit of -infinite numbers of oscillators ['N]. In the case of finite ['N] this -transition is smeared out but still clearly visible. - -__thrust and CUDA are perfectly suited for such kinds of problems where one needs a large number of particles (oscillators). We start by defining the state type which is a `thrust::device_vector`. The content of this vector lives on the GPU. If you are not familiar with this we recommend reading the ['Getting started] section on the __thrust website. - -[thrust_phase_ensemble_state_type] - -Thrust follows a functional programming approach. If you want to perform a calculation on the GPU you usually have to call a global function like `thrust::for_each`, `thrust::reduce`, ... with an appropriate local functor which performs the basic operation. An example is -`` -struct add_two -{ - template< class T > - __host__ __device__ - void operator()( T &t ) const - { - t += T( 2 ); - } -}; - -// ... - -thrust::for_each( x.begin() , x.end() , add_two() ); -`` -This code generically adds two to every element in the container `x`. - -For the purpose of integrating the phase oscillator ensemble we need - -* to calculate the system function, hence the r.h.s. of the ODE. -* this involves computing the mean field of the oscillator example, i.e. the values of ['R] and ['__theta] - -The mean field is calculated in a class `mean_field_calculator` - -[thrust_phase_ensemble_mean_field_calculator] - -Inside this class two member structures `sin_functor` and `cos_functor` are defined. They compute the sine and the cosine of a value and they are used within a transform iterator to calculate the sum of ['sin(__phi[subl k])] and ['cos(__phi[subl k])]. The classifiers `__host__` and `__device__` are CUDA specific and define a function or operator which can be executed on the GPU as well as on the CPU. The line - -[thrust_phase_ensemble_sin_sum] - -performs the calculation of this sine-sum on the GPU (or on the CPU, depending on your thrust configuration). - -The system function is defined via - -[thrust_phase_ensemble_sys_function] - -This class is used within the `do_step` and `integrate` method. It defines a member structure `sys_functor` for the r.h.s. of each individual oscillator and the `operator()` for the use in the steppers and integrators of odeint. The functor computes first the mean field of ['__phi[subl k]] and secondly calculates the whole r.h.s. of the ODE using this mean field. Note, how nicely `thrust::tuple` and `thrust::zip_iterator` play together. - -Now, we are ready to put everything together. All we have to do for making odeint ready for using the GPU is to parametrize the stepper with the appropriate thrust algebra/operations: - -[thrust_phase_ensemble_define_rk4] - -You can also use a controlled or dense output stepper, e.g. - -[thrust_phase_ensemble_define_dopri5] - -Then, it is straightforward to integrate the phase ensemble by creating an instance of the rhs class and using an integration function: - -[thrust_phase_ensemble_system_instance] -[thrust_phase_ensemble_integration] - -We have to use `boost::ref` here in order to pass the rhs class as reference and not by value. This ensures that the natural frequencies of each oscillator are not copied when calling `integrate_const`. In the full example the performance and results of the Runge-Kutta-4 and the Dopri5 solver are compared. - -The full example can be found at [github_link libs/numeric/odeint/examples/thrust/phase_oscillator_ensemble.cu phase_oscillator_example.cu]. - -[endsect] - -[section Large oscillator chains] - -[import ../examples/thrust/phase_oscillator_chain.cu] - -The next example is a large, one-dimensional chain of nearest-neighbor coupled phase oscillators with the following equations of motion: - -['d __phi[subl k] / dt = __omega[subl k] + sin( __phi[subl k+1] - __phi[subl k] ) + sin( __phi[subl k] - __phi[subl k-1])] - -In principle we can use all the techniques from the previous phase oscillator ensemble example, but we have to take special care about the coupling of the oscillators. To efficiently implement the coupling you can use a very elegant way employing Thrust's permutation iterator. A permutation iterator behaves like a normal iterator on a vector but it does not iterate along the usual order of the elements. -It rather iterates along some permutation of the elements defined by some index map. To realize the nearest neighbor coupling we create one permutation iterator which travels one step behind a usual iterator and another permutation iterator which travels one step in front. The full system class is: - -[thrust_phase_chain_system] - -Note, how easy you can obtain the value for the left and right neighboring oscillator in the system functor using the permutation iterators. But, the call of the `thrust::for_each` function looks relatively complicated. Every term of the r.h.s. of the ODE is resembled by one iterator packed in exactly the same way as it is unpacked in the functor above. - -Now we put everything together. We create random initial conditions and decreasing frequencies such that we should get synchronization. We copy the frequencies and the initial conditions onto the device and finally initialize and perform the integration. As result we simply write out the current state, hence the phase of each oscillator. - -[thrust_phase_chain_integration] - -The full example can be found at [github_link libs/numeric/odeint/examples/thrust/phase_oscillator_chain.cu phase_oscillator_chain.cu]. - -[endsect] - -[section Parameter studies] - -[import ../examples/thrust/lorenz_parameters.cu] - -Another important use case for __thrust and CUDA are parameter studies of relatively small systems. Consider for example the three-dimensional Lorenz system from the chaotic systems example in the previous section which has three parameters. If you want to study the behavior of this system for different parameters you usually have to integrate the system for many parameter values. Using thrust and odeint you can do this integration in parallel, hence you integrate a whole ensemble of Lorenz systems where each individual realization has a different parameter value. -[/ The Lorenz system is dissipative, such that you can assume that different initial conditions will lead to the same attractor so . For Hamiltonian systems this is not the case. Here it might be interesting to study a range of initial conditions to quantify different regions in the phase space.] - -In the following we will show how you can use __thrust to integrate the above mentioned ensemble of Lorenz systems. We will vary only the parameter ['__beta] but it is straightforward to vary other parameters or even two or all three parameters. Furthermore, we will use the largest Lyapunov exponent to quantify the behavior of the system (chaoticity). - -We start by defining the range of the parameters we want to study. The state_type is again a `thrust::device_vector< value_type >`. - -[thrust_lorenz_parameters_define_beta] - -The next thing we have to implement is the Lorenz system without perturbations. Later, a system with perturbations is also implemented in order to calculate the Lyapunov exponent. We will use an ansatz where each device function calculates one particular realization of the Lorenz ensemble - -[thrust_lorenz_parameters_define_simple_system] - -As `state_type` a `thrust::device_vector` or a __boost_range of a `device_vector` is used. The length of the state is ['3N] where ['N] is the number of systems. The system is encoded into this vector such that all ['x] components come first, then every ['y] components and finally every ['z] components. Implementing the device function is then a simple task, you only have to decompose the tuple originating from the zip iterators. - -Besides the system without perturbations we furthermore need to calculate the system including linearized equations governing the time evolution of small perturbations. Using the method from above this is straightforward, with a small difficulty that Thrust's tuples have a maximal arity of 10. But this is only a small problem since we can create a zip iterator packed with zip iterators. So the top level zip iterator contains one zip iterator for the state, one normal iterator for the parameter, and one zip iterator for the derivative. Accessing the elements of this tuple in the system function is then straightforward, you unpack the tuple with `thrust::get<>()`. We will not show the code here, it is to large. It can be found [github_link libs/numeric/odeint/examples/thrust/lorenz_parameters.cu here] and is easy to understand. - -Furthermore, we need an observer which determines the norm of the perturbations, normalizes them and averages the logarithm of the norm. The device functor which is used within this observer is defined - -[thrust_lorenz_parameters_observer_functor] - -Note, that this functor manipulates the state, i.e. the perturbations. - -Now we complete the whole code to calculate the Lyapunov exponents. First, we have to define a state vector. This vector contains ['6N] entries, the state ['x,y,z] and its perturbations ['dx,dy,dz]. We initialize them such that ['x=y=z=10], ['dx=1], and ['dy=dz=0]. We define a stepper type, a controlled Runge-Kutta Dormand-Prince 5 stepper. We start with some integration to overcome the transient behavior. For this, we do not involve the perturbation and run the algorithm only on the state ['x,y,z] without any observer. Note, how __boost_range is used for partial integration of the state vector without perturbations (the first half of the whole state). After the transient, the full system with perturbations is integrated and the Lyapunov exponents are calculated and written to `stdout`. - -[thrust_lorenz_parameters_integration] - -The full example can be found at [github_link libs/numeric/odeint/examples/thrust/lorenz_parameters.cu lorenz_parameters.cu]. - -[endsect] - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_vexcl_opencl.qbk b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_vexcl_opencl.qbk deleted file mode 100644 index 082eba4..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_vexcl_opencl.qbk +++ /dev/null @@ -1,46 +0,0 @@ -[/============================================================================ - Boost.odeint - - Copyright (c) 2009-2012 Karsten Ahnert - Copyright (c) 2009-2012 Mario Mulansky - - Use, modification and distribution is subject to the Boost Software License, - Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at - http://www.boost.org/LICENSE_1_0.txt) -=============================================================================/] - - -[section Using OpenCL via VexCL] - -[import ../examples/vexcl/lorenz_ensemble.cpp] - -In the previous section the usage of odeint in combination with __thrust was shown. In this section we show how one can use OpenCL with odeint. The point of odeint is not to implement its own low-level data structures and algorithms, but to use high level libraries doing this task. Here, we will use the __vexcl framework to use OpenCL. __vexcl is a nice library for general computations and it uses heavily expression templates. With the help of __vexcl it is possible to write very compact and expressive application. - -[note vexcl needs C++11 features! So you have to compile with C++11 support enabled.] - -To use __vexcl one needs to include one additional header which includes the data-types and algorithms from vexcl and the adaption to odeint. Adaption to odeint means here only to adapt the resizing functionality of __vexcl to odeint. - -[vexcl_includes] - -To demonstrate the use of __vexcl we integrate an ensemble of Lorenz system. The example is very similar to the parameter study of the Lorenz system in the previous section except that we do not compute the Lyapunov exponents. Again, we vary the parameter R of the Lorenz system an solve a whole ensemble of Lorenz systems in parallel (each with a different parameter R). First, we define the state type and a vector type - -[vexcl_state_types ] - -The `vector_type` is used to represent the parameter R. The `state_type` is a multi-vector of three sub vectors and is used to represent. The first component of this multi-vector represent all `x` components of the Lorenz system, while the second all `y` components and the third all `z` components. The components of this vector can be obtained via - -`` -auto &x = X(0); -auto &y = X(1); -auto &z = X(2); -`` - -As already mentioned __vexcl supports expression templates and we will use them to implement the system function for the Lorenz ensemble: - -[vexcl_system] - -It's very easy, isn't it? These three little lines do all the computations for you. There is no need to write your own OpenCL kernels. __vexcl does everything for you. Next we have to write the main application. We initialize the vector of parameters (R) and the initial state. Since __vexcl supports odeint we can already use the `vector_space_algebra` in combination with the `default_operations` for the stepper and we are done: - -[vexcl_main] - - -[endsect] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/Jamfile.v2 b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/Jamfile.v2 deleted file mode 100644 index f52381d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/Jamfile.v2 +++ /dev/null @@ -1,12 +0,0 @@ -# Copyright 2011 Karsten Ahnert and Mario Mulansky. -# Distributed under the Boost Software License, Version 1.0. (See -# accompanying file LICENSE_1_0.txt or copy at -# http://www.boost.org/LICENSE_1_0.txt) - -project - : requirements - ../../../../.. - BOOST_ALL_NO_LIB=1 - ; - -exe spreading : spreading.cpp ; \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/lattice2d.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/lattice2d.hpp deleted file mode 100644 index 94cd9a0..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/lattice2d.hpp +++ /dev/null @@ -1,165 +0,0 @@ -/* - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -/* strongly nonlinear hamiltonian lattice in 2d */ - -#ifndef LATTICE2D_HPP -#define LATTICE2D_HPP - -#include - -#include - -using boost::math::pow; - -template< int Kappa , int Lambda > -struct lattice2d { - - const double m_beta; - std::vector< std::vector< double > > m_omega; - - lattice2d( const double beta ) - : m_beta( beta ) - { } - - template< class StateIn , class StateOut > - void operator()( const StateIn &q , StateOut &dpdt ) - { - // q and dpdt are 2d - const int N = q.size(); - - int i; - for( i = 0 ; i < N ; ++i ) - { - const int i_l = (i-1+N) % N; - const int i_r = (i+1) % N; - for( int j = 0 ; j < N ; ++j ) - { - const int j_l = (j-1+N) % N; - const int j_r = (j+1) % N; - dpdt[i][j] = - m_omega[i][j] * pow( q[i][j] ) - - m_beta * pow( q[i][j] - q[i][j_l] ) - - m_beta * pow( q[i][j] - q[i][j_r] ) - - m_beta * pow( q[i][j] - q[i_l][j] ) - - m_beta * pow( q[i][j] - q[i_r][j] ); - } - } - } - - template< class StateIn > - double energy( const StateIn &q , const StateIn &p ) - { - // q and dpdt are 2d - const int N = q.size(); - double energy = 0.0; - int i; - for( i = 0 ; i < N ; ++i ) - { - const int i_l = (i-1+N) % N; - const int i_r = (i+1) % N; - for( int j = 0 ; j < N ; ++j ) - { - const int j_l = (j-1+N) % N; - const int j_r = (j+1) % N; - energy += p[i][j]*p[i][j] / 2.0 - + m_omega[i][j] * pow( q[i][j] ) / Kappa - + m_beta * pow( q[i][j] - q[i][j_l] ) / Lambda / 2 - + m_beta * pow( q[i][j] - q[i][j_r] ) / Lambda / 2 - + m_beta * pow( q[i][j] - q[i_l][j] ) / Lambda / 2 - + m_beta * pow( q[i][j] - q[i_r][j] ) / Lambda / 2; - } - } - return energy; - } - - - template< class StateIn , class StateOut > - double local_energy( const StateIn &q , const StateIn &p , StateOut &energy ) - { - // q and dpdt are 2d - const int N = q.size(); - double e = 0.0; - int i; - for( i = 0 ; i < N ; ++i ) - { - const int i_l = (i-1+N) % N; - const int i_r = (i+1) % N; - for( int j = 0 ; j < N ; ++j ) - { - const int j_l = (j-1+N) % N; - const int j_r = (j+1) % N; - energy[i][j] = p[i][j]*p[i][j] / 2.0 - + m_omega[i][j] * pow( q[i][j] ) / Kappa - + m_beta * pow( q[i][j] - q[i][j_l] ) / Lambda / 2 - + m_beta * pow( q[i][j] - q[i][j_r] ) / Lambda / 2 - + m_beta * pow( q[i][j] - q[i_l][j] ) / Lambda / 2 - + m_beta * pow( q[i][j] - q[i_r][j] ) / Lambda / 2; - e += energy[i][j]; - } - } - //rescale - e = 1.0/e; - for( i = 0 ; i < N ; ++i ) - for( int j = 0 ; j < N ; ++j ) - energy[i][j] *= e; - return 1.0/e; - } - - void load_pot( const char* filename , const double W , const double gap , - const size_t dim ) - { - std::ifstream in( filename , std::ios::in | std::ios::binary ); - if( !in.is_open() ) { - std::cerr << "pot file not found: " << filename << std::endl; - exit(0); - } else { - std::cout << "using pot file: " << filename << std::endl; - } - - m_omega.resize( dim ); - for( int i = 0 ; i < dim ; ++i ) - { - m_omega[i].resize( dim ); - for( size_t j = 0 ; j < dim ; ++j ) - { - if( !in.good() ) - { - std::cerr << "I/O Error: " << filename << std::endl; - exit(0); - } - double d; - in.read( (char*) &d , sizeof(d) ); - if( (d < 0) || (d > 1.0) ) - { - std::cerr << "ERROR: " << d << std::endl; - exit(0); - } - m_omega[i][j] = W*d + gap; - } - } - - } - - void generate_pot( const double W , const double gap , const size_t dim ) - { - m_omega.resize( dim ); - for( size_t i = 0 ; i < dim ; ++i ) - { - m_omega[i].resize( dim ); - for( size_t j = 0 ; j < dim ; ++j ) - { - m_omega[i][j] = W*static_cast(rand())/RAND_MAX + gap; - } - } - } - -}; - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/nested_range_algebra.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/nested_range_algebra.hpp deleted file mode 100644 index 27eec12..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/nested_range_algebra.hpp +++ /dev/null @@ -1,46 +0,0 @@ -/* - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -/* nested range algebra */ - -#ifndef NESTED_RANGE_ALGEBRA -#define NESTED_RANGE_ALGEBRA - -namespace detail { - - template< class Iterator1 , class Iterator2 , class Iterator3 , class Operation , class Algebra > - void for_each3( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, Operation op , Algebra &algebra ) -{ - for( ; first1 != last1 ; ) - algebra.for_each3( *first1++ , *first2++ , *first3++ , op ); -} -} - - -template< class InnerAlgebra > -struct nested_range_algebra -{ - - nested_range_algebra() - : m_inner_algebra() - { } - - template< class S1 , class S2 , class S3 , class Op > - void for_each3( S1 &s1 , S2 &s2 , S3 &s3 , Op op ) - { - detail::for_each3( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , op , m_inner_algebra ); - } - - -private: - InnerAlgebra m_inner_algebra; -}; - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/spreading.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/spreading.cpp deleted file mode 100644 index 7e0db2f..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/spreading.cpp +++ /dev/null @@ -1,122 +0,0 @@ -/* - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -/* - * Example of a 2D simulation of nonlinearly coupled oscillators. - * Program just prints final energy which should be close to the initial energy (1.0). - * No parallelization is employed here. - * Run time on a 2.3GHz Intel Core-i5: about 10 seconds for 100 steps. - * Compile simply via bjam or directly: - * g++ -O3 -I${BOOST_ROOT} -I../../../../.. spreading.cpp - */ - - -#include -#include -#include -#include -#include - -#include -#include - -// we use a vector< vector< double > > as state type, -// for that some functionality has to be added for odeint to work -#include "nested_range_algebra.hpp" -#include "vector_vector_resize.hpp" - -// defines the rhs of our dynamical equation -#include "lattice2d.hpp" -/* dynamical equations (Hamiltonian structure): -dqdt_{i,j} = p_{i,j} -dpdt_{i,j} = - omega_{i,j}*q_{i,j} - \beta*[ (q_{i,j} - q_{i,j-1})^3 - +(q_{i,j} - q_{i,j+1})^3 - +(q_{i,j} - q_{i-1,j})^3 - +(q_{i,j} - q_{i+1,j})^3 ] -*/ - - -using namespace std; - -static const int MAX_N = 1024;//2048; - -static const size_t KAPPA = 2; -static const size_t LAMBDA = 4; -static const double W = 1.0; -static const double gap = 0.0; -static const size_t steps = 100; -static const double dt = 0.1; - -double initial_e = 1.0; -double beta = 1.0; -int realization_index = 0; - -//the state type -typedef vector< vector< double > > state_type; - -//the stepper, choose a symplectic one to account for hamiltonian structure -//use nested_range_algebra for calculations on vector< vector< ... > > -typedef boost::numeric::odeint::symplectic_rkn_sb3a_mclachlan< - state_type , state_type , double , state_type , state_type , double , - nested_range_algebra< boost::numeric::odeint::range_algebra > , - boost::numeric::odeint::default_operations > stepper_type; - -double time_diff_in_ms( timeval &t1 , timeval &t2 ) -{ return (t2.tv_sec - t1.tv_sec)*1000.0 + (t2.tv_usec - t1.tv_usec)/1000.0 + 0.5; } - - -int main( int argc, const char* argv[] ) { - - srand( time(NULL) ); - - lattice2d< KAPPA , LAMBDA > lattice( beta ); - - - lattice.generate_pot( W , gap , MAX_N ); - - state_type q( MAX_N , vector< double >( MAX_N , 0.0 ) ); - - state_type p( q ); - - state_type energy( q ); - - p[MAX_N/2][MAX_N/2] = sqrt( 0.5*initial_e ); - p[MAX_N/2+1][MAX_N/2] = sqrt( 0.5*initial_e ); - p[MAX_N/2][MAX_N/2+1] = sqrt( 0.5*initial_e ); - p[MAX_N/2+1][MAX_N/2+1] = sqrt( 0.5*initial_e ); - - cout.precision(10); - - lattice.local_energy( q , p , energy ); - double e=0.0; - for( size_t i=0 ; i - -#include - -namespace boost { namespace numeric { namespace odeint { - -template<> -struct is_resizeable< std::vector< std::vector< double > > > -{ - typedef boost::true_type type; - const static bool value = type::value; -}; - -template<> -struct same_size_impl< std::vector< std::vector< double > > , std::vector< std::vector< double > > > -{ - typedef std::vector< std::vector< double > > state_type; - - static bool same_size( const state_type &x1 , - const state_type &x2 ) - { - bool same = ( boost::size( x1 ) == boost::size( x2 ) ); - if( !same ) - return false; - typename state_type::const_iterator begin1 = boost::begin( x1 ); - typename state_type::const_iterator begin2 = boost::begin( x2 ); - while( begin1 != boost::end( x1 ) ) - same &= ( boost::size( *begin1++ ) == boost::size( *begin2++ ) ); - return same; - } -}; - -template<> -struct resize_impl< std::vector< std::vector< double > > , std::vector< std::vector< double > > > -{ - typedef std::vector< std::vector< double > > state_type; - - static void resize( state_type &x1 , const state_type &x2 ) - { - x1.resize( boost::size( x2 ) ); - typename state_type::iterator begin1 = boost::begin( x1 ); - typename state_type::const_iterator begin2 = boost::begin( x2 ); - while( begin1 != boost::end( x1 ) ) - (*begin1++).resize( boost::size( *begin2++ ) ); - } -}; - -template<> -struct state_wrapper< std::vector< std::vector< double > > > -{ - typedef std::vector< std::vector< double > > state_type; - typedef state_wrapper< state_type > state_wrapper_type; - typedef boost::true_type is_resizeable; - - state_type m_v; - - template< class State > - bool same_size( const State &x ) - { - bool same = ( boost::size( m_v ) == boost::size( x ) ); - if( !same ) - return false; - typename state_type::iterator begin1 = boost::begin( m_v ); - typename State::const_iterator begin2 = boost::begin( x ); - while( begin1 != boost::end( m_v ) ) - same &= ( boost::size( *begin1++ ) == boost::size( *begin2++ ) ); - return same; - } - - template< class State > - bool resize( const State &x ) - { - if( !same_size( x ) ) - { - m_v.resize( boost::size( x ) ); - typename state_type::iterator begin1 = boost::begin( m_v ); - typename State::const_iterator begin2 = boost::begin( x ); - while( begin1 != boost::end( m_v ) ) - (*begin1++).resize( boost::size( *begin2++ ) ); - - return true; - } else - return false; - } - -}; - -} } } - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/Jamfile.v2 b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/Jamfile.v2 deleted file mode 100644 index bad2173..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/Jamfile.v2 +++ /dev/null @@ -1,41 +0,0 @@ -# Copyright 2009 Karsten Ahnert and Mario Mulansky. -# Distributed under the Boost Software License, Version 1.0. (See -# accompanying file LICENSE_1_0.txt or copy at -# http://www.boost.org/LICENSE_1_0.txt) - - -project - : requirements - ../../../.. - BOOST_ALL_NO_LIB=1 - : - ; - - -exe harmonic_oscillator : harmonic_oscillator.cpp ; -exe solar_system : solar_system.cpp ; -exe chaotic_system : chaotic_system.cpp ; -exe stiff_system : stiff_system.cpp ; -exe fpu : fpu.cpp ; -exe phase_oscillator_ensemble : phase_oscillator_ensemble.cpp ; -exe harmonic_oscillator_units : harmonic_oscillator_units.cpp ; -exe stuart_landau : stuart_landau.cpp ; -exe two_dimensional_phase_lattice : two_dimensional_phase_lattice.cpp ; -exe bulirsch_stoer : bulirsch_stoer.cpp ; -exe elliptic_functions : elliptic_functions.cpp ; -exe resizing_lattice : resizing_lattice.cpp ; -exe list_lattice : list_lattice.cpp ; -exe stepper_details : stepper_details.cpp ; -exe my_vector : my_vector.cpp ; -exe lorenz_point : lorenz_point.cpp ; -exe van_der_pol_stiff : van_der_pol_stiff.cpp ; -exe simple1d : simple1d.cpp ; -exe stochastic_euler : stochastic_euler.cpp ; -exe generation_functions : generation_functions.cpp ; -exe heun : heun.cpp ; -exe bind_member_functions : bind_member_functions.cpp ; -exe bind_member_functions_cpp11 : bind_member_functions_cpp11.cpp : -std=c++0x ; - -# build-project mtl ; -# build-project ublas ; -# build-project gmpxx ; diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bind_member_functions.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bind_member_functions.cpp deleted file mode 100644 index 8eb5a68..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bind_member_functions.cpp +++ /dev/null @@ -1,126 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/examples/bind_member_functions.hpp - - [begin_description] - tba. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#include - -#include - -namespace odeint = boost::numeric::odeint; - -typedef boost::array< double , 3 > state_type; - -//[ ode_wrapper -template< class Obj , class Mem > -class ode_wrapper -{ - Obj m_obj; - Mem m_mem; - -public: - - ode_wrapper( Obj obj , Mem mem ) : m_obj( obj ) , m_mem( mem ) { } - - template< class State , class Deriv , class Time > - void operator()( const State &x , Deriv &dxdt , Time t ) - { - (m_obj.*m_mem)( x , dxdt , t ); - } -}; - -template< class Obj , class Mem > -ode_wrapper< Obj , Mem > make_ode_wrapper( Obj obj , Mem mem ) -{ - return ode_wrapper< Obj , Mem >( obj , mem ); -} -//] - - -template< class Obj , class Mem > -class observer_wrapper -{ - Obj m_obj; - Mem m_mem; - -public: - - observer_wrapper( Obj obj , Mem mem ) : m_obj( obj ) , m_mem( mem ) { } - - template< class State , class Time > - void operator()( const State &x , Time t ) - { - (m_obj.*m_mem)( x , t ); - } -}; - -template< class Obj , class Mem > -observer_wrapper< Obj , Mem > make_observer_wrapper( Obj obj , Mem mem ) -{ - return observer_wrapper< Obj , Mem >( obj , mem ); -} - - - -//[ bind_member_function -struct lorenz -{ - void ode( const state_type &x , state_type &dxdt , double t ) const - { - dxdt[0] = 10.0 * ( x[1] - x[0] ); - dxdt[1] = 28.0 * x[0] - x[1] - x[0] * x[2]; - dxdt[2] = -8.0 / 3.0 * x[2] + x[0] * x[1]; - } -}; - -int main( int argc , char *argv[] ) -{ - using namespace boost::numeric::odeint; - state_type x = {{ 10.0 , 10.0 , 10.0 }}; - integrate_const( runge_kutta4< state_type >() , make_ode_wrapper( lorenz() , &lorenz::ode ) , - x , 0.0 , 10.0 , 0.01 ); - return 0; -} -//] - - -/* -struct lorenz -{ - void ode( const state_type &x , state_type &dxdt , double t ) const - { - dxdt[0] = 10.0 * ( x[1] - x[0] ); - dxdt[1] = 28.0 * x[0] - x[1] - x[0] * x[2]; - dxdt[2] = -8.0 / 3.0 * x[2] + x[0] * x[1]; - } - - void obs( const state_type &x , double t ) const - { - std::cout << t << " " << x[0] << " " << x[1] << " " << x[2] << "\n"; - } -}; - -int main( int argc , char *argv[] ) -{ - using namespace boost::numeric::odeint; - - state_type x = {{ 10.0 , 10.0 , 10.0 }}; - integrate_const( runge_kutta4< state_type >() , - make_ode_wrapper( lorenz() , &lorenz::ode ) , - x , 0.0 , 10.0 , 0.01 , - make_observer_wrapper( lorenz() , &lorenz::obs ) ); - - return 0; -} -*/ diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bind_member_functions_cpp11.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bind_member_functions_cpp11.cpp deleted file mode 100644 index de01885..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bind_member_functions_cpp11.cpp +++ /dev/null @@ -1,56 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/examples/bind_member_functions.hpp - - [begin_description] - tba. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#include -#include -#include - -#include - -namespace odeint = boost::numeric::odeint; - - - -typedef std::array< double , 3 > state_type; - -struct lorenz -{ - void ode( const state_type &x , state_type &dxdt , double t ) const - { - const double sigma = 10.0; - const double R = 28.0; - const double b = 8.0 / 3.0; - - dxdt[0] = sigma * ( x[1] - x[0] ); - dxdt[1] = R * x[0] - x[1] - x[0] * x[2]; - dxdt[2] = -b * x[2] + x[0] * x[1]; - } -}; - -int main( int argc , char *argv[] ) -{ - using namespace boost::numeric::odeint; - //[ bind_member_function_cpp11 - namespace pl = std::placeholders; - - state_type x = {{ 10.0 , 10.0 , 10.0 }}; - integrate_const( runge_kutta4< state_type >() , - std::bind( &lorenz::ode , lorenz() , pl::_1 , pl::_2 , pl::_3 ) , - x , 0.0 , 10.0 , 0.01 ); - //] - return 0; -} - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bulirsch_stoer.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bulirsch_stoer.cpp deleted file mode 100644 index 97064db..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bulirsch_stoer.cpp +++ /dev/null @@ -1,100 +0,0 @@ -/* - * bulirsch_stoer.cpp - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#include -#include -#define _USE_MATH_DEFINES -#include - -#include -#include - -#include - -#include -#include -#include - -using namespace std; -using namespace boost::numeric::odeint; - -typedef boost::array< double , 1 > state_type; - -/* - * x' = ( - x*sin t + 2 tan x ) y - * with x( pi/6 ) = 2/sqrt(3) the analytic solution is 1/cos t - */ - -void rhs( const state_type &x , state_type &dxdt , const double t ) -{ - dxdt[0] = ( - x[0] * sin( t ) + 2.0 * tan( t ) ) * x[0]; -} - -void rhs2( const state_type &x , state_type &dxdt , const double t ) -{ - dxdt[0] = sin(t); -} - - -ofstream out; - -void write_out( const state_type &x , const double t ) -{ - out << t << '\t' << x[0] << endl; -} - -int main() -{ - bulirsch_stoer_dense_out< state_type > stepper( 1E-8 , 0.0 , 0.0 , 0.0 ); - bulirsch_stoer< state_type > stepper2( 1E-8 , 0.0 , 0.0 , 0.0 ); - - state_type x = {{ 2.0 / sqrt(3.0) }}; - - double t = M_PI/6.0; - //double t = 0.0; - double dt = 0.01; - double t_end = M_PI/2.0 - 0.1; - //double t_end = 100.0; - - out.open( "bs.dat" ); - out.precision(16); - integrate_const( stepper , rhs , x , t , t_end , dt , write_out ); - out.close(); - - x[0] = 2.0 / sqrt(3.0); - - out.open( "bs2.dat" ); - out.precision(16); - integrate_adaptive( stepper , rhs , x , t , t_end , dt , write_out ); - out.close(); - - x[0] = 2.0 / sqrt(3.0); - - out.open( "bs3.dat" ); - out.precision(16); - integrate_adaptive( stepper2 , rhs , x , t , t_end , dt , write_out ); - out.close(); - - - typedef runge_kutta_dopri5< state_type > dopri5_type; - typedef controlled_runge_kutta< dopri5_type > controlled_dopri5_type; - typedef dense_output_runge_kutta< controlled_dopri5_type > dense_output_dopri5_type; - - dense_output_dopri5_type dopri5( controlled_dopri5_type( default_error_checker< double >( 1E-2 , 0.0 , 0.0 , 0.0 ) ) ); - - x[0] = 2.0 / sqrt(3.0); - - out.open( "bs4.dat" ); - out.precision(16); - integrate_adaptive( dopri5 , rhs , x , t , t_end , dt , write_out ); - out.close(); - -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/chaotic_system.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/chaotic_system.cpp deleted file mode 100644 index 762317c..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/chaotic_system.cpp +++ /dev/null @@ -1,117 +0,0 @@ -/* - * chaotic_system.cpp - * - * This example demonstrates how one can use odeint to determine the Lyapunov - * exponents of a chaotic system namely the well known Lorenz system. Furthermore, - * it shows how odeint interacts with boost.range. - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#include -#include - -#include - -#include "gram_schmidt.hpp" - -using namespace std; -using namespace boost::numeric::odeint; - - -const double sigma = 10.0; -const double R = 28.0; -const double b = 8.0 / 3.0; - -//[ system_function_without_perturbations -struct lorenz -{ - template< class State , class Deriv > - void operator()( const State &x_ , Deriv &dxdt_ , double t ) const - { - typename boost::range_iterator< const State >::type x = boost::begin( x_ ); - typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ ); - - dxdt[0] = sigma * ( x[1] - x[0] ); - dxdt[1] = R * x[0] - x[1] - x[0] * x[2]; - dxdt[2] = -b * x[2] + x[0] * x[1]; - } -}; -//] - - - -//[ system_function_with_perturbations -const size_t n = 3; -const size_t num_of_lyap = 3; -const size_t N = n + n*num_of_lyap; - -typedef boost::array< double , N > state_type; -typedef boost::array< double , num_of_lyap > lyap_type; - -void lorenz_with_lyap( const state_type &x , state_type &dxdt , double t ) -{ - lorenz()( x , dxdt , t ); - - for( size_t l=0 ; l rk4; - - fill( x.begin() , x.end() , 0.0 ); - x[0] = 10.0 ; x[1] = 10.0 ; x[2] = 5.0; - - const double dt = 0.01; - - //[ integrate_transients_with_range - // perform 10000 transient steps - integrate_n_steps( rk4 , lorenz() , std::make_pair( x.begin() , x.begin() + n ) , 0.0 , dt , 10000 ); - //] - - //[ lyapunov_full_code - fill( x.begin()+n , x.end() , 0.0 ); - for( size_t i=0 ; i( x , lyap , n ); - ++count; - - if( !(count % 100000) ) - { - cout << t; - for( size_t i=0 ; i -#include -#include - -#include - -#include - -#include -#include -#include - -using namespace std; -using namespace boost::numeric::odeint; - -typedef boost::array< double , 3 > state_type; - -/* - * x1' = x2*x3 - * x2' = -x1*x3 - * x3' = -m*x1*x2 - */ - -void rhs( const state_type &x , state_type &dxdt , const double t ) -{ - static const double m = 0.51; - - dxdt[0] = x[1]*x[2]; - dxdt[1] = -x[0]*x[2]; - dxdt[2] = -m*x[0]*x[1]; -} - -ofstream out; - -void write_out( const state_type &x , const double t ) -{ - out << t << '\t' << x[0] << '\t' << x[1] << '\t' << x[2] << endl; -} - -int main() -{ - bulirsch_stoer_dense_out< state_type > stepper( 1E-9 , 1E-9 , 1.0 , 0.0 ); - - state_type x1 = {{ 0.0 , 1.0 , 1.0 }}; - - double t = 0.0; - double dt = 0.01; - - out.open( "elliptic1.dat" ); - out.precision(16); - integrate_const( stepper , rhs , x1 , t , 100.0 , dt , write_out ); - out.close(); - - state_type x2 = {{ 0.0 , 1.0 , 1.0 }}; - - out.open( "elliptic2.dat" ); - out.precision(16); - integrate_adaptive( stepper , rhs , x2 , t , 100.0 , dt , write_out ); - out.close(); - - typedef runge_kutta_dopri5< state_type > dopri5_type; - typedef controlled_runge_kutta< dopri5_type > controlled_dopri5_type; - typedef dense_output_runge_kutta< controlled_dopri5_type > dense_output_dopri5_type; - - dense_output_dopri5_type dopri5( controlled_dopri5_type( default_error_checker< double >( 1E-9 , 0.0 , 0.0 , 0.0 ) ) ); - - state_type x3 = {{ 0.0 , 1.0 , 1.0 }}; - - out.open( "elliptic3.dat" ); - out.precision(16); - integrate_adaptive( dopri5 , rhs , x3 , t , 100.0 , dt , write_out ); - out.close(); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/fpu.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/fpu.cpp deleted file mode 100644 index 5fc459e..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/fpu.cpp +++ /dev/null @@ -1,168 +0,0 @@ -/* - * fpu.cpp - * - * This example demonstrates how one can use odeint to solve the Fermi-Pasta-Ulam system. - - * Created on: July 13, 2011 - * - * Copyright 2009 Karsten Ahnert and Mario Mulansky. - * Distributed under the Boost Software License, Version 1.0. (See - * accompanying file LICENSE_1_0.txt or copy at - * http://www.boost.org/LICENSE_1_0.txt) - */ - -#include -#include -#include -#include - -#include - -#ifndef M_PI //not there on windows -#define M_PI 3.1415927 //... -#endif - -using namespace std; -using namespace boost::numeric::odeint; - -//[ fpu_system_function -typedef vector< double > container_type; - -struct fpu -{ - const double m_beta; - - fpu( const double beta = 1.0 ) : m_beta( beta ) { } - - // system function defining the ODE - void operator()( const container_type &q , container_type &dpdt ) const - { - size_t n = q.size(); - double tmp = q[0] - 0.0; - double tmp2 = tmp + m_beta * tmp * tmp * tmp; - dpdt[0] = -tmp2; - for( size_t i=0 ; i - } - - // calculates the local energy of the system - void local_energy( const container_type &q , const container_type &p , container_type &e ) const - { - // ... - //<- - size_t n = q.size(); - double tmp = q[0]; - double tmp2 = 0.5 * tmp * tmp + 0.25 * m_beta * tmp * tmp * tmp * tmp; - e[0] = tmp2; - for( size_t i=0 ; i - } -}; -//] - - - -//[ fpu_observer -struct streaming_observer -{ - std::ostream& m_out; - const fpu &m_fpu; - size_t m_write_every; - size_t m_count; - - streaming_observer( std::ostream &out , const fpu &f , size_t write_every = 100 ) - : m_out( out ) , m_fpu( f ) , m_write_every( write_every ) , m_count( 0 ) { } - - template< class State > - void operator()( const State &x , double t ) - { - if( ( m_count % m_write_every ) == 0 ) - { - container_type &q = x.first; - container_type &p = x.second; - container_type energy( q.size() ); - m_fpu.local_energy( q , p , energy ); - for( size_t i=0 ; i stepper_type; - fpu fpu_instance( 8.0 ); - - integrate_const( stepper_type() , fpu_instance , - make_pair( boost::ref( q ) , boost::ref( p ) ) , - 0.0 , 1000.0 , dt , streaming_observer( cout , fpu_instance , 10 ) ); - //] - - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/generation_functions.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/generation_functions.cpp deleted file mode 100644 index 9b762bb..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/generation_functions.cpp +++ /dev/null @@ -1,99 +0,0 @@ -/* - libs/numeric/odeint/examples/stochastic_euler.hpp - - Copyright 2009 Karsten Ahnert - Copyright 2009 Mario Mulansky - - Stochastic euler stepper example and Ornstein-Uhlenbeck process - - Distributed under the Boost Software License, Version 1.0. -(See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#include - -#include - -typedef boost::array< double , 1 > state_type; - -using namespace boost::numeric::odeint; - - -//[ generation_functions_own_steppers -class custom_stepper -{ -public: - - typedef double value_type; - // ... -}; - -class custom_controller -{ - // ... -}; - -class custom_dense_output -{ - // ... -}; -//] - - -//[ generation_functions_get_controller -namespace boost { namespace numeric { namespace odeint { - -template<> -struct get_controller< custom_stepper > -{ - typedef custom_controller type; -}; - -} } } -//] - -//[ generation_functions_controller_factory -namespace boost { namespace numeric { namespace odeint { - -template<> -struct controller_factory< custom_stepper , custom_controller > -{ - custom_controller operator()( double abs_tol , double rel_tol , const custom_stepper & ) const - { - return custom_controller(); - } -}; - -} } } -//] - -int main( int argc , char **argv ) -{ - { - typedef runge_kutta_dopri5< state_type > stepper_type; - - /* - //[ generation_functions_syntax_auto - auto stepper1 = make_controlled( 1.0e-6 , 1.0e-6 , stepper_type() ); - auto stepper2 = make_dense_output( 1.0e-6 , 1.0e-6 , stepper_type() ); - //] - */ - - //[ generation_functions_syntax_result_of - boost::numeric::odeint::result_of::make_controlled< stepper_type >::type stepper3 = make_controlled( 1.0e-6 , 1.0e-6 , stepper_type() ); - boost::numeric::odeint::result_of::make_dense_output< stepper_type >::type stepper4 = make_dense_output( 1.0e-6 , 1.0e-6 , stepper_type() ); - //] - } - - { - /* - //[ generation_functions_example_custom_controller - auto stepper5 = make_controlled( 1.0e-6 , 1.0e-6 , custom_stepper() ); - //] - */ - - boost::numeric::odeint::result_of::make_controlled< custom_stepper >::type stepper5 = make_controlled( 1.0e-6 , 1.0e-6 , custom_stepper() ); - } - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/gmpxx/lorenz_gmpxx.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/gmpxx/lorenz_gmpxx.cpp deleted file mode 100644 index 2bdd562..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/gmpxx/lorenz_gmpxx.cpp +++ /dev/null @@ -1,83 +0,0 @@ -/* - * lorenz_gmpxx.cpp - * - * This example demonstrates how odeint can be used with arbitrary precision types. - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - - -#include -#include - -#include - -#include - -using namespace std; -using namespace boost::numeric::odeint; - -//[ gmpxx_lorenz -typedef mpf_class value_type; -typedef boost::array< value_type , 3 > state_type; - -struct lorenz -{ - void operator()( const state_type &x , state_type &dxdt , value_type t ) const - { - const value_type sigma( 10.0 ); - const value_type R( 28.0 ); - const value_type b( value_type( 8.0 ) / value_type( 3.0 ) ); - - dxdt[0] = sigma * ( x[1] - x[0] ); - dxdt[1] = R * x[0] - x[1] - x[0] * x[2]; - dxdt[2] = -b * x[2] + x[0] * x[1]; - } -}; -//] - - - - -struct streaming_observer -{ - std::ostream& m_out; - - streaming_observer( std::ostream &out ) : m_out( out ) { } - - template< class State , class Time > - void operator()( const State &x , Time t ) const - { - m_out << t; - for( size_t i=0 ; i() , - lorenz() , x , value_type( 0.0 ) , value_type( 10.0 ) , value_type( value_type( 1.0 ) / value_type( 10.0 ) ) , - streaming_observer( cout ) ); - //] - - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/gram_schmidt.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/gram_schmidt.hpp deleted file mode 100644 index 2f98c72..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/gram_schmidt.hpp +++ /dev/null @@ -1,88 +0,0 @@ -/* - boost header: numeric/odeint/gram_schmitt.hpp - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#ifndef BOOST_NUMERIC_ODEINT_GRAM_SCHMITT_HPP_INCLUDED -#define BOOST_NUMERIC_ODEINT_GRAM_SCHMITT_HPP_INCLUDED - -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - -template< class Iterator , class T > -void normalize( Iterator first , Iterator last , T norm ) -{ - while( first != last ) *first++ /= norm; -} - -template< class Iterator , class T > -void substract_vector( Iterator first1 , Iterator last1 , - Iterator first2 , T val ) -{ - while( first1 != last1 ) *first1++ -= val * ( *first2++ ); -} - -template< size_t num_of_lyap , class StateType , class LyapType > -void gram_schmidt( StateType &x , LyapType &lyap , size_t n ) -{ - if( !num_of_lyap ) return; - if( ptrdiff_t( ( num_of_lyap + 1 ) * n ) != std::distance( x.begin() , x.end() ) ) - throw std::domain_error( "renormalization() : size of state does not match the number of lyapunov exponents." ); - - typedef typename StateType::value_type value_type; - typedef typename StateType::iterator iterator; - - value_type norm[num_of_lyap]; - value_type tmp[num_of_lyap]; - iterator first = x.begin() + n; - iterator beg1 = first , end1 = first + n ; - - std::fill( norm , norm+num_of_lyap , 0.0 ); - - // normalize first vector - norm[0] = sqrt( std::inner_product( beg1 , end1 , beg1 , 0.0 ) ); - normalize( beg1 , end1 , norm[0] ); - - beg1 += n; - end1 += n; - - for( size_t j=1 ; j -#include - -#include - - - -//[ rhs_function -/* The type of container used to hold the state vector */ -typedef std::vector< double > state_type; - -const double gam = 0.15; - -/* The rhs of x' = f(x) */ -void harmonic_oscillator( const state_type &x , state_type &dxdt , const double /* t */ ) -{ - dxdt[0] = x[1]; - dxdt[1] = -x[0] - gam*x[1]; -} -//] - - - - - -//[ rhs_class -/* The rhs of x' = f(x) defined as a class */ -class harm_osc { - - double m_gam; - -public: - harm_osc( double gam ) : m_gam(gam) { } - - void operator() ( const state_type &x , state_type &dxdt , const double /* t */ ) - { - dxdt[0] = x[1]; - dxdt[1] = -x[0] - m_gam*x[1]; - } -}; -//] - - - - - -//[ integrate_observer -struct push_back_state_and_time -{ - std::vector< state_type >& m_states; - std::vector< double >& m_times; - - push_back_state_and_time( std::vector< state_type > &states , std::vector< double > × ) - : m_states( states ) , m_times( times ) { } - - void operator()( const state_type &x , double t ) - { - m_states.push_back( x ); - m_times.push_back( t ); - } -}; -//] - -struct write_state -{ - void operator()( const state_type &x ) const - { - std::cout << x[0] << "\t" << x[1] << "\n"; - } -}; - - -int main(int /* argc */ , char** /* argv */ ) -{ - using namespace std; - using namespace boost::numeric::odeint; - - - //[ state_initialization - state_type x(2); - x[0] = 1.0; // start at x=1.0, p=0.0 - x[1] = 0.0; - //] - - - - //[ integration - size_t steps = integrate( harmonic_oscillator , - x , 0.0 , 10.0 , 0.1 ); - //] - - - - //[ integration_class - harm_osc ho(0.15); - steps = integrate( ho , - x , 0.0 , 10.0 , 0.1 ); - //] - - - - - - //[ integrate_observ - vector x_vec; - vector times; - - steps = integrate( harmonic_oscillator , - x , 0.0 , 10.0 , 0.1 , - push_back_state_and_time( x_vec , times ) ); - - /* output */ - for( size_t i=0; i<=steps; i++ ) - { - cout << times[i] << '\t' << x_vec[i][0] << '\t' << x_vec[i][1] << '\n'; - } - //] - - - - - - - - //[ define_const_stepper - runge_kutta4< state_type > stepper; - integrate_const( stepper , harmonic_oscillator , x , 0.0 , 10.0 , 0.01 ); - //] - - - - - //[ integrate_const_loop - const double dt = 0.01; - for( double t=0.0 ; t<10.0 ; t+= dt ) - stepper.do_step( harmonic_oscillator , x , t , dt ); - //] - - - - - //[ define_adapt_stepper - typedef runge_kutta_cash_karp54< state_type > error_stepper_type; - //] - - - - //[ integrate_adapt - typedef controlled_runge_kutta< error_stepper_type > controlled_stepper_type; - controlled_stepper_type controlled_stepper; - integrate_adaptive( controlled_stepper , harmonic_oscillator , x , 0.0 , 10.0 , 0.01 ); - //] - - { - //[integrate_adapt_full - double abs_err = 1.0e-10 , rel_err = 1.0e-6 , a_x = 1.0 , a_dxdt = 1.0; - controlled_stepper_type controlled_stepper( - default_error_checker< double >( abs_err , rel_err , a_x , a_dxdt ) ); - integrate_adaptive( controlled_stepper , harmonic_oscillator , x , 0.0 , 10.0 , 0.01 ); - //] - } - - - //[integrate_adapt_make_controlled - integrate_adaptive( make_controlled< error_stepper_type >( 1.0e-10 , 1.0e-6 ) , - harmonic_oscillator , x , 0.0 , 10.0 , 0.01 ); - //] - - - - - //[integrate_adapt_make_controlled_alternative - integrate_adaptive( make_controlled( 1.0e-10 , 1.0e-6 , error_stepper_type() ) , - harmonic_oscillator , x , 0.0 , 10.0 , 0.01 ); - //] - - #ifdef BOOST_NUMERIC_ODEINT_CXX11 - //[ define_const_stepper_cpp11 - runge_kutta4< state_type > stepper; - integrate_const( stepper , []( const state_type &x , state_type &dxdt , double t ) { - dxdt[0] = x[1]; dxdt[1] = -x[0] - gam*x[1]; } - , x , 0.0 , 10.0 , 0.01 ); - //] - #endif - - -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/harmonic_oscillator_units.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/harmonic_oscillator_units.cpp deleted file mode 100644 index 2448b54..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/harmonic_oscillator_units.cpp +++ /dev/null @@ -1,119 +0,0 @@ -/* - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#include -#include - - -/* WARNING: Compilation in debug mode might consume enormous memory - (e.g. ~2GB on gcc 4.4 ) -*/ - -// first increase fusion macro variables (now done by odeint itself) -//#define BOOST_FUSION_INVOKE_MAX_ARITY 15 -//#define BOOST_RESULT_OF_NUM_ARGS 15 - -//[ units_define_basic_quantities - -#include -#include - -#include -#include -#include -#include -#include - -#include - -using namespace std; -using namespace boost::numeric::odeint; -namespace fusion = boost::fusion; -namespace units = boost::units; -namespace si = boost::units::si; - -typedef units::quantity< si::time , double > time_type; -typedef units::quantity< si::length , double > length_type; -typedef units::quantity< si::velocity , double > velocity_type; -typedef units::quantity< si::acceleration , double > acceleration_type; -typedef units::quantity< si::frequency , double > frequency_type; - -typedef fusion::vector< length_type , velocity_type > state_type; -typedef fusion::vector< velocity_type , acceleration_type > deriv_type; -//] - - - -//[ units_define_ode -struct oscillator -{ - frequency_type m_omega; - - oscillator( const frequency_type &omega = 1.0 * si::hertz ) : m_omega( omega ) { } - - void operator()( const state_type &x , deriv_type &dxdt , time_type t ) const - { - fusion::at_c< 0 >( dxdt ) = fusion::at_c< 1 >( x ); - fusion::at_c< 1 >( dxdt ) = - m_omega * m_omega * fusion::at_c< 0 >( x ); - } -}; -//] - - -//[ units_observer -struct streaming_observer -{ - std::ostream& m_out; - - streaming_observer( std::ostream &out ) : m_out( out ) { } - - struct write_element - { - std::ostream &m_out; - write_element( std::ostream &out ) : m_out( out ) { }; - - template< class T > - void operator()( const T &t ) const - { - m_out << "\t" << t; - } - }; - - template< class State , class Time > - void operator()( const State &x , const Time &t ) const - { - m_out << t; - fusion::for_each( x , write_element( m_out ) ); - m_out << "\n"; - } -}; -//] - - -int main( int argc , char**argv ) -{ -// typedef dense_output_runge_kutta -// < -// controlled_runge_kutta -// < -// runge_kutta_dopri5< state_type , double , deriv_type , time_type , fusion_algebra > -// > -// > stepper_type; - - //[ units_define_stepper - typedef runge_kutta_dopri5< state_type , double , deriv_type , time_type , fusion_algebra > stepper_type; - - state_type x( 1.0 * si::meter , 0.0 * si::meter_per_second ); - - integrate_const( make_dense_output( 1.0e-6 , 1.0e-6 , stepper_type() ) , oscillator( 2.0 * si::hertz ) , x , 0.0 * si::second , 100.0 * si::second , 0.1 * si::second , streaming_observer( cout ) ); - //] - - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/heun.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/heun.cpp deleted file mode 100644 index 1c9c284..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/heun.cpp +++ /dev/null @@ -1,170 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/examples/heun.cpp - - [begin_description] - Examplary implementation of the method of Heun. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#include - - -#include -#include - -#include - -#include - - - - - - -namespace fusion = boost::fusion; - -//[ heun_define_coefficients -template< class Value = double > -struct heun_a1 : boost::array< Value , 1 > { - heun_a1( void ) - { - (*this)[0] = static_cast< Value >( 1 ) / static_cast< Value >( 3 ); - } -}; - -template< class Value = double > -struct heun_a2 : boost::array< Value , 2 > -{ - heun_a2( void ) - { - (*this)[0] = static_cast< Value >( 0 ); - (*this)[1] = static_cast< Value >( 2 ) / static_cast< Value >( 3 ); - } -}; - - -template< class Value = double > -struct heun_b : boost::array< Value , 3 > -{ - heun_b( void ) - { - (*this)[0] = static_cast( 1 ) / static_cast( 4 ); - (*this)[1] = static_cast( 0 ); - (*this)[2] = static_cast( 3 ) / static_cast( 4 ); - } -}; - -template< class Value = double > -struct heun_c : boost::array< Value , 3 > -{ - heun_c( void ) - { - (*this)[0] = static_cast< Value >( 0 ); - (*this)[1] = static_cast< Value >( 1 ) / static_cast< Value >( 3 ); - (*this)[2] = static_cast< Value >( 2 ) / static_cast< Value >( 3 ); - } -}; -//] - - -//[ heun_stepper_definition -template< - class State , - class Value = double , - class Deriv = State , - class Time = Value , - class Algebra = boost::numeric::odeint::range_algebra , - class Operations = boost::numeric::odeint::default_operations , - class Resizer = boost::numeric::odeint::initially_resizer -> -class heun : public -boost::numeric::odeint::explicit_generic_rk< 3 , 3 , State , Value , Deriv , Time , - Algebra , Operations , Resizer > -{ - -public: - - typedef boost::numeric::odeint::explicit_generic_rk< 3 , 3 , State , Value , Deriv , Time , - Algebra , Operations , Resizer > stepper_base_type; - - typedef typename stepper_base_type::state_type state_type; - typedef typename stepper_base_type::wrapped_state_type wrapped_state_type; - typedef typename stepper_base_type::value_type value_type; - typedef typename stepper_base_type::deriv_type deriv_type; - typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type; - typedef typename stepper_base_type::time_type time_type; - typedef typename stepper_base_type::algebra_type algebra_type; - typedef typename stepper_base_type::operations_type operations_type; - typedef typename stepper_base_type::resizer_type resizer_type; - typedef typename stepper_base_type::stepper_type stepper_type; - - heun( const algebra_type &algebra = algebra_type() ) - : stepper_base_type( - fusion::make_vector( - heun_a1() , - heun_a2() ) , - heun_b() , heun_c() , algebra ) - { } -}; -//] - - -const double sigma = 10.0; -const double R = 28.0; -const double b = 8.0 / 3.0; - -struct lorenz -{ - template< class State , class Deriv > - void operator()( const State &x_ , Deriv &dxdt_ , double t ) const - { - typename boost::range_iterator< const State >::type x = boost::begin( x_ ); - typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ ); - - dxdt[0] = sigma * ( x[1] - x[0] ); - dxdt[1] = R * x[0] - x[1] - x[0] * x[2]; - dxdt[2] = -b * x[2] + x[0] * x[1]; - } -}; - -struct streaming_observer -{ - std::ostream &m_out; - streaming_observer( std::ostream &out ) : m_out( out ) { } - template< typename State , typename Value > - void operator()( const State &x , Value t ) const - { - m_out << t; - for( size_t i=0 ; i state_type; - heun< state_type > h; - state_type x = {{ 10.0 , 10.0 , 10.0 }}; - - integrate_const( h , lorenz() , x , 0.0 , 100.0 , 0.01 , - streaming_observer( std::cout ) ); - - //] - - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/list_lattice.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/list_lattice.cpp deleted file mode 100644 index d5af8e5..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/list_lattice.cpp +++ /dev/null @@ -1,78 +0,0 @@ -/* - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -/* example showing how odeint can be used with std::list */ - -#include -#include -#include - -#include - -//[ list_bindings -typedef std::list< double > state_type; - -namespace boost { namespace numeric { namespace odeint { - -template< > -struct is_resizeable< state_type > -{ // declare resizeability - typedef boost::true_type type; - const static bool value = type::value; -}; - -template< > -struct same_size_impl< state_type , state_type > -{ // define how to check size - static bool same_size( const state_type &v1 , - const state_type &v2 ) - { - return v1.size() == v2.size(); - } -}; - -template< > -struct resize_impl< state_type , state_type > -{ // define how to resize - static void resize( state_type &v1 , - const state_type &v2 ) - { - v1.resize( v2.size() ); - } -}; - -} } } -//] - -void lattice( const state_type &x , state_type &dxdt , const double /* t */ ) -{ - state_type::const_iterator x_begin = x.begin(); - state_type::const_iterator x_end = x.end(); - state_type::iterator dxdt_begin = dxdt.begin(); - - x_end--; // stop one before last - while( x_begin != x_end ) - { - *(dxdt_begin++) = std::sin( *(x_begin) - *(x_begin++) ); - } - *dxdt_begin = sin( *x_begin - *(x.begin()) ); // periodic boundary -} - -using namespace boost::numeric::odeint; - -int main() -{ - const int N = 32; - state_type x; - for( int i=0 ; i() , lattice , x , 0.0 , 10.0 , 0.1 ); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/lorenz_point.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/lorenz_point.cpp deleted file mode 100644 index 8edf41b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/lorenz_point.cpp +++ /dev/null @@ -1,124 +0,0 @@ -/* - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - * - * Example for the lorenz system with a 3D point type -*/ - -#include -#include - -#include - -#include - - -//[point3D -class point3D : - boost::additive1< point3D , - boost::additive2< point3D , double , - boost::multiplicative2< point3D , double > > > -{ -public: - - double x , y , z; - - point3D() - : x( 0.0 ) , y( 0.0 ) , z( 0.0 ) - { } - - point3D( const double val ) - : x( val ) , y( val ) , z( val ) - { } - - point3D( const double _x , const double _y , const double _z ) - : x( _x ) , y( _y ) , z( _z ) - { } - - point3D& operator+=( const point3D &p ) - { - x += p.x; y += p.y; z += p.z; - return *this; - } - - point3D& operator*=( const double a ) - { - x *= a; y *= a; z *= a; - return *this; - } - -}; -//] - -//[point3D_abs_div -// only required for steppers with error control -point3D operator/( const point3D &p1 , const point3D &p2 ) -{ - return point3D( p1.x/p2.x , p1.y/p2.y , p1.z/p1.z ); -} - -point3D abs( const point3D &p ) -{ - return point3D( std::abs(p.x) , std::abs(p.y) , std::abs(p.z) ); -} -//] - - -//[point3D_reduce -namespace boost { namespace numeric { namespace odeint { -// specialization of vector_space_reduce, only required for steppers with error control -template<> -struct vector_space_reduce< point3D > -{ - template< class Value , class Op > - Value operator() ( const point3D &p , Op op , Value init ) - { - init = op( init , p.x ); - //std::cout << init << " "; - init = op( init , p.y ); - //std::cout << init << " "; - init = op( init , p.z ); - //std::cout << init << std::endl; - return init; - } -}; -} } } -//] - -std::ostream& operator<<( std::ostream &out , const point3D &p ) -{ - out << p.x << " " << p.y << " " << p.z; - return out; -} - -//[point3D_main -const double sigma = 10.0; -const double R = 28.0; -const double b = 8.0 / 3.0; - -void lorenz( const point3D &x , point3D &dxdt , const double t ) -{ - dxdt.x = sigma * ( x.y - x.x ); - dxdt.y = R * x.x - x.y - x.x * x.z; - dxdt.z = -b * x.z + x.x * x.y; -} - -using namespace boost::numeric::odeint; - -int main() -{ - - point3D x( 10.0 , 5.0 , 5.0 ); - // point type defines it's own operators -> use vector_space_algebra ! - typedef runge_kutta_dopri5< point3D , double , point3D , - double , vector_space_algebra > stepper; - int steps = integrate_adaptive( make_controlled( 1E-10 , 1E-10 ) , lorenz , x , - 0.0 , 10.0 , 0.1 ); - std::cout << x << std::endl; - std::cout << "steps: " << steps << std::endl; -} -//] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/Jamfile.v2 b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/Jamfile.v2 deleted file mode 100644 index 3b5ce8e..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/Jamfile.v2 +++ /dev/null @@ -1,16 +0,0 @@ -# Copyright 2009 Karsten Ahnert and Mario Mulansky. -# Distributed under the Boost Software License, Version 1.0. (See -# accompanying file LICENSE_1_0.txt or copy at -# http://www.boost.org/LICENSE_1_0.txt) - -MTL4_INCLUDE = /home/karsten/boost/MTL-4.0.8862-Linux/usr/include ; - -project - : requirements - ../../../../.. - $(MTL4_INCLUDE) - BOOST_ALL_NO_LIB=1 - ; - -exe gauss_packet : gauss_packet.cpp ; -exe implicit_euler_mtl : implicit_euler_mtl.cpp ; \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/gauss_packet.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/gauss_packet.cpp deleted file mode 100644 index 59e38ea..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/gauss_packet.cpp +++ /dev/null @@ -1,141 +0,0 @@ -/* - * gauss_packet.cpp - * - * Schroedinger equation with potential barrier and periodic boundary conditions - * Initial Gauss packet moving to the right - * - * pipe output into gnuplot to see animation - * - * Implementation of Hamilton operator via MTL library - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#include -#include - -#include -#include - -#include - - -using namespace std; -using namespace boost::numeric::odeint; - -typedef mtl::dense_vector< complex< double > > state_type; - -struct hamiltonian { - - typedef mtl::compressed2D< complex< double > > matrix_type; - matrix_type m_H; - - hamiltonian( const int N ) : m_H( N , N ) - { - // constructor with zero potential - m_H = 0.0; - initialize_kinetic_term(); - } - - //template< mtl::compressed2D< double > > - hamiltonian( mtl::compressed2D< double > &V ) : m_H( num_rows( V ) , num_cols( V ) ) - { - // use potential V in hamiltonian - m_H = complex( 0.0 , -1.0 ) * V; - initialize_kinetic_term(); - } - - void initialize_kinetic_term( ) - { - const int N = num_rows( m_H ); - mtl::matrix::inserter< matrix_type , mtl::update_plus< complex > > ins( m_H ); - const double z = 1.0; - // fill diagonal and upper and lower diagonal - for( int i = 0 ; i( 0.0 , -z ); - ins[ i ][ i ] << complex< double >( 0.0 , z ); - ins[ (i+1) % N ][ i ] << complex< double >( 0.0 , -z ); - } - } - - void operator()( const state_type &psi , state_type &dpsidt , const double t ) - { - dpsidt = m_H * psi; - } - -}; - -struct write_for_gnuplot -{ - size_t m_every , m_count; - - write_for_gnuplot( size_t every = 10 ) - : m_every( every ) , m_count( 0 ) { } - - void operator()( const state_type &x , double t ) - { - if( ( m_count % m_every ) == 0 ) - { - //clog << t << endl; - cout << "p [0:" << mtl::size(x) << "][0:0.02] '-'" << endl; - for( size_t i=0 ; i( 0.0 , k0*i ) ); - //x[i] += 2.0*exp( -(i+N0-N)*(i+N0-N) / ( 4.0*sigma0*sigma0 ) ) * exp( complex< double >( 0.0 , -k0*i ) ); - } - x /= mtl::two_norm( x ); - - typedef runge_kutta4< state_type , double , state_type , double , vector_space_algebra > stepper; - - // create potential barrier - mtl::compressed2D< double > V( N , N ); - V = 0.0; - { - mtl::matrix::inserter< mtl::compressed2D< double > > ins( V ); - for( int i=0 ; i -#include -#include -#include "time.h" - -#include -#include -#include - -#include - -using namespace std; -using namespace boost::numeric::odeint; - -namespace phoenix = boost::phoenix; - - - -typedef mtl::dense_vector< double > vec_mtl4; -typedef mtl::compressed2D< double > mat_mtl4; - -typedef boost::numeric::ublas::vector< double > vec_ublas; -typedef boost::numeric::ublas::matrix< double > mat_ublas; - - -// two systems defined 1 & 2 both are mostly sparse with the number of element variable -struct system1_mtl4 -{ - - void operator()( const vec_mtl4 &x , vec_mtl4 &dxdt , double t ) - { - int size = mtl::size(x); - - dxdt[ 0 ] = -0.06*x[0]; - - for (int i =1; i< size ; ++i){ - - dxdt[ i ] = 4.2*x[i-1]-2.2*x[i]*x[i]; - } - - } -}; - -struct jacobi1_mtl4 -{ - void operator()( const vec_mtl4 &x , mat_mtl4 &J , const double &t ) - { - int size = mtl::size(x); - mtl::matrix::inserter ins(J); - - ins[0][0]=-0.06; - - for (int i =1; i< size ; ++i) - { - ins[i][i-1] = + 4.2; - ins[i][i] = -4.2*x[i]; - } - } -}; - - - -struct system1_ublas -{ - - void operator()( const vec_ublas &x , vec_ublas &dxdt , double t ) - { - int size = x.size(); - - dxdt[ 0 ] = -0.06*x[0]; - - for (int i =1; i< size ; ++i){ - - dxdt[ i ] = 4.2*x[i-1]-2.2*x[i]*x[i]; - } - - } -}; - -struct jacobi1_ublas -{ - void operator()( const vec_ublas &x , mat_ublas &J , const double &t ) - { - int size = x.size(); -// mtl::matrix::inserter ins(J); - - J(0,0)=-0.06; - - for (int i =1; i< size ; ++i){ -//ins[i][0]=120.0*x[i]; - J(i,i-1) = + 4.2; - J(i,i) = -4.2*x[i]; - - } - } -}; - -struct system2_mtl4 -{ - - void operator()( const vec_mtl4 &x , vec_mtl4 &dxdt , double t ) - { - int size = mtl::size(x); - - - for (int i =0; i< size/5 ; i+=5){ - - dxdt[ i ] = -0.5*x[i]; - dxdt[i+1]= +25*x[i+1]*x[i+2]-740*x[i+3]*x[i+3]+4.2e-2*x[i]; - dxdt[i+2]= +25*x[i]*x[i]-740*x[i+3]*x[i+3]; - dxdt[i+3]= -25*x[i+1]*x[i+2]+740*x[i+3]*x[i+3]; - dxdt[i+4] = 0.250*x[i]*x[i+1]-44.5*x[i+3]; - - } - - } -}; - -struct jacobi2_mtl4 -{ - void operator()( const vec_mtl4 &x , mat_mtl4 &J , const double &t ) - { - int size = mtl::size(x); - mtl::matrix::inserter ins(J); - - for (int i =0; i< size/5 ; i+=5){ - - ins[ i ][i] = -0.5; - ins[i+1][i+1]=25*x[i+2]; - ins[i+1][i+2] = 25*x[i+1]; - ins[i+1][i+3] = -740*2*x[i+3]; - ins[i+1][i] =+4.2e-2; - - ins[i+2][i]= 50*x[i]; - ins[i+2][i+3]= -740*2*x[i+3]; - ins[i+3][i+1] = -25*x[i+2]; - ins[i+3][i+2] = -25*x[i+1]; - ins[i+3][i+3] = +740*2*x[i+3]; - ins[i+4][i] = 0.25*x[i+1]; - ins[i+4][i+1] =0.25*x[i]; - ins[i+4][i+3]=-44.5; - - - - } - } -}; - - - -struct system2_ublas -{ - - void operator()( const vec_ublas &x , vec_ublas &dxdt , double t ) - { - int size = x.size(); - for (int i =0; i< size/5 ; i+=5){ - - dxdt[ i ] = -4.2e-2*x[i]; - dxdt[i+1]= +25*x[i+1]*x[i+2]-740*x[i+3]*x[i+3]+4.2e-2*x[i]; - dxdt[i+2]= +25*x[i]*x[i]-740*x[i+3]*x[i+3]; - dxdt[i+3]= -25*x[i+1]*x[i+2]+740*x[i+3]*x[i+3]; - dxdt[i+4] = 0.250*x[i]*x[i+1]-44.5*x[i+3]; - - } - - } -}; - -struct jacobi2_ublas -{ - void operator()( const vec_ublas &x , mat_ublas &J , const double &t ) - { - int size = x.size(); - - for (int i =0; i< size/5 ; i+=5){ - - J(i ,i) = -4.2e-2; - J(i+1,i+1)=25*x[i+2]; - J(i+1,i+2) = 25*x[i+1]; - J(i+1,i+3) = -740*2*x[i+3]; - J(i+1,i) =+4.2e-2; - - J(i+2,i)= 50*x[i]; - J(i+2,i+3)= -740*2*x[i+3]; - J(i+3,i+1) = -25*x[i+2]; - J(i+3,i+2) = -25*x[i+1]; - J(i+3,i+3) = +740*2*x[i+3]; - J(i+4,i) = 0.25*x[i+1]; - J(i+4,i+1) =0.25*x[i]; - J(i+4,i+3)=-44.5; - - - - } - - - } -}; - - - - -void testRidiculouslyMassiveArray( int size ) -{ - typedef boost::numeric::odeint::implicit_euler_mtl4 < double > mtl4stepper; - typedef boost::numeric::odeint::implicit_euler< double > booststepper; - - vec_mtl4 x(size , 0.0); - x[0]=1; - - - double dt = 0.02; - double endtime = 10.0; - - clock_t tstart_mtl4 = clock(); - size_t num_of_steps_mtl4 = integrate_const( - mtl4stepper() , - make_pair( system1_mtl4() , jacobi1_mtl4() ) , - x , 0.0 , endtime , dt ); - clock_t tend_mtl4 = clock() ; - - clog << x[0] << endl; - clog << num_of_steps_mtl4 << " time elapsed: " << (double)(tend_mtl4-tstart_mtl4 )/CLOCKS_PER_SEC << endl; - - vec_ublas x_ublas(size , 0.0); - x_ublas[0]=1; - - clock_t tstart_boost = clock(); - size_t num_of_steps_ublas = integrate_const( - booststepper() , - make_pair( system1_ublas() , jacobi1_ublas() ) , - x_ublas , 0.0 , endtime , dt ); - clock_t tend_boost = clock() ; - - clog << x_ublas[0] << endl; - clog << num_of_steps_ublas << " time elapsed: " << (double)(tend_boost-tstart_boost)/CLOCKS_PER_SEC<< endl; - - clog << "dt_ublas/dt_mtl4 = " << (double)( tend_boost-tstart_boost )/( tend_mtl4-tstart_mtl4 ) << endl << endl; - return ; -} - - - -void testRidiculouslyMassiveArray2( int size ) -{ - typedef boost::numeric::odeint::implicit_euler_mtl4 < double > mtl4stepper; - typedef boost::numeric::odeint::implicit_euler< double > booststepper; - - - vec_mtl4 x(size , 0.0); - x[0]=100; - - - double dt = 0.01; - double endtime = 10.0; - - clock_t tstart_mtl4 = clock(); - size_t num_of_steps_mtl4 = integrate_const( - mtl4stepper() , - make_pair( system1_mtl4() , jacobi1_mtl4() ) , - x , 0.0 , endtime , dt ); - - - clock_t tend_mtl4 = clock() ; - - clog << x[0] << endl; - clog << num_of_steps_mtl4 << " time elapsed: " << (double)(tend_mtl4-tstart_mtl4 )/CLOCKS_PER_SEC << endl; - - vec_ublas x_ublas(size , 0.0); - x_ublas[0]=100; - - clock_t tstart_boost = clock(); - size_t num_of_steps_ublas = integrate_const( - booststepper() , - make_pair( system1_ublas() , jacobi1_ublas() ) , - x_ublas , 0.0 , endtime , dt ); - - - clock_t tend_boost = clock() ; - - clog << x_ublas[0] << endl; - clog << num_of_steps_ublas << " time elapsed: " << (double)(tend_boost-tstart_boost)/CLOCKS_PER_SEC<< endl; - - clog << "dt_ublas/dt_mtl4 = " << (double)( tend_boost-tstart_boost )/( tend_mtl4-tstart_mtl4 ) << endl << endl; - return ; -} - - - - -int main( int argc , char **argv ) -{ - std::vector< size_t > length; - length.push_back( 8 ); - length.push_back( 16 ); - length.push_back( 32 ); - length.push_back( 64 ); - length.push_back( 128 ); - length.push_back( 256 ); - - for( size_t i=0 ; i - -#include - -//[my_vector -template< int MAX_N > -class my_vector -{ - typedef std::vector< double > vector; - -public: - typedef vector::iterator iterator; - typedef vector::const_iterator const_iterator; - -public: - my_vector( const size_t N ) - : m_v( N ) - { - m_v.reserve( MAX_N ); - } - - my_vector() - : m_v() - { - m_v.reserve( MAX_N ); - } - -// ... [ implement container interface ] -//] - const double & operator[]( const size_t n ) const - { return m_v[n]; } - - double & operator[]( const size_t n ) - { return m_v[n]; } - - iterator begin() - { return m_v.begin(); } - - const_iterator begin() const - { return m_v.begin(); } - - iterator end() - { return m_v.end(); } - - const_iterator end() const - { return m_v.end(); } - - size_t size() const - { return m_v.size(); } - - void resize( const size_t n ) - { m_v.resize( n ); } - -private: - std::vector< double > m_v; - -}; - -//[my_vector_resizeable -// define my_vector as resizeable - -namespace boost { namespace numeric { namespace odeint { - -template -struct is_resizeable< my_vector > -{ - typedef boost::true_type type; - static const bool value = type::value; -}; - -} } } -//] - - -typedef my_vector<3> state_type; - -void lorenz( const state_type &x , state_type &dxdt , const double t ) -{ - const double sigma( 10.0 ); - const double R( 28.0 ); - const double b( 8.0 / 3.0 ); - - dxdt[0] = sigma * ( x[1] - x[0] ); - dxdt[1] = R * x[0] - x[1] - x[0] * x[2]; - dxdt[2] = -b * x[2] + x[0] * x[1]; -} - -using namespace boost::numeric::odeint; - -int main() -{ - state_type x(3); - x[0] = 5.0 ; x[1] = 10.0 ; x[2] = 10.0; - - // my_vector works with range_algebra as it implements - // the required parts of a container interface - // no further work is required - - integrate_const( runge_kutta4< state_type >() , lorenz , x , 0.0 , 10.0 , 0.1 ); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/phase_oscillator_ensemble.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/phase_oscillator_ensemble.cpp deleted file mode 100644 index e507363..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/phase_oscillator_ensemble.cpp +++ /dev/null @@ -1,150 +0,0 @@ -/* - * phase_oscillator_ensemble.cpp - * - * Demonstrates the phase transition from an unsynchronized to an synchronized state. - * - * Copyright 2009-2012 Karsten Ahnert and Mario Mulansky. - * Distributed under the Boost Software License, Version 1.0. (See - * accompanying file LICENSE_1_0.txt or copy at - * http://www.boost.org/LICENSE_1_0.txt) - * - */ - -#include -#include - -#include - -#ifndef M_PI //not there on windows -#define M_PI 3.141592653589793 //... -#endif - -#include - -using namespace std; -using namespace boost::numeric::odeint; - -//[ phase_oscillator_ensemble_system_function -typedef vector< double > container_type; - - -pair< double , double > calc_mean_field( const container_type &x ) -{ - size_t n = x.size(); - double cos_sum = 0.0 , sin_sum = 0.0; - for( size_t i=0 ; i cauchy( 0.0 , g ); - boost::variate_generator< boost::mt19937&, boost::cauchy_distribution<> > gen( rng , cauchy ); - generate( m_omega.begin() , m_omega.end() , gen ); - } - - void set_epsilon( double epsilon ) { m_epsilon = epsilon; } - - double get_epsilon( void ) const { return m_epsilon; } - - void operator()( const container_type &x , container_type &dxdt , double /* t */ ) const - { - pair< double , double > mean = calc_mean_field( x ); - for( size_t i=0 ; i - void operator()( const State &x , double t ) - { - pair< double , double > mean = calc_mean_field( x ); - m_K_mean += mean.first; - ++m_count; - } - - double get_K_mean( void ) const { return ( m_count != 0 ) ? m_K_mean / double( m_count ) : 0.0 ; } - - void reset( void ) { m_K_mean = 0.0; m_count = 0; } -}; -//] - - - - - - - - -int main( int argc , char **argv ) -{ - //[ phase_oscillator_ensemble_integration - const size_t n = 16384; - const double dt = 0.1; - - container_type x( n ); - - boost::mt19937 rng; - boost::uniform_real<> unif( 0.0 , 2.0 * M_PI ); - boost::variate_generator< boost::mt19937&, boost::uniform_real<> > gen( rng , unif ); - - // gamma = 1, the phase transition occurs at epsilon = 2 - phase_ensemble ensemble( n , 1.0 ); - statistics_observer obs; - - for( double epsilon = 0.0 ; epsilon < 5.0 ; epsilon += 0.1 ) - { - ensemble.set_epsilon( epsilon ); - obs.reset(); - - // start with random initial conditions - generate( x.begin() , x.end() , gen ); - - // calculate some transients steps - integrate_const( runge_kutta4< container_type >() , boost::ref( ensemble ) , x , 0.0 , 10.0 , dt ); - - // integrate and compute the statistics - integrate_const( runge_kutta4< container_type >() , boost::ref( ensemble ) , x , 0.0 , 100.0 , dt , boost::ref( obs ) ); - cout << epsilon << "\t" << obs.get_K_mean() << endl; - } - - - //] - - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/point_type.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/point_type.hpp deleted file mode 100644 index f397dee..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/point_type.hpp +++ /dev/null @@ -1,177 +0,0 @@ -/* Boost libs/numeric/odeint/examples/point_type.hpp - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - solar system example for Hamiltonian stepper - - Distributed under the Boost Software License, Version 1.0. -(See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#ifndef POINT_TYPE_HPP_INCLUDED -#define POINT_TYPE_HPP_INCLUDED - - -#include -#include - - -//[ point_type -/*the point type */ -template< class T , size_t Dim > -class point : - boost::additive1< point< T , Dim > , - boost::additive2< point< T , Dim > , T , - boost::multiplicative2< point< T , Dim > , T - > > > - { - public: - - const static size_t dim = Dim; - typedef T value_type; - typedef point< value_type , dim > point_type; - - // ... - // constructors - //<- - point( void ) - { - for( size_t i=0 ; i 0 ) m_val[0] = x; - if( dim > 1 ) m_val[1] = y; - if( dim > 2 ) m_val[2] = z; - } - //-> - - // ... - // operators - //<- - T operator[]( size_t i ) const { return m_val[i]; } - T& operator[]( size_t i ) { return m_val[i]; } - - point_type& operator+=( const point_type& p ) - { - for( size_t i=0 ; i - - private: - - T m_val[dim]; - }; - - //... - // more operators - //] - - // - // the - operator - // - template< class T , size_t Dim > - point< T , Dim > operator-( const point< T , Dim > &p ) - { - point< T , Dim > tmp; - for( size_t i=0 ; i - T scalar_prod( const point< T , Dim > &p1 , const point< T , Dim > &p2 ) - { - T tmp = 0.0; - for( size_t i=0 ; i - T norm( const point< T , Dim > &p1 ) - { - return scalar_prod( p1 , p1 ); - } - - - - - // - // absolute value - // - template< class T , size_t Dim > - T abs( const point< T , Dim > &p1 ) - { - return sqrt( norm( p1 ) ); - } - - - - - // - // output operator - // - template< class T , size_t Dim > - std::ostream& operator<<( std::ostream &out , const point< T , Dim > &p ) - { - if( Dim > 0 ) out << p[0]; - for( size_t i=1 ; i../../../.. - BOOST_ALL_NO_LIB=1 - : - ; - -lib quadmath : : quadmath shared ; - -exe black_hole : black_hole.cpp quadmath : -std=c++0x ; \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/quadmath/black_hole.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/quadmath/black_hole.cpp deleted file mode 100644 index f8c5482..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/quadmath/black_hole.cpp +++ /dev/null @@ -1,151 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/examples/black_hole.cpp - - [begin_description] - This example shows how the __float128 from gcc libquadmath can be used with odeint. - [end_description] - - Copyright 2012 Lee Hodgkinson - Copyright 2012 Karsten Ahnert - Copyright 2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -extern "C" { -#include -} - -const __float128 zero =strtoflt128 ("0.0", NULL); - -namespace std { - - inline __float128 abs( __float128 x ) - { - return fabsq( x ); - } - - inline __float128 sqrt( __float128 x ) - { - return sqrtq( x ); - } - - inline __float128 pow( __float128 x , __float128 y ) - { - return powq( x , y ); - } - - inline __float128 abs( std::complex< __float128 > x ) - { - return sqrtq( x.real() * x.real() + x.imag() * x.imag() ); - } - - inline std::complex< __float128 > pow( std::complex< __float128> x , __float128 y ) - { - __float128 r = pow( abs(x) , y ); - __float128 phi = atanq( x.imag() / x.real() ); - return std::complex< __float128 >( r * cosq( y * phi ) , r * sinq( y * phi ) ); - } -} - -inline std::ostream& operator<< (std::ostream& os, const __float128& f) { - - char* y = new char[1000]; - quadmath_snprintf(y, 1000, "%.30Qg", f) ; - os.precision(30); - os< -#include -#include -#include -#include - - - -using namespace boost::numeric::odeint; -using namespace std; - -typedef __float128 my_float; -typedef std::vector< std::complex < my_float > > state_type; - -struct radMod -{ - my_float m_om; - my_float m_l; - - radMod( my_float om , my_float l ) - : m_om( om ) , m_l( l ) { } - - void operator()( const state_type &x , state_type &dxdt , my_float r ) const - { - - dxdt[0] = x[1]; - dxdt[1] = -(2*(r-1)/(r*(r-2)))*x[1]-((m_om*m_om*r*r/((r-2)*(r-2)))-(m_l*(m_l+1)/(r*(r-2))))*x[0]; - } -}; - - - - - - - -int main( int argc , char **argv ) -{ - - - state_type x(2); - - my_float re0 = strtoflt128( "-0.00008944230755601224204687038354994353820468" , NULL ); - my_float im0 = strtoflt128( "0.00004472229441850588228136889483397204368247" , NULL ); - my_float re1 = strtoflt128( "-4.464175354293244250869336196695966076150E-6 " , NULL ); - my_float im1 = strtoflt128( "-8.950483248390306670770345406051469584488E-6" , NULL ); - - x[0] = complex< my_float >( re0 ,im0 ); - x[1] = complex< my_float >( re1 ,im1 ); - - const my_float dt =strtoflt128 ("-0.001", NULL); - const my_float start =strtoflt128 ("10000.0", NULL); - const my_float end =strtoflt128 ("9990.0", NULL); - const my_float omega =strtoflt128 ("2.0", NULL); - const my_float ell =strtoflt128 ("1.0", NULL); - - - - my_float abs_err = strtoflt128( "1.0E-15" , NULL ) , rel_err = strtoflt128( "1.0E-10" , NULL ); - my_float a_x = strtoflt128( "1.0" , NULL ) , a_dxdt = strtoflt128( "1.0" , NULL ); - - typedef runge_kutta_dopri5< state_type, my_float > dopri5_type; - typedef controlled_runge_kutta< dopri5_type > controlled_dopri5_type; - typedef dense_output_runge_kutta< controlled_dopri5_type > dense_output_dopri5_type; - - dense_output_dopri5_type dopri5( controlled_dopri5_type( default_error_checker< my_float >( abs_err , rel_err , a_x , a_dxdt ) ) ); - - std::for_each( make_adaptive_time_iterator_begin(dopri5 , radMod(omega , ell) , x , start , end , dt) , - make_adaptive_time_iterator_end(dopri5 , radMod(omega , ell) , x ) , - []( const std::pair< state_type&, my_float > &x ) { - std::cout << x.second << ", " << x.first[0].real() << "\n"; } - ); - - - - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/resizing_lattice.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/resizing_lattice.cpp deleted file mode 100644 index ee0c061..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/resizing_lattice.cpp +++ /dev/null @@ -1,168 +0,0 @@ -/* - * resizing_lattice.cpp - * - * Demonstrates the usage of resizing of the state type during integration. - * Examplary system is a strongly nonlinear, disordered Hamiltonian lattice - * where the spreading of energy is investigated - * - * Copyright 2009-2012 Karsten Ahnert and Mario Mulansky. - * Distributed under the Boost Software License, Version 1.0. (See - * accompanying file LICENSE_1_0.txt or copy at - * http://www.boost.org/LICENSE_1_0.txt) - * - */ - -#include -#include - -#include - -#include -#include - -using namespace std; -using namespace boost::numeric::odeint; - -//[ resizing_lattice_system_class -typedef vector< double > coord_type; -typedef pair< coord_type , coord_type > state_type; - -struct compacton_lattice -{ - const int m_max_N; - const double m_beta; - int m_pot_start_index; - vector< double > m_pot; - - compacton_lattice( int max_N , double beta , int pot_start_index ) - : m_max_N( max_N ) , m_beta( beta ) , m_pot_start_index( pot_start_index ) , m_pot( max_N ) - { - srand( time( NULL ) ); - // fill random potential with iid values from [0,1] - boost::mt19937 rng; - boost::uniform_real<> unif( 0.0 , 1.0 ); - boost::variate_generator< boost::mt19937&, boost::uniform_real<> > gen( rng , unif ); - generate( m_pot.begin() , m_pot.end() , gen ); - } - - void operator()( const coord_type &q , coord_type &dpdt ) - { - // calculate dpdt = -dH/dq of this hamiltonian system - // dp_i/dt = - V_i * q_i^3 - beta*(q_i - q_{i-1})^3 + beta*(q_{i+1} - q_i)^3 - const int N = q.size(); - double diff = q[0] - q[N-1]; - for( int i=0 ; i hamiltonian_stepper; - hamiltonian_stepper stepper; - hamiltonian_stepper::state_type state = make_pair( q , p ); - //] - - //[ resizing_lattice_steps_loop - double t = 0.0; - const double dt = 0.1; - const int steps = 10000; - for( int step = 0 ; step < steps ; ++step ) - { - stepper.do_step( boost::ref(lattice) , state , t , dt ); - lattice.energy_distribution( state.first , state.second , distr ); - if( distr[10] > 1E-150 ) - { - do_resize( state.first , state.second , distr , state.first.size()+20 ); - rotate( state.first.begin() , state.first.end()-20 , state.first.end() ); - rotate( state.second.begin() , state.second.end()-20 , state.second.end() ); - lattice.change_pot_start( -20 ); - cout << t << ": resized left to " << distr.size() << ", energy = " << lattice.energy( state.first , state.second ) << endl; - } - if( distr[distr.size()-10] > 1E-150 ) - { - do_resize( state.first , state.second , distr , state.first.size()+20 ); - cout << t << ": resized right to " << distr.size() << ", energy = " << lattice.energy( state.first , state.second ) << endl; - } - t += dt; - } - //] - - cout << "final lattice size: " << distr.size() << ", final energy: " << lattice.energy( state.first , state.second ) << endl; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/simple1d.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/simple1d.cpp deleted file mode 100644 index de1591f..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/simple1d.cpp +++ /dev/null @@ -1,44 +0,0 @@ -/* Boost libs/numeric/odeint/examples/simple1d.cpp - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - example for a simple one-dimensional 1st order ODE - - Distributed under the Boost Software License, Version 1.0. -(See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#include -#include - -using namespace std; -using namespace boost::numeric::odeint; - - -/* we solve the simple ODE x' = 3/(2t^2) + x/(2t) - * with initial condition x(1) = 0. - * Analytic solution is x(t) = sqrt(t) - 1/t - */ - -void rhs( const double x , double &dxdt , const double t ) -{ - dxdt = 3.0/(2.0*t*t) + x/(2.0*t); -} - -void write_cout( const double &x , const double t ) -{ - cout << t << '\t' << x << endl; -} - -// state_type = value_type = deriv_type = time_type = double -typedef runge_kutta_dopri5< double , double , double , double , vector_space_algebra , default_operations , never_resizer > stepper_type; - -int main() -{ - double x = 0.0; //initial value x(1) = 0 - // use dopri5 with stepsize control and allowed errors 10^-12, integrate t=1...10 - integrate_adaptive( make_controlled( 1E-12 , 1E-12 , stepper_type() ) , rhs , x , 1.0 , 10.0 , 0.1 , write_cout ); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/solar_system.agr b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/solar_system.agr deleted file mode 100644 index 87f8c38..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/solar_system.agr +++ /dev/null @@ -1,12672 +0,0 @@ -# Grace project file -# -@version 50122 -@page size 792, 612 -@page scroll 5% -@page inout 5% -@link page off -@map font 0 to "Times-Roman", "Times-Roman" -@map font 1 to "Times-Italic", "Times-Italic" -@map font 2 to 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--3.82345 -3.54645 --3.26526 -3.96563 --2.64562 -4.31006 --1.97553 -4.57218 --1.26721 -4.74562 --0.533959 -4.82546 -0.209954 -4.80835 -0.94951 -4.69274 -1.66917 -4.47902 -2.35316 -4.16969 -2.98585 -3.76951 -3.55215 -3.28553 -4.03794 -2.72707 -4.4306 -2.10569 -4.71946 -1.43493 -4.89627 -0.730055 -4.95559 -0.00758691 -4.89509 0.71515 -4.71572 1.42062 -4.42173 2.09168 -4.02053 2.71216 -3.52242 3.26742 -2.94015 3.74481 -2.28845 4.134 -1.58347 4.42723 -0.842195 4.61939 -0.0819105 4.70801 --0.680296 4.69317 --1.42796 4.57727 --2.14562 4.36483 --2.81902 4.06221 --3.43542 3.67732 --3.98363 3.21936 --4.45413 2.69856 --4.83912 2.12593 --5.13253 1.51305 --5.32996 0.871892 --5.4287 0.214606 --5.42768 -0.446593 --5.32741 -1.09958 --5.12995 -1.73246 --4.83891 -2.33367 --4.45936 -2.8921 --3.9978 -3.39725 --3.46216 -3.83932 --2.86173 -4.20938 --2.20709 -4.4995 --1.51005 -4.70292 --0.783582 -4.81422 --0.0416246 -4.82953 -0.701039 -4.74667 -1.42902 -4.56536 -2.12659 -4.28739 -2.77805 -3.91674 -3.36805 -3.45968 -3.8821 -2.92477 -4.30702 -2.32285 -4.63142 -1.66682 -4.84618 -0.971408 -4.94486 -0.252786 -4.92408 0.47191 -4.78367 1.18513 -4.5268 1.86951 -4.15986 2.50848 -3.69227 3.0868 -3.13603 3.59113 -2.50532 4.01032 -1.81592 4.33576 -1.08463 4.56147 -0.328739 4.68417 --0.434542 4.70313 --1.18849 4.62006 --1.91729 4.43883 --2.60628 4.16526 --3.24225 3.8068 --3.81352 3.37227 --4.31007 2.87158 --4.72357 2.31549 --5.04742 1.71539 --5.27671 1.08311 --5.40819 0.430717 --5.44026 -0.229627 --5.37291 -0.885799 --5.20769 -1.52585 --4.94764 -2.13814 --4.59733 -2.71142 --4.16275 -3.23499 --3.65129 -3.69881 --3.07175 -4.09364 --2.43424 -4.41118 --1.75015 -4.64422 --1.03201 -4.78684 --0.293464 -4.83457 -0.450966 -4.7846 -1.18604 -4.63594 -1.89608 -4.38963 -2.56525 -4.04886 -3.178 -3.61911 -3.7194 -3.1082 -4.1757 -2.52624 -4.5348 -1.88552 -4.78671 -1.20026 -4.92405 -0.486297 -4.94237 0.23941 -4.84047 0.959295 -4.62047 1.65579 -4.28781 2.31193 -3.85101 2.91197 -3.32138 3.44188 -2.71254 3.88977 -2.03985 4.24622 -1.3199 4.50445 -0.569887 4.66034 --0.192892 4.71241 --0.95153 4.66164 --1.68991 4.51127 --2.393 4.26655 --3.04714 3.93444 --3.64017 3.52335 --4.16154 3.04286 --4.60242 2.50348 --4.95565 1.9164 --5.21578 1.29331 --5.37903 0.646189 --5.44327 -0.0128151 --5.40797 -0.671569 --5.27416 -1.31806 --5.0444 -1.94055 --4.72275 -2.52764 --4.31472 -3.06844 --3.82726 -3.55269 --3.2687 -3.97084 --2.64872 -4.31428 --1.9783 -4.5754 --1.26964 -4.74784 --0.536025 -4.82662 -0.208265 -4.80838 -0.948183 -4.6915 -1.66813 -4.47635 -2.35229 -4.16543 -2.98492 -3.76349 -3.55085 -3.27761 -4.0359 -2.71721 -4.42737 -2.09391 -4.71456 -1.42139 -4.88923 -0.715022 -4.94599 0.00853012 -4.88261 0.731835 -4.70017 1.43728 -4.40308 2.10766 -3.99894 2.72682 -3.49819 3.28017 -2.91374 3.75514 -2.26045 4.14152 -1.55452 4.43168 -0.812985 4.62067 -0.0531051 4.70617 --0.708075 4.68836 --1.45417 4.56977 --2.16981 4.355 --2.84086 4.05044 --3.45467 3.66403 --4.00016 3.20499 --4.4679 2.6835 --4.85018 2.11055 --5.14096 1.49769 --5.33589 0.856802 --5.4323 0.200014 --5.4291 -0.460513 --5.32681 -1.1127 --5.12749 -1.74467 --4.83469 -2.34488 --4.45348 -2.90224 --3.99034 -3.40625 --3.45318 -3.84708 --2.85128 -4.21579 --2.19524 -4.50441 --1.49689 -4.70617 --0.769215 -4.81563 --0.0262265 -4.82889 -0.717234 -4.74376 -1.44571 -4.56 -2.14339 -4.27941 -2.79451 -3.90605 -3.38366 -3.44625 -3.89632 -2.90869 -4.3193 -2.30433 -4.64123 -1.64617 -4.85307 -0.949083 -4.94849 -0.229332 -4.92422 0.495869 -4.78028 1.20893 -4.51999 1.89248 -4.14991 2.52999 -3.67959 3.10632 -3.12116 3.60821 -2.48885 4.02464 -1.79847 4.34713 -1.06682 4.56984 -0.31113 4.68956 --0.451446 4.70566 --1.20427 4.61991 --1.93159 4.43624 --2.61884 4.16045 --3.25285 3.80002 --3.82198 3.36376 --4.31626 2.86156 --4.72739 2.30418 --5.04875 1.703 --5.27546 1.06986 --5.40427 0.41682 --5.43359 -0.243932 --5.36342 -0.900254 --5.19533 -1.54018 --4.93243 -2.15202 --4.5793 -2.72452 --4.14201 -3.24696 --3.62802 -3.70929 --3.04622 -4.10227 --2.40679 -4.41762 --1.72119 -4.64818 --1.00205 -4.78809 --0.263061 -4.83295 -0.481216 -4.78006 -1.21553 -4.62853 -1.9242 -4.37951 -2.59145 -4.03632 -3.20179 -3.60454 -3.74041 -3.09207 -4.19369 -2.50907 -4.54964 -1.86787 -4.79843 -1.18268 -4.9328 -0.469289 -4.94843 0.255402 -4.84418 0.973922 -4.62223 1.66881 -4.28802 2.3232 -3.85006 2.92143 -3.31961 3.44955 -2.71022 3.89574 -2.0372 4.25058 -1.31707 4.50729 -0.566972 4.66175 --0.195823 4.71244 --0.954423 4.66031 --1.6927 4.50858 --2.39562 4.26245 --3.04947 3.92889 --3.64206 3.51631 --4.16282 3.0343 --4.60286 2.49339 --4.955 1.90482 --5.21378 1.28033 --5.37543 0.631953 --5.43782 -0.0281061 --5.40046 -0.687661 --5.26443 -1.33466 --5.03236 -1.9573 --4.70836 -2.54417 --4.29805 -3.08438 --3.80844 -3.56766 --3.24796 -3.98449 --2.62637 -4.32628 --1.95472 -4.58552 --1.24527 -4.75589 --0.51134 -4.83252 -0.232771 -4.81213 -0.972027 -4.6932 -1.69087 -4.47619 -2.37353 -4.16369 -3.00438 -3.7605 -3.56833 -3.27375 -4.0513 -2.71284 -4.4407 -2.0894 -4.72592 -1.41705 -4.89878 -0.711099 -4.95395 0.0118568 -4.88918 0.734459 -4.70556 1.43915 -4.40746 2.10879 -4.00241 2.72724 -3.50082 3.2799 -2.91558 3.7542 -2.2615 4.1399 -1.5548 4.42934 -0.812515 4.61756 -0.05196 4.70221 --0.709783 4.68348 --1.45628 4.5639 --2.17212 4.34811 --2.84315 4.04254 --3.4567 3.65517 --4.00168 3.19526 --4.46871 2.67306 --4.85008 2.09958 --5.13981 1.48639 --5.33362 0.845419 --5.42886 0.188791 --5.42453 -0.471337 --5.32118 -1.1229 --5.12092 -1.75404 --4.82735 -2.35326 --4.44556 -2.90951 --3.98205 -3.41231 --3.44474 -3.85191 --2.84289 -4.21938 --2.18709 -4.50681 --1.48914 -4.70744 --0.762014 -4.81586 --0.0196643 -4.82818 -0.723094 -4.74222 -1.45083 -4.55771 -2.14777 -4.27644 -2.79813 -3.90244 -3.38653 -3.44203 -3.89841 -2.90387 -4.32057 -2.29887 -4.64158 -1.64006 -4.85238 -0.942316 -4.94659 -0.221934 -4.92093 0.503825 -4.77539 1.21731 -4.51332 1.9011 -4.14132 2.5386 -3.669 3.1146 -3.10856 3.61583 -2.47433 4.03126 -1.78222 4.35242 -1.04911 4.5735 -0.2923 4.69137 --0.470991 4.70547 --1.2241 4.61766 --1.95126 4.43194 --2.63794 4.15423 --3.27099 3.79207 --3.83885 3.35433 --4.33161 2.85097 --4.74103 2.29277 --5.06061 1.69113 --5.28552 1.05787 --5.41259 0.405048 --5.44029 -0.255188 --5.36867 -0.910739 --5.19933 -1.54968 --4.93539 -2.16039 --4.58144 -2.73166 --4.14351 -3.25282 --3.62907 -3.71384 --3.04694 -4.10553 --2.40728 -4.41961 --1.7215 -4.64892 --1.00222 -4.78757 --0.263099 -4.83117 -0.48129 -4.77694 -1.21567 -4.62398 -1.92433 -4.3734 -2.59142 -4.02851 -3.20138 -3.59489 -3.73931 -3.08048 -4.19151 -2.4955 -4.54595 -1.85239 -4.79275 -1.16546 -4.92468 -0.450634 -4.93745 0.275062 -4.83003 0.994042 -4.60474 1.68876 -4.26719 2.34231 -3.82605 2.93903 -3.29277 3.46502 -2.68104 3.90854 -2.0063 4.2603 -1.28513 4.51367 -0.53473 4.66467 --0.227654 4.71194 --0.985172 4.65656 --1.72178 4.50186 --2.42252 4.25314 --3.07382 3.91741 --3.66358 3.50312 --4.18134 3.01986 --4.61832 2.47816 --4.96741 1.88921 --5.22324 1.26472 --5.38206 0.616681 --5.4418 -0.0427728 --5.40197 -0.701496 --5.26366 -1.34748 --5.02949 -1.96896 --4.70356 -2.55456 --4.29145 -3.09339 --3.80018 -3.57518 --3.23816 -3.99042 --2.61514 -4.33052 --1.94219 -4.58792 --1.23155 -4.7563 --0.496618 -4.83076 -0.248285 -4.80802 -0.988059 -4.68656 -1.70708 -4.46686 -2.38951 -4.15154 -3.01964 -3.74548 -3.58234 -3.25587 -4.0635 -2.69223 -4.45053 -2.06631 -4.73285 -1.39185 -4.90236 -0.684293 -4.95383 0.0396776 -4.88518 0.762621 -4.69764 1.46694 -4.39577 2.1355 -3.98727 2.7522 -3.4827 3.30254 -2.89506 3.77404 -2.23924 4.15661 -1.5315 4.44273 -0.78886 4.62755 -0.028592 4.70884 --0.732289 4.6869 --1.47744 4.56432 --2.19152 4.34578 --2.86046 4.03774 --3.47166 3.6482 --4.01411 3.18639 --4.47843 2.66257 --4.85698 2.08775 --5.14379 1.47347 --5.33457 0.831686 --5.42671 0.174506 --5.4192 -0.485892 --5.31263 -1.13742 --5.10913 -1.76822 --4.81235 -2.36674 --4.42741 -2.92192 --3.96089 -3.42327 --3.42078 -3.86102 --2.81644 -4.22626 --2.15854 -4.5111 --1.45897 -4.70882 --0.73077 -4.81408 -0.0120178 -4.82308 -0.75454 -4.73373 -1.48134 -4.5459 -2.17667 -4.2615 -2.82477 -3.88469 -3.41035 -3.4219 -3.91897 -2.88188 -4.33754 -2.27564 -4.65482 -1.61623 -4.86187 -0.918537 -4.95249 -0.198815 -4.92352 0.525743 -4.77505 1.23758 -4.51051 1.91939 -4.13652 2.55468 -3.66267 3.12838 -3.10115 3.62726 -2.46622 4.0404 -1.77372 4.35935 -1.04047 4.57833 -0.283719 4.69421 --0.479359 4.70641 --1.23212 4.61676 --1.95882 4.42925 --2.64491 4.14977 --3.27722 3.78586 --3.84417 3.34639 --4.3358 2.84133 --4.74388 2.28148 --5.06187 1.6783 --5.28494 1.04363 --5.40992 0.389586 --5.4353 -0.271625 --5.36117 -0.927855 --5.18918 -1.56713 --4.9225 -2.1778 --4.56582 -2.74862 --4.12524 -3.2689 --3.60831 -3.72864 --3.02396 -4.11865 --2.38243 -4.43071 --1.69522 -4.65771 --0.975007 -4.79385 --0.235493 -4.83482 -0.508723 -4.77796 -1.24237 -4.62247 -1.94976 -4.36957 -2.61512 -4.02265 -3.22296 -3.58738 -3.7585 -3.07174 -4.20815 -2.486 -4.55999 -1.84254 -4.80426 -1.15569 -4.93379 -0.441292 -4.94438 0.283701 -4.83502 1.00178 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4.02994 --3.49218 3.63842 --4.03305 3.17493 --4.49553 2.64979 --4.87204 2.07403 --5.15671 1.45923 --5.34534 0.817311 --5.4354 0.160386 --5.42595 -0.49941 --5.31763 -1.15004 --5.11262 -1.77967 --4.81458 -2.37685 --4.42865 -2.93055 --3.96139 -3.43034 --3.42078 -3.86649 --2.81612 -4.23013 --2.15805 -4.5134 --1.45844 -4.70958 --0.730277 -4.81332 -0.0124139 -4.82079 -0.754783 -4.7299 -1.48136 -4.54045 -2.17636 -4.25434 -2.82397 -3.87572 -3.40883 -3.41102 -3.91642 -2.86903 -4.33359 -2.26081 -4.64903 -1.59953 -4.85379 -0.900147 -4.94167 -0.179072 -4.90957 0.546384 -4.7577 1.25855 -4.4896 1.94004 -4.11206 2.57432 -3.63487 3.14631 -3.07037 3.64286 -2.433 4.0531 -1.73871 4.36875 -1.00439 4.58414 -0.247343 4.69632 --0.515277 4.70486 --1.26687 4.61172 --1.99176 4.42102 --2.6755 4.13875 --3.30504 3.7725 --3.86891 3.33117 --4.35728 2.82477 --4.762 2.26408 --5.07663 1.66051 --5.29642 1.02589 --5.41827 0.372277 --5.4407 -0.288178 --5.36383 -0.943378 --5.18931 -1.5814 --4.92034 -2.19063 --4.56157 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--24.4115 16.1113 --24.5959 15.8752 --24.7775 15.6374 --24.9565 15.3979 --25.1328 15.1567 --25.3064 14.9139 --25.4772 14.6695 --25.6453 14.4234 --25.8106 14.1759 --25.9731 13.9267 --26.1327 13.6761 --26.2896 13.424 --26.4436 13.1705 --26.5948 12.9155 --26.7431 12.6591 --26.8885 12.4014 --27.031 12.1423 --27.1706 11.8819 --27.3072 11.6203 --27.4409 11.3574 --27.5717 11.0932 --27.6995 10.8279 --27.8243 10.5614 --27.946 10.2937 --28.0648 10.0249 --28.1806 9.75511 --28.2933 9.48422 --28.403 9.21231 --28.5096 8.93941 --28.6131 8.66555 --28.7136 8.39075 --28.811 8.11506 --28.9053 7.83848 --28.9964 7.56107 --29.0845 7.28285 --29.1694 7.00384 --29.2512 6.72408 --29.3299 6.44359 --29.4054 6.16242 --29.4778 5.88058 --29.547 5.59811 --29.613 5.31504 --29.6758 5.0314 --29.7355 4.74722 --29.7919 4.46253 --29.8452 4.17736 --29.8953 3.89175 --29.9422 3.60572 --29.9858 3.3193 --30.0263 3.03252 --30.0635 2.74542 --30.0976 2.45803 --30.1284 2.17037 --30.1559 1.88249 --30.1803 1.5944 --30.2014 1.30614 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-37.0253 32.4636 -36.9034 32.6163 -36.7806 32.7682 -36.6569 32.9193 -36.5322 33.0696 -36.4067 33.2191 -36.2803 33.3677 -36.1529 33.5155 -36.0247 33.6625 -35.8956 33.8086 -35.7656 33.954 -35.6347 34.0984 -35.5029 34.2421 -35.3703 34.3849 -35.2367 34.5268 -35.1023 34.6679 -34.9671 34.8081 -34.831 34.9475 -34.694 35.086 -34.5562 35.2237 -34.4175 35.3605 -34.2779 35.4964 -34.1376 35.6314 -33.9963 35.7655 -33.8543 35.8988 -33.7114 36.0312 -33.5677 36.1627 -33.4231 36.2933 -33.2777 36.423 -33.1316 36.5518 -32.9845 36.6798 -32.8367 36.8068 -32.6881 36.9329 -32.5386 37.0581 -32.3884 37.1823 -32.2374 37.3057 -32.0855 37.4281 -31.9329 37.5497 -31.7795 37.6703 -31.6253 37.7899 -31.4703 37.9086 -31.3146 38.0264 -31.158 38.1433 -31.0007 38.2592 -30.8427 38.3742 -30.6838 38.4882 -30.5242 38.6012 -30.3639 38.7134 -30.2028 38.8245 -30.041 38.9347 -29.8784 39.0439 -29.7151 39.1522 -29.551 39.2595 -29.3862 39.3658 -29.2207 39.4711 -29.0544 39.5755 -28.8874 39.6788 -28.7198 39.7812 -28.5514 39.8826 -28.3822 39.983 -28.2124 40.0824 -28.0419 40.1808 -27.8707 40.2783 -27.6988 40.3747 -27.5261 40.4701 -27.3528 40.5644 -27.1789 40.6578 -27.0042 40.7502 -26.8289 40.8415 -26.6529 40.9318 -26.4762 41.0211 -26.2988 41.1094 -26.1208 41.1966 -25.9422 41.2828 -25.7629 41.3679 -25.5829 41.452 -25.4023 41.5351 -25.2211 41.6171 -25.0392 41.6981 -24.8567 41.778 -24.6735 41.8568 -24.4898 41.9346 -24.3054 42.0113 -24.1204 42.087 -23.9348 42.1616 -23.7485 42.2351 -23.5617 42.3076 -23.3743 42.3789 -23.1862 42.4492 -22.9976 42.5184 -22.8084 42.5865 -22.6186 42.6536 -22.4283 42.7195 -22.2373 42.7843 -22.0458 42.8481 -21.8537 42.9107 -21.6611 42.9722 -21.4679 43.0327 -21.2741 43.092 -21.0798 43.1502 -20.8849 43.2072 -20.6895 43.2632 -20.4936 43.318 -20.2971 43.3717 -20.1001 43.4243 -19.9026 43.4757 -19.7046 43.5261 -19.506 43.5752 -19.3069 43.6233 -19.1074 43.6701 -18.9073 43.7159 -18.7067 43.7605 -18.5057 43.8039 -18.3041 43.8462 -18.1021 43.8873 -17.8995 43.9272 -17.6965 43.966 -17.4931 44.0036 -17.2891 44.0401 -17.0848 44.0753 -16.8799 44.1094 -16.6746 44.1423 -16.4689 44.1741 -16.2627 44.2046 -16.056 44.234 -15.849 44.2621 -15.6415 44.2891 -15.4336 44.3149 -15.2253 44.3394 -15.0165 44.3628 -14.8074 44.3849 -14.5978 44.4059 -14.3879 44.4256 -14.1775 44.4441 -13.9668 44.4614 -13.7556 44.4775 -13.5441 44.4924 -13.3323 44.506 -13.12 44.5184 -12.9074 44.5295 -12.6945 44.5394 -12.4811 44.5481 -12.2675 44.5556 -12.0535 44.5618 -11.8391 44.5667 -11.6244 44.5704 -11.4094 44.5728 -11.1941 44.574 -10.9785 44.5739 -10.7625 44.5726 -10.5462 44.57 -10.3297 44.5661 -10.1128 44.561 -9.89567 44.5545 -9.67824 44.5468 -9.46053 44.5378 -9.24255 44.5276 -9.0243 44.516 -8.80579 44.5032 -8.58702 44.4891 -8.36801 44.4736 -8.14875 44.4569 -7.92925 44.4389 -7.70952 44.4196 -7.48956 44.3989 -7.26938 44.377 -7.04899 44.3537 -6.82839 44.3292 -6.60758 44.3033 -6.38658 44.2761 -6.16539 44.2476 -5.94401 44.2177 -5.72245 44.1865 -5.50072 44.154 -5.27882 44.1202 -5.05677 44.085 -4.83456 44.0485 -4.6122 44.0106 -4.3897 43.9714 -4.16707 43.9308 -3.94431 43.8889 -3.72142 43.8457 -3.49843 43.801 -3.27532 43.7551 -3.05211 43.7077 -2.8288 43.659 -2.60541 43.609 -2.38194 43.5575 -2.15839 43.5047 -1.93477 43.4505 -1.71109 43.395 -1.48735 43.338 -1.26357 43.2797 -1.03975 43.22 -0.815891 43.1589 -0.592008 43.0965 -0.368105 43.0326 -0.144191 42.9673 --0.079728 42.9007 --0.303645 42.8326 --0.527551 42.7631 --0.751441 42.6922 --0.975306 42.62 --1.19914 42.5463 --1.42293 42.4712 --1.64668 42.3947 --1.87037 42.3167 --2.094 42.2374 --2.31755 42.1566 --2.54103 42.0744 --2.76443 41.9908 --2.98773 41.9058 --3.21093 41.8193 --3.43401 41.7314 --3.65698 41.642 --3.87983 41.5512 --4.10254 41.459 --4.3251 41.3654 --4.54752 41.2703 --4.76978 41.1737 --4.99187 41.0757 --5.21378 40.9763 --5.43551 40.8754 --5.65705 40.773 --5.87838 40.6692 --6.0995 40.5639 --6.32041 40.4572 --6.54108 40.349 --6.76152 40.2394 --6.98171 40.1282 --7.20165 40.0157 --7.42132 39.9016 --7.64072 39.7861 --7.85984 39.6691 --8.07867 39.5506 --8.29719 39.4307 --8.51541 39.3093 --8.7333 39.1864 --8.95086 39.062 --9.16809 38.9361 --9.38497 38.8088 --9.60148 38.68 --9.81763 38.5497 --10.0334 38.4179 --10.2488 38.2846 --10.4638 38.1498 --10.6783 38.0135 --10.8925 37.8758 --11.1062 37.7365 --11.3195 37.5958 --11.5324 37.4536 --11.7447 37.3098 --11.9566 37.1646 --12.1681 37.0179 --12.379 36.8697 --12.5894 36.7199 --12.7993 36.5687 --13.0087 36.416 --13.2176 36.2618 --13.4259 36.106 --13.6336 35.9488 --13.8408 35.7901 --14.0474 35.6299 --14.2534 35.4681 --14.4588 35.3049 --14.6636 35.1402 --14.8678 34.9739 --15.0713 34.8062 --15.2742 34.6369 --15.4764 34.4662 --15.6779 34.2939 --15.8787 34.1202 --16.0789 33.9449 --16.2783 33.7682 --16.477 33.5899 --16.675 33.4102 --16.8722 33.2289 --17.0687 33.0461 --17.2644 32.8619 --17.4593 32.6761 --17.6534 32.4889 --17.8467 32.3001 --18.0392 32.1099 --18.2308 31.9182 --18.4216 31.7249 --18.6115 31.5302 --18.8005 31.334 --18.9887 31.1363 --19.1759 30.9372 --19.3622 30.7365 --19.5476 30.5344 --19.732 30.3307 --19.9155 30.1256 --20.098 29.9191 --20.2795 29.711 --20.46 29.5015 --20.6395 29.2905 --20.818 29.0781 --20.9954 28.8642 --21.1718 28.6488 --21.347 28.432 --21.5212 28.2137 --21.6943 27.994 --21.8663 27.7729 --22.0371 27.5502 --22.2068 27.3262 --22.3753 27.1007 --22.5426 26.8738 --22.7088 26.6455 --22.8737 26.4157 --23.0374 26.1845 --23.1998 25.9519 --23.361 25.718 --23.5209 25.4826 --23.6796 25.2458 --23.8369 25.0076 --23.9929 24.768 --24.1476 24.527 --24.3009 24.2847 --24.4528 24.041 --24.6034 23.7959 --24.7525 23.5495 --24.9002 23.3017 --25.0465 23.0526 --25.1914 22.8022 --25.3347 22.5504 --25.4766 22.2973 --25.617 22.0428 --25.7558 21.7871 --25.8932 21.5301 --26.0289 21.2717 --26.1631 21.0121 --26.2957 20.7512 --26.4267 20.489 --26.5561 20.2256 --26.6838 19.961 --26.8099 19.695 --26.9343 19.4279 --27.057 19.1595 --27.1779 18.89 --27.2972 18.6192 --27.4147 18.3472 --27.5304 18.074 --27.6444 17.7997 --27.7565 17.5242 --27.8669 17.2476 --27.9754 16.9698 --28.082 16.6909 --28.1868 16.4109 --28.2896 16.1298 --28.3906 15.8476 --28.4897 15.5643 --28.5867 15.28 --28.6819 14.9946 --28.775 14.7082 --28.8662 14.4207 --28.9553 14.1323 --29.0424 13.8428 --29.1274 13.5524 --29.2104 13.261 --29.2913 12.9686 --29.37 12.6754 --29.4467 12.3812 --29.5212 12.0861 --29.5935 11.7901 --29.6637 11.4932 --29.7316 11.1955 --29.7973 10.897 --29.8608 10.5976 --29.9221 10.2975 --29.9811 9.99655 --30.0378 9.69485 --30.0921 9.39241 --30.1442 9.08924 --30.1939 8.78537 --30.2413 8.48081 --30.2863 8.17558 --30.3289 7.86971 --30.3691 7.56322 --30.4068 7.25611 --30.4421 6.94843 --30.475 6.64019 --30.5054 6.3314 --30.5333 6.0221 --30.5586 5.71231 --30.5815 5.40204 --30.6018 5.09132 --30.6196 4.78018 --30.6347 4.46864 --30.6473 4.15672 --30.6573 3.84445 --30.6647 3.53184 --30.6694 3.21894 --30.6715 2.90576 --30.6709 2.59232 --30.6677 2.27866 --30.6617 1.9648 --30.6531 1.65077 --30.6417 1.33659 --30.6276 1.02229 --30.6108 0.707904 --30.5912 0.393451 --30.5688 0.0789631 --30.5437 -0.235532 --30.5158 -0.550005 --30.485 -0.864428 --30.4515 -1.17877 --30.4151 -1.493 --30.3759 -1.80709 --30.3338 -2.12102 --30.2889 -2.43474 --30.2411 -2.74823 --30.1904 -3.06146 --30.1368 -3.3744 --30.0804 -3.68701 --30.021 -3.99927 --29.9588 -4.31114 --29.8936 -4.62259 --29.8255 -4.93359 --29.7545 -5.2441 --29.6805 -5.5541 --29.6036 -5.86355 --29.5238 -6.17241 --29.441 -6.48066 --29.3553 -6.78826 --29.2666 -7.09517 --29.1749 -7.40136 --29.0803 -7.70681 --28.9827 -8.01147 --28.8822 -8.3153 --28.7787 -8.61829 --28.6722 -8.92038 --28.5627 -9.22155 --28.4503 -9.52177 --28.3349 -9.82099 --28.2166 -10.1192 --28.0953 -10.4163 --27.971 -10.7123 --27.8438 -11.0072 --27.7136 -11.301 --27.5805 -11.5935 --27.4445 -11.8848 --27.3055 -12.1748 --27.1635 -12.4635 --27.0187 -12.7509 --26.8709 -13.0369 --26.7202 -13.3215 --26.5666 -13.6047 --26.4102 -13.8863 --26.2508 -14.1665 --26.0886 -14.4451 --25.9235 -14.7221 --25.7556 -14.9975 --25.5848 -15.2712 --25.4112 -15.5433 --25.2348 -15.8136 --25.0556 -16.0822 --24.8736 -16.349 --24.6889 -16.6139 --24.5014 -16.8771 --24.3111 -17.1383 --24.1182 -17.3976 --23.9225 -17.655 --23.7242 -17.9104 --23.5232 -18.1637 --23.3195 -18.4151 --23.1132 -18.6643 --22.9043 -18.9115 --22.6928 -19.1565 --22.4788 -19.3994 --22.2622 -19.64 --22.0431 -19.8785 --21.8215 -20.1147 --21.5974 -20.3486 --21.3709 -20.5802 --21.142 -20.8094 --20.9106 -21.0363 --20.6769 -21.2608 --20.4408 -21.4829 --20.2024 -21.7026 --19.9617 -21.9198 --19.7188 -22.1345 --19.4736 -22.3467 --19.2262 -22.5563 --18.9766 -22.7634 --18.7248 -22.9679 --18.471 -23.1698 --18.215 -23.3691 --17.957 -23.5657 --17.6969 -23.7597 --17.4349 -23.9509 --17.1708 -24.1395 --16.9049 -24.3253 --16.637 -24.5084 --16.3672 -24.6888 --16.0956 -24.8663 --15.8222 -25.0411 --15.5471 -25.2131 --15.2701 -25.3822 --14.9915 -25.5485 --14.7112 -25.7119 --14.4293 -25.8725 --14.1457 -26.0302 --13.8606 -26.185 --13.5739 -26.3369 --13.2858 -26.4859 --12.9961 -26.6319 --12.7051 -26.775 --12.4126 -26.9152 --12.1188 -27.0524 --11.8236 -27.1867 --11.5272 -27.318 --11.2295 -27.4463 --10.9306 -27.5717 --10.6305 -27.694 --10.3292 -27.8134 --10.0269 -27.9298 --9.72345 -28.0431 --9.41898 -28.1535 --9.11349 -28.2609 --8.80704 -28.3652 --8.49966 -28.4666 --8.19137 -28.5649 --7.88223 -28.6603 --7.57225 -28.7526 --7.26148 -28.8419 --6.94996 -28.9282 --6.63771 -29.0115 --6.32478 -29.0918 --6.01119 -29.1691 --5.69699 -29.2434 --5.3822 -29.3147 --5.06686 -29.383 --4.75101 -29.4483 --4.43468 -29.5107 --4.1179 -29.5701 --3.8007 -29.6265 --3.48313 -29.6799 --3.16521 -29.7304 --2.84697 -29.778 --2.52846 -29.8226 --2.2097 -29.8643 --1.89072 -29.903 --1.57155 -29.9389 --1.25223 -29.9718 --0.932797 -30.0019 --0.61327 -30.029 --0.293684 -30.0533 -0.0259299 -30.0748 -0.345541 -30.0934 -0.66512 -30.1091 -0.984636 -30.1221 -1.30406 -30.1322 -1.62336 -30.1395 -1.94252 -30.144 -2.26149 -30.1458 -2.58026 -30.1448 -2.89879 -30.1411 -3.21707 -30.1346 -3.53505 -30.1254 -3.85271 -30.1135 -4.17003 -30.0989 -4.48699 -30.0817 -4.80354 -30.0618 -5.11968 -30.0392 -5.43536 -30.0141 -5.75058 -29.9863 -6.0653 -29.9559 -6.3795 -29.923 -6.69315 -29.8875 -7.00623 -29.8495 -7.31872 -29.8089 -7.6306 -29.7658 -7.94184 -29.7203 -8.25241 -29.6722 -8.56231 -29.6218 -8.8715 -29.5688 -9.17997 -29.5135 -9.48768 -29.4558 -9.79464 -29.3957 -10.1008 -29.3332 -10.4062 -29.2683 -10.7107 -29.2012 -11.0144 -29.1317 -11.3172 -29.06 -11.6191 -28.9859 -11.9201 -28.9097 -12.2203 -28.8312 -12.5194 -28.7504 -12.8176 -28.6675 -13.1149 -28.5824 -13.4111 -28.4952 -13.7064 -28.4058 -14.0006 -28.3143 -14.2938 -28.2206 -14.5859 -28.1249 -14.877 -28.0272 -15.1669 -27.9274 -15.4558 -27.8256 -15.7436 -27.7217 -16.0302 -27.6159 -16.3157 -27.5081 -16.6 -27.3984 -16.8832 -27.2867 -17.1652 -27.1732 -17.446 -27.0577 -17.7256 -26.9404 -18.0039 -26.8212 -18.2811 -26.7002 -18.557 -26.5774 -18.8316 -26.4527 -19.105 -26.3263 -19.3771 -26.1982 -19.6479 -26.0683 -19.9174 -25.9367 -20.1856 -25.8033 -20.4525 -25.6683 -20.7181 -25.5317 -20.9823 -25.3934 -21.2452 -25.2534 -21.5067 -25.1119 -21.7669 -24.9687 -22.0257 -24.824 -22.2831 -24.6777 -22.5392 -24.5299 -22.7938 -24.3806 -23.047 -24.2298 -23.2989 -24.0775 -23.5493 -23.9237 -23.7983 -23.7685 -24.0458 -23.6119 -24.292 -23.4538 -24.5366 -23.2944 -24.7799 -23.1336 -25.0216 -22.9714 -25.262 -22.8079 -25.5008 -22.643 -25.7382 -22.4769 -25.9741 -22.3094 -26.2085 -22.1407 -26.4414 -21.9707 -26.6728 -21.7995 -26.9028 -21.6271 -27.1312 -21.4534 -27.3581 -21.2786 -27.5836 -21.1026 -27.8075 -20.9254 -28.0298 -20.7471 -28.2507 -20.5677 -28.4701 -20.3871 -28.6879 -20.2055 -28.9041 -20.0227 -29.1189 -19.839 -29.3321 -19.6541 -29.5438 -19.4683 -29.7539 -19.2814 -29.9625 -19.0935 -30.1695 -18.9046 -30.375 -18.7148 -30.5789 -18.524 -30.7813 -18.3323 -30.9821 -18.1396 -31.1813 -17.946 -31.379 -17.7515 -31.5752 -17.5562 -31.7698 -17.36 -31.9628 -17.1629 -32.1542 -16.965 -32.3441 -16.7662 -32.5324 -16.5666 -32.7191 -16.3663 -32.9043 -16.1651 -33.0879 -15.9632 -33.2699 -15.7605 -33.4504 -15.5571 -33.6293 -15.353 -33.8066 -15.1481 -33.9823 -14.9425 -34.1565 -14.7363 -34.3291 -14.5293 -34.5001 -14.3217 -34.6696 -14.1135 -34.8374 -13.9046 -35.0037 -13.695 -35.1685 -13.4849 -35.3316 -13.2741 -& diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/solar_system.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/solar_system.cpp deleted file mode 100644 index f20d8da..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/solar_system.cpp +++ /dev/null @@ -1,201 +0,0 @@ -/* Boost libs/numeric/odeint/examples/solar_system.cpp - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Solar system example for Hamiltonian stepper - - Distributed under the Boost Software License, Version 1.0. -(See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#include -#include - -#include - -#include "point_type.hpp" - -//[ container_type_definition -// we simulate 5 planets and the sun -const size_t n = 6; - -typedef point< double , 3 > point_type; -typedef boost::array< point_type , n > container_type; -typedef boost::array< double , n > mass_type; -//] - - - - - - - -//[ coordinate_function -const double gravitational_constant = 2.95912208286e-4; - -struct solar_system_coor -{ - const mass_type &m_masses; - - solar_system_coor( const mass_type &masses ) : m_masses( masses ) { } - - void operator()( const container_type &p , container_type &dqdt ) const - { - for( size_t i=0 ; i - void operator()( const State &x , double t ) const - { - container_type &q = x.first; - m_out << t; - for( size_t i=0 ; i stepper_type; - const double dt = 100.0; - - integrate_const( - stepper_type() , - make_pair( solar_system_coor( masses ) , solar_system_momentum( masses ) ) , - make_pair( boost::ref( q ) , boost::ref( p ) ) , - 0.0 , 200000.0 , dt , streaming_observer( cout ) ); - //] - - - return 0; -} - - -/* -Plot with gnuplot: -p "solar_system.dat" u 2:4 w l,"solar_system.dat" u 5:7 w l,"solar_system.dat" u 8:10 w l,"solar_system.dat" u 11:13 w l,"solar_system.dat" u 14:16 w l,"solar_system.dat" u 17:19 w l - */ diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stepper_details.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stepper_details.cpp deleted file mode 100644 index ccafbb1..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stepper_details.cpp +++ /dev/null @@ -1,197 +0,0 @@ -/* - * stepper_details.cpp - * - * This example demonstrates some details about the steppers in odeint. - * - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#include -#include - -#include - -using namespace std; -using namespace boost::numeric::odeint; - -const size_t N = 3; - -typedef boost::array< double , N > state_type; - -//[ system_function_structure -void sys( const state_type & /*x*/ , state_type & /*dxdt*/ , const double /*t*/ ) -{ - // ... -} -//] - -void sys1( const state_type &/*x*/ , state_type &/*dxdt*/ , const double /*t*/ ) -{ -} - -void sys2( const state_type &/*x*/ , state_type &/*dxdt*/ , const double /*t*/ ) -{ -} - - -//[ symplectic_stepper_detail_system_function -typedef boost::array< double , 1 > vector_type; - - -struct harm_osc_f1 -{ - void operator()( const vector_type &p , vector_type &dqdt ) - { - dqdt[0] = p[0]; - } -}; - -struct harm_osc_f2 -{ - void operator()( const vector_type &q , vector_type &dpdt ) - { - dpdt[0] = -q[0]; - } -}; -//] - -//[ symplectic_stepper_detail_system_class -struct harm_osc -{ - void f1( const vector_type &p , vector_type &dqdt ) const - { - dqdt[0] = p[0]; - } - - void f2( const vector_type &q , vector_type &dpdt ) const - { - dpdt[0] = -q[0]; - } -}; -//] - -int main( int argc , char **argv ) -{ - using namespace std; - - // Explicit stepper example - { - double t( 0.0 ) , dt( 0.1 ); - state_type in , out , dxdtin , inout; - //[ explicit_stepper_detail_example - runge_kutta4< state_type > rk; - rk.do_step( sys1 , inout , t , dt ); // In-place transformation of inout - rk.do_step( sys2 , inout , t , dt ); // call with different system: Ok - rk.do_step( sys1 , in , t , out , dt ); // Out-of-place transformation - rk.do_step( sys1 , inout , dxdtin , t , dt ); // In-place tranformation of inout - rk.do_step( sys1 , in , dxdtin , t , out , dt ); // Out-of-place transformation - //] - } - - - - // FSAL stepper example - { - double t( 0.0 ) , dt( 0.1 ); - state_type in , in2 , in3 , out , dxdtin , dxdtout , inout , dxdtinout; - //[ fsal_stepper_detail_example - runge_kutta_dopri5< state_type > rk; - rk.do_step( sys1 , in , t , out , dt ); - rk.do_step( sys2 , in , t , out , dt ); // DONT do this, sys1 is assumed - - rk.do_step( sys2 , in2 , t , out , dt ); - rk.do_step( sys2 , in3 , t , out , dt ); // DONT do this, in2 is assumed - - rk.do_step( sys1 , inout , dxdtinout , t , dt ); - rk.do_step( sys2 , inout , dxdtinout , t , dt ); // Ok, internal derivative is not used, dxdtinout is updated - - rk.do_step( sys1 , in , dxdtin , t , out , dxdtout , dt ); - rk.do_step( sys2 , in , dxdtin , t , out , dxdtout , dt ); // Ok, internal derivative is not used - //] - } - - - // Symplectic harmonic oscillator example - { - double t( 0.0 ) , dt( 0.1 ); - //[ symplectic_stepper_detail_example - pair< vector_type , vector_type > x; - x.first[0] = 1.0; x.second[0] = 0.0; - symplectic_rkn_sb3a_mclachlan< vector_type > rkn; - rkn.do_step( make_pair( harm_osc_f1() , harm_osc_f2() ) , x , t , dt ); - //] - - //[ symplectic_stepper_detail_system_class_example - harm_osc h; - rkn.do_step( make_pair( boost::bind( &harm_osc::f1 , h , _1 , _2 ) , boost::bind( &harm_osc::f2 , h , _1 , _2 ) ) , - x , t , dt ); - //] - } - - // Simplified harmonic oscillator example - { - double t = 0.0, dt = 0.1; - //[ simplified_symplectic_stepper_example - pair< vector_type , vector_type > x; - x.first[0] = 1.0; x.second[0] = 0.0; - symplectic_rkn_sb3a_mclachlan< vector_type > rkn; - rkn.do_step( harm_osc_f1() , x , t , dt ); - //] - - vector_type q = {{ 1.0 }} , p = {{ 0.0 }}; - //[ symplectic_stepper_detail_ref_usage - rkn.do_step( harm_osc_f1() , make_pair( boost::ref( q ) , boost::ref( p ) ) , t , dt ); - rkn.do_step( harm_osc_f1() , q , p , t , dt ); - rkn.do_step( make_pair( harm_osc_f1() , harm_osc_f2() ) , q , p , t , dt ); - //] - } - - // adams_bashforth_moulton stepper example - { - double t = 0.0 , dt = 0.1; - state_type inout; - //[ multistep_detail_example - adams_bashforth_moulton< 5 , state_type > abm; - abm.initialize( sys , inout , t , dt ); - abm.do_step( sys , inout , t , dt ); - //] - - //[ multistep_detail_own_stepper_initialization - abm.initialize( runge_kutta_fehlberg78< state_type >() , sys , inout , t , dt ); - //] - } - - - - // dense output stepper examples - { - double t = 0.0 , dt = 0.1; - state_type in; - //[ dense_output_detail_example - dense_output_runge_kutta< controlled_runge_kutta< runge_kutta_dopri5< state_type > > > dense; - dense.initialize( in , t , dt ); - pair< double , double > times = dense.do_step( sys ); - //] - - state_type inout; - double t_start = 0.0 , t_end = 1.0; - //[ dense_output_detail_generation1 - typedef boost::numeric::odeint::result_of::make_dense_output< - runge_kutta_dopri5< state_type > >::type dense_stepper_type; - dense_stepper_type dense2 = make_dense_output( 1.0e-6 , 1.0e-6 , runge_kutta_dopri5< state_type >() ); - //] - - //[ dense_output_detail_generation2 - integrate_const( make_dense_output( 1.0e-6 , 1.0e-6 , runge_kutta_dopri5< state_type >() ) , sys , inout , t_start , t_end , dt ); - //] - } - - - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stiff_system.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stiff_system.cpp deleted file mode 100644 index b6886eb..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stiff_system.cpp +++ /dev/null @@ -1,117 +0,0 @@ -/* - * rosenbrock4.cpp - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#include -#include -#include - -#include - -#include - -#include -#include - -using namespace std; -using namespace boost::numeric::odeint; -namespace phoenix = boost::phoenix; - - - -//[ stiff_system_definition -typedef boost::numeric::ublas::vector< double > vector_type; -typedef boost::numeric::ublas::matrix< double > matrix_type; - -struct stiff_system -{ - void operator()( const vector_type &x , vector_type &dxdt , double /* t */ ) - { - dxdt[ 0 ] = -101.0 * x[ 0 ] - 100.0 * x[ 1 ]; - dxdt[ 1 ] = x[ 0 ]; - } -}; - -struct stiff_system_jacobi -{ - void operator()( const vector_type & /* x */ , matrix_type &J , const double & /* t */ , vector_type &dfdt ) - { - J( 0 , 0 ) = -101.0; - J( 0 , 1 ) = -100.0; - J( 1 , 0 ) = 1.0; - J( 1 , 1 ) = 0.0; - dfdt[0] = 0.0; - dfdt[1] = 0.0; - } -}; -//] - - - -/* -//[ stiff_system_alternative_definition -typedef boost::numeric::ublas::vector< double > vector_type; -typedef boost::numeric::ublas::matrix< double > matrix_type; - -struct stiff_system -{ - template< class State > - void operator()( const State &x , State &dxdt , double t ) - { - ... - } -}; - -struct stiff_system_jacobi -{ - template< class State , class Matrix > - void operator()( const State &x , Matrix &J , const double &t , State &dfdt ) - { - ... - } -}; -//] - */ - - - -int main( int argc , char **argv ) -{ -// typedef rosenbrock4< double > stepper_type; -// typedef rosenbrock4_controller< stepper_type > controlled_stepper_type; -// typedef rosenbrock4_dense_output< controlled_stepper_type > dense_output_type; - //[ integrate_stiff_system - vector_type x( 2 , 1.0 ); - - size_t num_of_steps = integrate_const( make_dense_output< rosenbrock4< double > >( 1.0e-6 , 1.0e-6 ) , - make_pair( stiff_system() , stiff_system_jacobi() ) , - x , 0.0 , 50.0 , 0.01 , - cout << phoenix::arg_names::arg2 << " " << phoenix::arg_names::arg1[0] << "\n" ); - //] - clog << num_of_steps << endl; - - - -// typedef runge_kutta_dopri5< vector_type > dopri5_type; -// typedef controlled_runge_kutta< dopri5_type > controlled_dopri5_type; -// typedef dense_output_runge_kutta< controlled_dopri5_type > dense_output_dopri5_type; - //[ integrate_stiff_system_alternative - - vector_type x2( 2 , 1.0 ); - - size_t num_of_steps2 = integrate_const( make_dense_output< runge_kutta_dopri5< vector_type > >( 1.0e-6 , 1.0e-6 ) , - stiff_system() , x2 , 0.0 , 50.0 , 0.01 , - cout << phoenix::arg_names::arg2 << " " << phoenix::arg_names::arg1[0] << "\n" ); - //] - clog << num_of_steps2 << endl; - - - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stochastic_euler.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stochastic_euler.cpp deleted file mode 100644 index ccb9f7a..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stochastic_euler.cpp +++ /dev/null @@ -1,146 +0,0 @@ -/* - libs/numeric/odeint/examples/stochastic_euler.hpp - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Stochastic euler stepper example and Ornstein-Uhlenbeck process - - Distributed under the Boost Software License, Version 1.0. -(See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#include -#include -#include -#include - -#include - - -/* -//[ stochastic_euler_class_definition -template< size_t N > class stochastic_euler -{ -public: - - typedef boost::array< double , N > state_type; - typedef boost::array< double , N > deriv_type; - typedef double value_type; - typedef double time_type; - typedef unsigned short order_type; - typedef boost::numeric::odeint::stepper_tag stepper_category; - - static order_type order( void ) { return 1; } - - // ... -}; -//] -*/ - - -/* -//[ stochastic_euler_do_step -template< size_t N > class stochastic_euler -{ -public: - - // ... - - template< class System > - void do_step( System system , state_type &x , time_type t , time_type dt ) const - { - deriv_type det , stoch ; - system.first( x , det ); - system.second( x , stoch ); - for( size_t i=0 ; i -class stochastic_euler -{ -public: - - typedef boost::array< double , N > state_type; - typedef boost::array< double , N > deriv_type; - typedef double value_type; - typedef double time_type; - typedef unsigned short order_type; - - typedef boost::numeric::odeint::stepper_tag stepper_category; - - static order_type order( void ) { return 1; } - - template< class System > - void do_step( System system , state_type &x , time_type t , time_type dt ) const - { - deriv_type det , stoch ; - system.first( x , det ); - system.second( x , stoch ); - for( size_t i=0 ; i state_type; - -struct ornstein_det -{ - void operator()( const state_type &x , state_type &dxdt ) const - { - dxdt[0] = -x[0]; - } -}; - -struct ornstein_stoch -{ - boost::mt19937 m_rng; - boost::normal_distribution<> m_dist; - - ornstein_stoch( double sigma ) : m_rng() , m_dist( 0.0 , sigma ) { } - - void operator()( const state_type &x , state_type &dxdt ) - { - dxdt[0] = m_dist( m_rng ); - } -}; -//] - -struct streaming_observer -{ - template< class State > - void operator()( const State &x , double t ) const - { - std::cout << t << "\t" << x[0] << "\n"; - } -}; - - -int main( int argc , char **argv ) -{ - using namespace std; - using namespace boost::numeric::odeint; - - //[ ornstein_uhlenbeck_main - double dt = 0.1; - state_type x = {{ 1.0 }}; - integrate_const( stochastic_euler< N >() , make_pair( ornstein_det() , ornstein_stoch( 1.0 ) ) , - x , 0.0 , 10.0 , dt , streaming_observer() ); - //] - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stuart_landau.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stuart_landau.cpp deleted file mode 100644 index 10891b5..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stuart_landau.cpp +++ /dev/null @@ -1,87 +0,0 @@ -/* - * stuart_landau.cpp - * - * This example demonstrates how one can use odeint can be used with state types consisting of complex variables. - * - * Copyright 2009-2012 Karsten Ahnert and Mario Mulansky. - * Distributed under the Boost Software License, Version 1.0. (See - * accompanying file LICENSE_1_0.txt or copy at - * http://www.boost.org/LICENSE_1_0.txt) - */ - -#include -#include -#include - -#include - -using namespace std; -using namespace boost::numeric::odeint; - -//[ stuart_landau_system_function -typedef complex< double > state_type; - -struct stuart_landau -{ - double m_eta; - double m_alpha; - - stuart_landau( double eta = 1.0 , double alpha = 1.0 ) - : m_eta( eta ) , m_alpha( alpha ) { } - - void operator()( const state_type &x , state_type &dxdt , double t ) const - { - const complex< double > I( 0.0 , 1.0 ); - dxdt = ( 1.0 + m_eta * I ) * x - ( 1.0 + m_alpha * I ) * norm( x ) * x; - } -}; -//] - - -/* -//[ stuart_landau_system_function_alternative -double eta = 1.0; -double alpha = 1.0; - -void stuart_landau( const state_type &x , state_type &dxdt , double t ) -{ - const complex< double > I( 0.0 , 1.0 ); - dxdt[0] = ( 1.0 + m_eta * I ) * x[0] - ( 1.0 + m_alpha * I ) * norm( x[0] ) * x[0]; -} -//] -*/ - - -struct streaming_observer -{ - std::ostream& m_out; - - streaming_observer( std::ostream &out ) : m_out( out ) { } - - template< class State > - void operator()( const State &x , double t ) const - { - m_out << t; - m_out << "\t" << x.real() << "\t" << x.imag() ; - m_out << "\n"; - } -}; - - - - -int main( int argc , char **argv ) -{ - //[ stuart_landau_integration - state_type x = complex< double >( 1.0 , 0.0 ); - - const double dt = 0.1; - - typedef runge_kutta4< state_type , double , state_type , double , - vector_space_algebra > stepper_type; - - integrate_const( stepper_type() , stuart_landau( 2.0 , 1.0 ) , x , 0.0 , 10.0 , dt , streaming_observer( cout ) ); - //] - - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/Makefile b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/Makefile deleted file mode 100644 index 7c0dc1d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/Makefile +++ /dev/null @@ -1,66 +0,0 @@ -# Copyright 2009-2012 Karsten Ahnert -# Copyright 2009-2012 Mario Mulansky -# -# Distributed under the Boost Software License, Version 1.0. -# (See accompanying file LICENSE_1_0.txt or -# copy at http://www.boost.org/LICENSE_1_0.txt) - - - -# CUDA_ROOT = /home/karsten/boost/cuda4.1/cuda/ -CUDA_ROOT = /usr/local/cuda -ARCH = sm_13 - -CC = gcc-4.4 -CXX = gcc-4.4 -NVCC = $(CUDA_ROOT)/bin/nvcc -# NVCC = g++ - -INCLUDES += -I$(BOOST_ROOT) -I$(THRUST_ROOT) -I$(CUDA_ROOT)/include -I../../../../.. - -NVCCFLAGS = -O3 $(INCLUDES) -arch $(ARCH) --compiler-bindir=/usr/bin/g++-4.4 -Xcompiler -fopenmp -DTHRUST_DEVICE_BACKEND=THRUST_DEVICE_BACKEND_OMP -# NVCCFLAGS = -O3 $(INCLUDES) -arch $(ARCH) --compiler-bindir=/usr/bin/g++-4.3 -Xcompiler -fopenmp -DTHRUST_DEVICE_BACKEND=THRUST_DEVICE_BACKEND_OMP - -# NVCCFLAGS = -O3 $(INCLUDES) -arch $(ARCH) --compiler-bindir=/usr/bin/g++-4.3 - -#--compiler-bindir=/usr/bin/g++-4.4 -#-Xcompiler -fopenmp -DTHRUST_DEVICE_BACKEND=THRUST_DEVICE_BACKEND_OMP -# NVCCFLAGS = -O3 $(INCLUDES) -arch $(ARCH) --compiler-bindir=/usr/bin/g++-4.3 -#-Xcompiler -fopenmp -DTHRUST_DEVICE_BACKEND=THRUST_DEVICE_BACKEND_OMP - - -LDLIBS = -lcudart -lgomp -LDFLAGS = -L$(CUDA_ROOT)/lib64 - -%.co : %.cu - $(NVCC) $(NVCCFLAGS) -c $< -o $@ - - -all : phase_oscillator_chain phase_oscillator_ensemble lorenz_parameters relaxation - - -phase_oscillator_chain.co : phase_oscillator_chain.cu -phase_oscillator_chain : phase_oscillator_chain.co - $(CC) -o phase_oscillator_chain $(LDFLAGS) $(LDLIBS) phase_oscillator_chain.co - - - -phase_oscillator_ensemble.co : phase_oscillator_ensemble.cu -phase_oscillator_ensemble : phase_oscillator_ensemble.co - $(CC) -o phase_oscillator_ensemble $(LDFLAGS) $(LDLIBS) phase_oscillator_ensemble.co - - - -lorenz_parameters : lorenz_parameters.co - $(CC) -o lorenz_parameters $(LDFLAGS) $(LDLIBS) lorenz_parameters.co -lorenz_parameters.co : lorenz_parameters.cu - - -relaxation : relaxation.co - $(CC) -o relaxation $(LDFLAGS) $(LDLIBS) relaxation.co -relaxation.co : relaxation.cu - - - -clean : - -rm *~ *.o *.co phase_oscillator_chain phase_oscillator_ensemble lorenz_parameters relaxation diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/lorenz_parameters.cu b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/lorenz_parameters.cu deleted file mode 100644 index 5eaef00..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/lorenz_parameters.cu +++ /dev/null @@ -1,299 +0,0 @@ - /* - * phase_oscillator_ensemble.cu - * - * The example how the phase_oscillator ensemble can be implemented using CUDA and thrust - * - * Created on: July 15, 2011 - * Author: karsten - */ - - -#include -#include -#include - - -#include -#include -#include - -#include - -#include -#include -#include - -#include -#include -#include - - -using namespace std; -using namespace boost::numeric::odeint; - -//change this to float if your device does not support double computation -typedef double value_type; - -//change this to host_vector< ... > of you want to run on CPU -typedef thrust::device_vector< value_type > state_type; -typedef thrust::device_vector< size_t > index_vector_type; -// typedef thrust::host_vector< value_type > state_type; -// typedef thrust::host_vector< size_t > index_vector_type; - - -const value_type sigma = 10.0; -const value_type b = 8.0 / 3.0; - - -//[ thrust_lorenz_parameters_define_simple_system -struct lorenz_system -{ - struct lorenz_functor - { - template< class T > - __host__ __device__ - void operator()( T t ) const - { - // unpack the parameter we want to vary and the Lorenz variables - value_type R = thrust::get< 3 >( t ); - value_type x = thrust::get< 0 >( t ); - value_type y = thrust::get< 1 >( t ); - value_type z = thrust::get< 2 >( t ); - thrust::get< 4 >( t ) = sigma * ( y - x ); - thrust::get< 5 >( t ) = R * x - y - x * z; - thrust::get< 6 >( t ) = -b * z + x * y ; - - } - }; - - lorenz_system( size_t N , const state_type &beta ) - : m_N( N ) , m_beta( beta ) { } - - template< class State , class Deriv > - void operator()( const State &x , Deriv &dxdt , value_type t ) const - { - thrust::for_each( - thrust::make_zip_iterator( thrust::make_tuple( - boost::begin( x ) , - boost::begin( x ) + m_N , - boost::begin( x ) + 2 * m_N , - m_beta.begin() , - boost::begin( dxdt ) , - boost::begin( dxdt ) + m_N , - boost::begin( dxdt ) + 2 * m_N ) ) , - thrust::make_zip_iterator( thrust::make_tuple( - boost::begin( x ) + m_N , - boost::begin( x ) + 2 * m_N , - boost::begin( x ) + 3 * m_N , - m_beta.begin() , - boost::begin( dxdt ) + m_N , - boost::begin( dxdt ) + 2 * m_N , - boost::begin( dxdt ) + 3 * m_N ) ) , - lorenz_functor() ); - } - size_t m_N; - const state_type &m_beta; -}; -//] - -struct lorenz_perturbation_system -{ - struct lorenz_perturbation_functor - { - template< class T > - __host__ __device__ - void operator()( T t ) const - { - value_type R = thrust::get< 1 >( t ); - value_type x = thrust::get< 0 >( thrust::get< 0 >( t ) ); - value_type y = thrust::get< 1 >( thrust::get< 0 >( t ) ); - value_type z = thrust::get< 2 >( thrust::get< 0 >( t ) ); - value_type dx = thrust::get< 3 >( thrust::get< 0 >( t ) ); - value_type dy = thrust::get< 4 >( thrust::get< 0 >( t ) ); - value_type dz = thrust::get< 5 >( thrust::get< 0 >( t ) ); - thrust::get< 0 >( thrust::get< 2 >( t ) ) = sigma * ( y - x ); - thrust::get< 1 >( thrust::get< 2 >( t ) ) = R * x - y - x * z; - thrust::get< 2 >( thrust::get< 2 >( t ) ) = -b * z + x * y ; - thrust::get< 3 >( thrust::get< 2 >( t ) ) = sigma * ( dy - dx ); - thrust::get< 4 >( thrust::get< 2 >( t ) ) = ( R - z ) * dx - dy - x * dz; - thrust::get< 5 >( thrust::get< 2 >( t ) ) = y * dx + x * dy - b * dz; - } - }; - - lorenz_perturbation_system( size_t N , const state_type &beta ) - : m_N( N ) , m_beta( beta ) { } - - template< class State , class Deriv > - void operator()( const State &x , Deriv &dxdt , value_type t ) const - { - thrust::for_each( - thrust::make_zip_iterator( thrust::make_tuple( - thrust::make_zip_iterator( thrust::make_tuple( - boost::begin( x ) , - boost::begin( x ) + m_N , - boost::begin( x ) + 2 * m_N , - boost::begin( x ) + 3 * m_N , - boost::begin( x ) + 4 * m_N , - boost::begin( x ) + 5 * m_N ) ) , - m_beta.begin() , - thrust::make_zip_iterator( thrust::make_tuple( - boost::begin( dxdt ) , - boost::begin( dxdt ) + m_N , - boost::begin( dxdt ) + 2 * m_N , - boost::begin( dxdt ) + 3 * m_N , - boost::begin( dxdt ) + 4 * m_N , - boost::begin( dxdt ) + 5 * m_N ) ) - ) ) , - thrust::make_zip_iterator( thrust::make_tuple( - thrust::make_zip_iterator( thrust::make_tuple( - boost::begin( x ) + m_N , - boost::begin( x ) + 2 * m_N , - boost::begin( x ) + 3 * m_N , - boost::begin( x ) + 4 * m_N , - boost::begin( x ) + 5 * m_N , - boost::begin( x ) + 6 * m_N ) ) , - m_beta.begin() , - thrust::make_zip_iterator( thrust::make_tuple( - boost::begin( dxdt ) + m_N , - boost::begin( dxdt ) + 2 * m_N , - boost::begin( dxdt ) + 3 * m_N , - boost::begin( dxdt ) + 4 * m_N , - boost::begin( dxdt ) + 5 * m_N , - boost::begin( dxdt ) + 6 * m_N ) ) - ) ) , - lorenz_perturbation_functor() ); - } - - size_t m_N; - const state_type &m_beta; -}; - -struct lyap_observer -{ - //[thrust_lorenz_parameters_observer_functor - struct lyap_functor - { - template< class T > - __host__ __device__ - void operator()( T t ) const - { - value_type &dx = thrust::get< 0 >( t ); - value_type &dy = thrust::get< 1 >( t ); - value_type &dz = thrust::get< 2 >( t ); - value_type norm = sqrt( dx * dx + dy * dy + dz * dz ); - dx /= norm; - dy /= norm; - dz /= norm; - thrust::get< 3 >( t ) += log( norm ); - } - }; - //] - - lyap_observer( size_t N , size_t every = 100 ) - : m_N( N ) , m_lyap( N ) , m_every( every ) , m_count( 0 ) - { - thrust::fill( m_lyap.begin() , m_lyap.end() , 0.0 ); - } - - template< class Lyap > - void fill_lyap( Lyap &lyap ) - { - thrust::copy( m_lyap.begin() , m_lyap.end() , lyap.begin() ); - for( size_t i=0 ; i - void operator()( State &x , value_type t ) - { - if( ( m_count != 0 ) && ( ( m_count % m_every ) == 0 ) ) - { - thrust::for_each( - thrust::make_zip_iterator( thrust::make_tuple( - boost::begin( x ) + 3 * m_N , - boost::begin( x ) + 4 * m_N , - boost::begin( x ) + 5 * m_N , - m_lyap.begin() ) ) , - thrust::make_zip_iterator( thrust::make_tuple( - boost::begin( x ) + 4 * m_N , - boost::begin( x ) + 5 * m_N , - boost::begin( x ) + 6 * m_N , - m_lyap.end() ) ) , - lyap_functor() ); - clog << t << "\n"; - } - ++m_count; - m_t_overall = t; - } - - size_t m_N; - state_type m_lyap; - size_t m_every; - size_t m_count; - value_type m_t_overall; -}; - -const size_t N = 1024*2; -const value_type dt = 0.01; - - -int main( int arc , char* argv[] ) -{ - int driver_version , runtime_version; - cudaDriverGetVersion( &driver_version ); - cudaRuntimeGetVersion ( &runtime_version ); - cout << driver_version << "\t" << runtime_version << endl; - - - //[ thrust_lorenz_parameters_define_beta - vector< value_type > beta_host( N ); - const value_type beta_min = 0.0 , beta_max = 56.0; - for( size_t i=0 ; i stepper_type; - - - lorenz_system lorenz( N , beta ); - lorenz_perturbation_system lorenz_perturbation( N , beta ); - lyap_observer obs( N , 1 ); - - // calculate transients - integrate_adaptive( make_controlled( 1.0e-6 , 1.0e-6 , stepper_type() ) , lorenz , std::make_pair( x.begin() , x.begin() + 3 * N ) , 0.0 , 10.0 , dt ); - - // calculate the Lyapunov exponents -- the main loop - double t = 0.0; - while( t < 10000.0 ) - { - integrate_adaptive( make_controlled( 1.0e-6 , 1.0e-6 , stepper_type() ) , lorenz_perturbation , x , t , t + 1.0 , 0.1 ); - t += 1.0; - obs( x , t ); - } - - vector< value_type > lyap( N ); - obs.fill_lyap( lyap ); - - for( size_t i=0 ; i -#include - -#include -#include -#include - -#include -#include -#include -#include -#include - -using namespace std; - -using namespace boost::numeric::odeint; - - -//change this to float if your device does not support double computation -typedef double value_type; - - -//[ thrust_phase_chain_system -//change this to host_vector< ... > if you want to run on CPU -typedef thrust::device_vector< value_type > state_type; -typedef thrust::device_vector< size_t > index_vector_type; -//typedef thrust::host_vector< value_type > state_type; -//typedef thrust::host_vector< size_t > index_vector_type; - -//<- -/* - * This implements the rhs of the dynamical equation: - * \phi'_0 = \omega_0 + sin( \phi_1 - \phi_0 ) - * \phi'_i = \omega_i + sin( \phi_i+1 - \phi_i ) + sin( \phi_i - \phi_i-1 ) - * \phi'_N-1 = \omega_N-1 + sin( \phi_N-1 - \phi_N-2 ) - */ -//-> -class phase_oscillators -{ - -public: - - struct sys_functor - { - template< class Tuple > - __host__ __device__ - void operator()( Tuple t ) // this functor works on tuples of values - { - // first, unpack the tuple into value, neighbors and omega - const value_type phi = thrust::get<0>(t); - const value_type phi_left = thrust::get<1>(t); // left neighbor - const value_type phi_right = thrust::get<2>(t); // right neighbor - const value_type omega = thrust::get<3>(t); - // the dynamical equation - thrust::get<4>(t) = omega + sin( phi_right - phi ) + sin( phi - phi_left ); - } - }; - - phase_oscillators( const state_type &omega ) - : m_omega( omega ) , m_N( omega.size() ) , m_prev( omega.size() ) , m_next( omega.size() ) - { - // build indices pointing to left and right neighbours - thrust::counting_iterator c( 0 ); - thrust::copy( c , c+m_N-1 , m_prev.begin()+1 ); - m_prev[0] = 0; // m_prev = { 0 , 0 , 1 , 2 , 3 , ... , N-1 } - - thrust::copy( c+1 , c+m_N , m_next.begin() ); - m_next[m_N-1] = m_N-1; // m_next = { 1 , 2 , 3 , ... , N-1 , N-1 } - } - - void operator() ( const state_type &x , state_type &dxdt , const value_type dt ) - { - thrust::for_each( - thrust::make_zip_iterator( - thrust::make_tuple( - x.begin() , - thrust::make_permutation_iterator( x.begin() , m_prev.begin() ) , - thrust::make_permutation_iterator( x.begin() , m_next.begin() ) , - m_omega.begin() , - dxdt.begin() - ) ), - thrust::make_zip_iterator( - thrust::make_tuple( - x.end() , - thrust::make_permutation_iterator( x.begin() , m_prev.end() ) , - thrust::make_permutation_iterator( x.begin() , m_next.end() ) , - m_omega.end() , - dxdt.end()) ) , - sys_functor() - ); - } - -private: - - const state_type &m_omega; - const size_t m_N; - index_vector_type m_prev; - index_vector_type m_next; -}; -//] - -const size_t N = 32768; -const value_type pi = 3.1415926535897932384626433832795029; -const value_type epsilon = 6.0 / ( N * N ); // should be < 8/N^2 to see phase locking -const value_type dt = 0.1; - -int main( int arc , char* argv[] ) -{ - //[ thrust_phase_chain_integration - // create initial conditions and omegas on host: - vector< value_type > x_host( N ); - vector< value_type > omega_host( N ); - for( size_t i=0 ; i stepper; - - // create phase oscillator system function - phase_oscillators sys( omega ); - - // integrate - integrate_const( stepper , sys , x , 0.0 , 10.0 , dt ); - - thrust::copy( x.begin() , x.end() , std::ostream_iterator< value_type >( std::cout , "\n" ) ); - std::cout << std::endl; - //] -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/phase_oscillator_ensemble.cu b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/phase_oscillator_ensemble.cu deleted file mode 100644 index 04d3195..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/phase_oscillator_ensemble.cu +++ /dev/null @@ -1,281 +0,0 @@ -/* - * phase_oscillator_ensemble.cu - * - * The example how the phase_oscillator ensemble can be implemented using CUDA and thrust - * - * Created on: July 15, 2011 - * Author: karsten - */ - - -#include -#include -#include -#include - -#include -#include -#include - -#include -#include -#include -#include - -#include -#include - -using namespace std; - -using namespace boost::numeric::odeint; - -/* - * Sorry for that dirty hack, but nvcc has large problems with boost::random. - * - * Nevertheless we need the cauchy distribution from boost::random, and therefore - * we need a generator. Here it is: - */ -struct drand48_generator -{ - typedef double result_type; - result_type operator()( void ) const { return drand48(); } - result_type min( void ) const { return 0.0; } - result_type max( void ) const { return 1.0; } -}; - -//[ thrust_phase_ensemble_state_type -//change this to float if your device does not support double computation -typedef double value_type; - -//change this to host_vector< ... > of you want to run on CPU -typedef thrust::device_vector< value_type > state_type; -// typedef thrust::host_vector< value_type > state_type; -//] - - -//[ thrust_phase_ensemble_mean_field_calculator -struct mean_field_calculator -{ - struct sin_functor : public thrust::unary_function< value_type , value_type > - { - __host__ __device__ - value_type operator()( value_type x) const - { - return sin( x ); - } - }; - - struct cos_functor : public thrust::unary_function< value_type , value_type > - { - __host__ __device__ - value_type operator()( value_type x) const - { - return cos( x ); - } - }; - - static std::pair< value_type , value_type > get_mean( const state_type &x ) - { - //[ thrust_phase_ensemble_sin_sum - value_type sin_sum = thrust::reduce( - thrust::make_transform_iterator( x.begin() , sin_functor() ) , - thrust::make_transform_iterator( x.end() , sin_functor() ) ); - //] - value_type cos_sum = thrust::reduce( - thrust::make_transform_iterator( x.begin() , cos_functor() ) , - thrust::make_transform_iterator( x.end() , cos_functor() ) ); - - cos_sum /= value_type( x.size() ); - sin_sum /= value_type( x.size() ); - - value_type K = sqrt( cos_sum * cos_sum + sin_sum * sin_sum ); - value_type Theta = atan2( sin_sum , cos_sum ); - - return std::make_pair( K , Theta ); - } -}; -//] - - - -//[ thrust_phase_ensemble_sys_function -class phase_oscillator_ensemble -{ - -public: - - struct sys_functor - { - value_type m_K , m_Theta , m_epsilon; - - sys_functor( value_type K , value_type Theta , value_type epsilon ) - : m_K( K ) , m_Theta( Theta ) , m_epsilon( epsilon ) { } - - template< class Tuple > - __host__ __device__ - void operator()( Tuple t ) - { - thrust::get<2>(t) = thrust::get<1>(t) + m_epsilon * m_K * sin( m_Theta - thrust::get<0>(t) ); - } - }; - - // ... - //<- - phase_oscillator_ensemble( size_t N , value_type g = 1.0 , value_type epsilon = 1.0 ) - : m_omega() , m_N( N ) , m_epsilon( epsilon ) - { - create_frequencies( g ); - } - - void create_frequencies( value_type g ) - { - boost::cauchy_distribution< value_type > cauchy( 0.0 , g ); -// boost::variate_generator< boost::mt19937&, boost::cauchy_distribution< value_type > > gen( rng , cauchy ); - drand48_generator d48; - vector< value_type > omega( m_N ); - for( size_t i=0 ; i - - void operator() ( const state_type &x , state_type &dxdt , const value_type dt ) const - { - std::pair< value_type , value_type > mean_field = mean_field_calculator::get_mean( x ); - - thrust::for_each( - thrust::make_zip_iterator( thrust::make_tuple( x.begin() , m_omega.begin() , dxdt.begin() ) ), - thrust::make_zip_iterator( thrust::make_tuple( x.end() , m_omega.end() , dxdt.end()) ) , - sys_functor( mean_field.first , mean_field.second , m_epsilon ) - ); - } - - // ... - //<- -private: - - state_type m_omega; - const size_t m_N; - value_type m_epsilon; - //-> -}; -//] - - -//[ thrust_phase_ensemble_observer -struct statistics_observer -{ - value_type m_K_mean; - size_t m_count; - - statistics_observer( void ) - : m_K_mean( 0.0 ) , m_count( 0 ) { } - - template< class State > - void operator()( const State &x , value_type t ) - { - std::pair< value_type , value_type > mean = mean_field_calculator::get_mean( x ); - m_K_mean += mean.first; - ++m_count; - } - - value_type get_K_mean( void ) const { return ( m_count != 0 ) ? m_K_mean / value_type( m_count ) : 0.0 ; } - - void reset( void ) { m_K_mean = 0.0; m_count = 0; } -}; -//] - - - -// const size_t N = 16384 * 128; -const size_t N = 16384; -const value_type pi = 3.1415926535897932384626433832795029; -const value_type dt = 0.1; -const value_type d_epsilon = 0.1; -const value_type epsilon_min = 0.0; -const value_type epsilon_max = 5.0; -const value_type t_transients = 10.0; -const value_type t_max = 100.0; - -int main( int arc , char* argv[] ) -{ - // initial conditions on host - vector< value_type > x_host( N ); - for( size_t i=0 ; i stepper_type; - //] - - ofstream fout( "phase_ensemble_dopri5.dat" ); - timer.restart(); - for( value_type epsilon = epsilon_min ; epsilon < epsilon_max ; epsilon += d_epsilon ) - { - ensemble.set_epsilon( epsilon ); - statistics_observer obs; - state_type x = x_host; - - timer_local.restart(); - - // calculate some transients steps - //[ thrust_phase_ensemble_integration - size_t steps1 = integrate_const( make_controlled( 1.0e-6 , 1.0e-6 , stepper_type() ) , boost::ref( ensemble ) , x , 0.0 , t_transients , dt ); - //] - - // integrate and compute the statistics - size_t steps2 = integrate_const( make_dense_output( 1.0e-6 , 1.0e-6 , stepper_type() ) , boost::ref( ensemble ) , x , 0.0 , t_max , dt , boost::ref( obs ) ); - - fout << epsilon << "\t" << obs.get_K_mean() << endl; - cout << "Dopri5 : " << epsilon << "\t" << obs.get_K_mean() << "\t" << timer_local.elapsed() << "\t" << steps1 << "\t" << steps2 << endl; - } - dopri5_time = timer.elapsed(); - } - - - - { - //[ thrust_phase_ensemble_define_rk4 - typedef runge_kutta4< state_type , value_type , state_type , value_type , thrust_algebra , thrust_operations > stepper_type; - //] - - ofstream fout( "phase_ensemble_rk4.dat" ); - timer.restart(); - for( value_type epsilon = epsilon_min ; epsilon < epsilon_max ; epsilon += d_epsilon ) - { - ensemble.set_epsilon( epsilon ); - statistics_observer obs; - state_type x = x_host; - - timer_local.restart(); - - // calculate some transients steps - size_t steps1 = integrate_const( stepper_type() , boost::ref( ensemble ) , x , 0.0 , t_transients , dt ); - - // integrate and compute the statistics - size_t steps2 = integrate_const( stepper_type() , boost::ref( ensemble ) , x , 0.0 , t_max , dt , boost::ref( obs ) ); - fout << epsilon << "\t" << obs.get_K_mean() << endl; - cout << "RK4 : " << epsilon << "\t" << obs.get_K_mean() << "\t" << timer_local.elapsed() << "\t" << steps1 << "\t" << steps2 << endl; - } - rk4_time = timer.elapsed(); - } - - cout << "Dopri 5 : " << dopri5_time << " s\n"; - cout << "RK4 : " << rk4_time << "\n"; - - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/relaxation.cu b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/relaxation.cu deleted file mode 100644 index 8590b85..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/relaxation.cu +++ /dev/null @@ -1,73 +0,0 @@ -/* - * Solves many relaxation equations dxdt = - a * x in parallel and for different values of a. - * The relaxation equations are completely uncoupled. - */ - -#include - -#include - -#include -#include -#include -#include - - -using namespace std; -using namespace boost::numeric::odeint; - -// change to float if your GPU does not support doubles -typedef double value_type; -typedef thrust::device_vector< value_type > state_type; -typedef runge_kutta4< state_type , value_type , state_type , value_type , thrust_algebra , thrust_operations > stepper_type; - -struct relaxation -{ - struct relaxation_functor - { - template< class T > - __host__ __device__ - void operator()( T t ) const - { - // unpack the parameter we want to vary and the Lorenz variables - value_type a = thrust::get< 1 >( t ); - value_type x = thrust::get< 0 >( t ); - thrust::get< 2 >( t ) = -a * x; - } - }; - - relaxation( size_t N , const state_type &a ) - : m_N( N ) , m_a( a ) { } - - void operator()( const state_type &x , state_type &dxdt , value_type t ) const - { - thrust::for_each( - thrust::make_zip_iterator( thrust::make_tuple( x.begin() , m_a.begin() , dxdt.begin() ) ) , - thrust::make_zip_iterator( thrust::make_tuple( x.end() , m_a.end() , dxdt.end() ) ) , - relaxation_functor() ); - } - - size_t m_N; - const state_type &m_a; -}; - -const size_t N = 1024 * 1024; -const value_type dt = 0.01; - -int main( int arc , char* argv[] ) -{ - // initialize the relaxation constants a - vector< value_type > a_host( N ); - for( size_t i=0 ; i -#include -#include -#include - -#ifndef M_PI //not there on windows -#define M_PI 3.1415927 //... -#endif - -#include - -using namespace std; -using namespace boost::numeric::odeint; - -//[ two_dimensional_phase_lattice_definition -typedef boost::numeric::ublas::matrix< double > state_type; - -struct two_dimensional_phase_lattice -{ - two_dimensional_phase_lattice( double gamma = 0.5 ) - : m_gamma( gamma ) { } - - void operator()( const state_type &x , state_type &dxdt , double /* t */ ) const - { - size_t size1 = x.size1() , size2 = x.size2(); - - for( size_t i=1 ; i map_type; - - write_snapshots( void ) : m_count( 0 ) { } - - void operator()( const state_type &x , double t ) - { - map< size_t , string >::const_iterator it = m_snapshots.find( m_count ); - if( it != m_snapshots.end() ) - { - ofstream fout( it->second.c_str() ); - for( size_t i=0 ; i( rand() ) / RAND_MAX * 2.0 * M_PI; - - write_snapshots snapshots; - snapshots.snapshots().insert( make_pair( size_t( 0 ) , string( "lat_0000.dat" ) ) ); - snapshots.snapshots().insert( make_pair( size_t( 100 ) , string( "lat_0100.dat" ) ) ); - snapshots.snapshots().insert( make_pair( size_t( 1000 ) , string( "lat_1000.dat" ) ) ); - observer_collection< state_type , double > obs; - obs.observers().push_back( write_for_gnuplot( 10 ) ); - obs.observers().push_back( snapshots ); - - cout << "set term x11" << endl; - cout << "set pm3d map" << endl; - integrate_const( runge_kutta4< state_type >() , two_dimensional_phase_lattice( 1.2 ) , - x , 0.0 , 1001.0 , 0.1 , boost::ref( obs ) ); - - - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/ublas/Jamfile.v2 b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/ublas/Jamfile.v2 deleted file mode 100644 index 28c1504..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/ublas/Jamfile.v2 +++ /dev/null @@ -1,13 +0,0 @@ -# Copyright 2009 Karsten Ahnert and Mario Mulansky. -# Distributed under the Boost Software License, Version 1.0. (See -# accompanying file LICENSE_1_0.txt or copy at -# http://www.boost.org/LICENSE_1_0.txt) - - -project - : requirements - ../../../../.. - BOOST_ALL_NO_LIB=1 - ; - -exe lorenz_ublas : lorenz_ublas.cpp ; diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/ublas/lorenz_ublas.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/ublas/lorenz_ublas.cpp deleted file mode 100644 index c3394d5..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/ublas/lorenz_ublas.cpp +++ /dev/null @@ -1,59 +0,0 @@ -/* - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#include - -#include -#include - -/* define ublas::vector as resizeable - * this is not neccessarily required because this definition already - * exists in util/ublas_wrapper.hpp. - * However, for completeness and educational purpose it is repeated here. - */ - -//[ ublas_resizeable -typedef boost::numeric::ublas::vector< double > state_type; - -namespace boost { namespace numeric { namespace odeint { - -template<> -struct is_resizeable< state_type > -{ - typedef boost::true_type type; - const static bool value = type::value; -}; - -} } } -//] - -void lorenz( const state_type &x , state_type &dxdt , const double t ) -{ - const double sigma( 10.0 ); - const double R( 28.0 ); - const double b( 8.0 / 3.0 ); - - dxdt[0] = sigma * ( x[1] - x[0] ); - dxdt[1] = R * x[0] - x[1] - x[0] * x[2]; - dxdt[2] = -b * x[2] + x[0] * x[1]; -} - -using namespace boost::numeric::odeint; - -//[ublas_main -int main() -{ - state_type x(3); - x[0] = 10.0; x[1] = 5.0 ; x[2] = 0.0; - typedef runge_kutta4< state_type , double , state_type , double , vector_space_algebra > stepper; - integrate_const( stepper() , lorenz , x , - 0.0 , 10.0 , 0.1 ); -} -//] diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/van_der_pol_stiff.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/van_der_pol_stiff.cpp deleted file mode 100644 index 4b433b2..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/van_der_pol_stiff.cpp +++ /dev/null @@ -1,93 +0,0 @@ -/* - * van_der_pol_stiff.cpp - * - * Created on: Dec 12, 2011 - * - * Copyright 2011 Rajeev Singh - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#include -#include -#include - -#include - -#include -#include - -using namespace std; -using namespace boost::numeric::odeint; -namespace phoenix = boost::phoenix; - -const double mu = 1000.0; - - -typedef boost::numeric::ublas::vector< double > vector_type; -typedef boost::numeric::ublas::matrix< double > matrix_type; - -struct vdp_stiff -{ - void operator()( const vector_type &x , vector_type &dxdt , double t ) - { - dxdt[0] = x[1]; - dxdt[1] = -x[0] - mu * x[1] * (x[0]*x[0]-1.0); - } -}; - -struct vdp_stiff_jacobi -{ - void operator()( const vector_type &x , matrix_type &J , const double &t , vector_type &dfdt ) - { - J(0, 0) = 0.0; - J(0, 1) = 1.0; - J(1, 0) = -1.0 - 2.0*mu * x[0] * x[1]; - J(1, 1) = -mu * ( x[0] * x[0] - 1.0); - - dfdt[0] = 0.0; - dfdt[1] = 0.0; - } -}; - - -int main( int argc , char **argv ) -{ - //[ integrate_stiff_system - vector_type x( 2 ); - /* initialize random seed: */ - srand ( time(NULL) ); - - // initial conditions - for (int i=0; i<2; i++) - x[i] = 1.0; //(1.0 * rand()) / RAND_MAX; - - size_t num_of_steps = integrate_const( make_dense_output< rosenbrock4< double > >( 1.0e-6 , 1.0e-6 ) , - make_pair( vdp_stiff() , vdp_stiff_jacobi() ) , - x , 0.0 , 1000.0 , 1.0 - , cout << phoenix::arg_names::arg2 << " " << phoenix::arg_names::arg1[0] << " " << phoenix::arg_names::arg1[1] << "\n" - ); - //] - clog << num_of_steps << endl; - - - - //[ integrate_stiff_system_alternative - - vector_type x2( 2 ); - // initial conditions - for (int i=0; i<2; i++) - x2[i] = 1.0; //(1.0 * rand()) / RAND_MAX; - - size_t num_of_steps2 = integrate_const( make_dense_output< runge_kutta_dopri5< vector_type > >( 1.0e-6 , 1.0e-6 ) , - vdp_stiff() , x2 , 0.0 , 1000.0 , 1.0 - , cout << phoenix::arg_names::arg2 << " " << phoenix::arg_names::arg1[0] << " " << phoenix::arg_names::arg1[1] << "\n" - ); - //] - clog << num_of_steps2 << endl; - - - return 0; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/vexcl/Jamfile.v2 b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/vexcl/Jamfile.v2 deleted file mode 100644 index a419266..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/vexcl/Jamfile.v2 +++ /dev/null @@ -1,31 +0,0 @@ -# Copyright 2009-2012 Karsten Ahnert -# Copyright 2009-2012 Mario Mulansky -# -# Distributed under the Boost Software License, Version 1.0. -# (See accompanying file LICENSE_1_0.txt or -# copy at http://www.boost.org/LICENSE_1_0.txt) - - -import boost ; -import os ; - -boost.use-project ; - - -# change these lines to fit you configuration -local HOME = [ os.environ HOME ] ; -VEXCL_INCLUDE = $(HOME)/boost/vexcl ; -CUDA_INCLUDE = /usr/local/cuda/include ; - - -lib opencl : : OpenCL ; - -project : requirements - /boost//headers - ../../../../.. - $(VEXCL_INCLUDE) - $(CUDA_INCLUDE) - gcc:-std=c++0x - ; - -exe lorenz_ensemble : lorenz_ensemble.cpp opencl ; \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/vexcl/lorenz_ensemble.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/vexcl/lorenz_ensemble.cpp deleted file mode 100644 index 53b3b45..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/vexcl/lorenz_ensemble.cpp +++ /dev/null @@ -1,89 +0,0 @@ -/* - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#include -#include - -#include - -#include -//[ vexcl_includes -#include -//] - -namespace odeint = boost::numeric::odeint; - -//[ vexcl_state_types -typedef vex::vector< double > vector_type; -typedef vex::multivector< double, 3 > state_type; -//] - - -//[ vexcl_system -const double sigma = 10.0; -const double b = 8.0 / 3.0; - -struct sys_func -{ - const vector_type &R; - - sys_func( const vector_type &_R ) : R( _R ) { } - - void operator()( const state_type &x , state_type &dxdt , double t ) const - { - dxdt(0) = -sigma * ( x(0) - x(1) ); - dxdt(1) = R * x(0) - x(1) - x(0) * x(2); - dxdt(2) = - b * x(2) + x(0) * x(1); - } -}; -//] - - -int main( int argc , char **argv ) -{ - using namespace std; - using namespace odeint; - - //[ vexcl_main - // setup the opencl context - vex::Context ctx( vex::Filter::Type(CL_DEVICE_TYPE_GPU) ); - std::cout << ctx << std::endl; - - // set up number of system, time step and integration time - const size_t n = 1024 * 1024; - const double dt = 0.01; - const double t_max = 100.0; - - // initialize R - double Rmin = 0.1 , Rmax = 50.0 , dR = ( Rmax - Rmin ) / double( n - 1 ); - std::vector x( n * 3 ) , r( n ); - for( size_t i=0 ; i stepper; - - // solve the system - integrate_const( stepper , sys_func( R ) , X , 0.0 , t_max , dt ); - //] - - std::vector< double > res( 3 * n ); - vex::copy( X(0) , res ); - for( size_t i=0 ; i - - - - - -Automatic redirection failed, please go to -doc/html/index.html -

-

© Copyright Beman Dawes, 2001

-

Distributed under the Boost Software -License, Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at -www.boost.org/LICENSE_1_0.txt)

- - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/Jamfile.v2 b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/Jamfile.v2 deleted file mode 100644 index 34892f7..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/Jamfile.v2 +++ /dev/null @@ -1,71 +0,0 @@ -# (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky -# Distributed under the Boost Software License, Version 1.0. -# (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) - -import os ; -import modules ; -import path ; - -project - : requirements - BOOST_ALL_NO_LIB=1 - ../../../.. - : default-build release - ; - - -lib libgsl : : gsl ; -lib libgslcblas : : gslcblas ; - -lib libmkl : : mkl_intel_lp64 shared ; -lib libmkl_core : : mkl_core shared ; -lib libmkl_intel_thread : : mkl_intel_thread ; -lib libiomp5 : : iomp5 ; -lib libpthread : : pthread ; - -exe odeint_rk4_lorenz_array - : odeint_rk4_lorenz_array.cpp - ; - -exe odeint_rk4_lorenz_range - : odeint_rk4_lorenz_range.cpp - ; - -# exe odeint_rk4_lorenz_fusion -# : odeint_rk4_lorenz_fusion.cpp -# ; - -exe generic_odeint_rk4_lorenz - : generic_odeint_rk4_lorenz.cpp - : intel:-inline-forceinline - ; - -exe nr_rk4_lorenz - : nr_rk4_lorenz.cpp - ; - -exe rt_generic_rk4_lorenz - : rt_generic_rk4_lorenz.cpp - ; - -exe gsl_rk4_lorenz - : gsl_rk4_lorenz.cpp libgslcblas libgsl - ; - -exe odeint_rk4_phase_lattice - : odeint_rk4_phase_lattice.cpp - ; - -exe odeint_rk4_phase_lattice_mkl - : odeint_rk4_phase_lattice_mkl.cpp libpthread libiomp5 libmkl_core libmkl_intel_thread libmkl - ; - -exe nr_rk4_phase_lattice - : nr_rk4_phase_lattice.cpp - ; - -exe rt_generic_rk4_phase_lattice - : rt_generic_rk4_phase_lattice.cpp - ; - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/fusion_algebra.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/fusion_algebra.hpp deleted file mode 100644 index 5d6e85e..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/fusion_algebra.hpp +++ /dev/null @@ -1,202 +0,0 @@ -/* - * fusion_algebra.hpp - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef FUSION_ALGEBRA_HPP_ -#define FUSION_ALGEBRA_HPP_ - -#include - -#include - - -template< size_t n > -struct fusion_algebra -{ - template< typename T , size_t dim > - inline static void foreach( boost::array< T , dim > &x_tmp , const boost::array< T , dim > &x , - const boost::array< double , n > &a , - const boost::array< T , dim > k_vector[n] , const double dt ) - { - for( size_t i=0 ; i - inline static void foreach( boost::array< T , dim > &x_tmp , - const boost::array< double , n > &a , - const boost::array< T , dim > k_vector[n] , const double dt ) - { - for( size_t i=0 ; i -struct fusion_algebra< 1 > -{ - template< typename T , size_t dim > - inline static void foreach( boost::array< T , dim > &x_tmp , const boost::array< T , dim > &x , - const boost::array< double , 1 > &a , - const boost::array< T , dim > *k_vector , const double dt ) - { - for( size_t i=0 ; i -struct fusion_algebra< 2 > -{ - - template< typename T , size_t dim > - inline static void foreach( boost::array< T , dim > &x_tmp , const boost::array< T , dim > &x , - const boost::array< double , 2 > &a , - const boost::array< T , dim > *k_vector , const double dt ) - { - for( size_t i=0 ; i -struct fusion_algebra< 3 > -{ - - template< typename T , size_t dim > - inline static void foreach( boost::array< T , dim > &x_tmp , const boost::array< T , dim > &x , - const boost::array< double , 3 > &a , - const boost::array< T , dim > *k_vector , const double dt ) - { - for( size_t i=0 ; i -struct fusion_algebra< 4 > -{ - - template< typename T , size_t dim > - inline static void foreach( boost::array< T , dim > &x_tmp , const boost::array< T , dim > &x , - const boost::array< double , 4 > &a , - const boost::array< T , dim > *k_vector , const double dt ) - { - for( size_t i=0 ; i -struct fusion_algebra< 5 > -{ - - template< typename T , size_t dim > - inline static void foreach( boost::array< T , dim > &x_tmp , const boost::array< T , dim > &x , - const boost::array< double , 5 > &a , - const boost::array< T , dim > *k_vector , const double dt ) - { - for( size_t i=0 ; i -struct fusion_algebra< 6 > -{ - - template< typename T , size_t dim > - inline static void foreach( boost::array< T , dim > &x_tmp , const boost::array< T , dim > &x , - const boost::array< double , 6 > &a , - const boost::array< T , dim > *k_vector , const double dt ) - { - for( size_t i=0 ; i - inline static void foreach(boost::array &x_tmp , - const boost::array &a , - const boost::array *k_vector , const double dt) - { - for (size_t i = 0 ; i < dim ; ++i) - { - x_tmp[i] = a[0] * dt * k_vector[0][i] + a[1] * dt * k_vector[1][i] - + a[2] * dt * k_vector[2][i] + a[3] * dt * k_vector[3][i] - + a[4] * dt * k_vector[4][i] + a[5] * dt * k_vector[5][i]; - } - } - -}; - -//#endif /* BOOST_MSVC */ - -#endif /* FUSION_ALGEBRA_HPP_ */ diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/fusion_explicit_error_rk.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/fusion_explicit_error_rk.hpp deleted file mode 100644 index 23ea157..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/fusion_explicit_error_rk.hpp +++ /dev/null @@ -1,63 +0,0 @@ -/* - * fusion_explicit_error_rk.hpp - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef FUSION_EXPLICIT_ERROR_RK_HPP_ -#define FUSION_EXPLICIT_ERROR_RK_HPP_ - -#include "fusion_explicit_rk_new.hpp" -#include "fusion_algebra.hpp" - -namespace mpl = boost::mpl; -namespace fusion = boost::fusion; - -using namespace std; - -template< class StateType , size_t stage_count > -class explicit_error_rk : public explicit_rk< StateType , stage_count > -{ - -public: - - typedef explicit_rk< StateType , stage_count > base; - - typedef StateType state_type; - - typedef typename base::stage_indices stage_indices; - - typedef typename base::coef_a_type coef_a_type; - - typedef typename base::coef_b_type coef_b_type; - typedef typename base::coef_c_type coef_c_type; - - public: - - explicit_error_rk( const coef_a_type &a , - const coef_b_type &b , - const coef_b_type &b2 , - const coef_c_type &c ) - : base( a , b , c ) , m_b2( b2 ) - { } - - template< class System > - void inline do_step( System system , state_type &x , const double t , const double dt , state_type &x_err ) - { - base::do_step( system , x , t , dt ); - // compute error estimate - fusion_algebra< stage_count >::foreach( x_err , m_b2 , base::m_F , dt ); - } - -private: - - const coef_b_type m_b2; -}; - -#endif /* FUSION_EXPLICIT_ERROR_RK_HPP_ */ diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/fusion_explicit_rk_new.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/fusion_explicit_rk_new.hpp deleted file mode 100644 index 5648133..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/fusion_explicit_rk_new.hpp +++ /dev/null @@ -1,217 +0,0 @@ -/* - * fusion_runge_kutta.hpp - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef FUSION_EXPLICIT_RK_HPP_ -#define FUSION_EXPLICIT_RK_HPP_ - -#include -#include -#include -#include -#include -#include - -#include -#include - -#include - -#include "fusion_algebra.hpp" -//#include "fusion_foreach_performance.hpp" - -namespace mpl = boost::mpl; -namespace fusion = boost::fusion; - -using namespace std; - -struct intermediate_stage {}; -struct last_stage {}; - - - -template< class T , class Constant > -struct array_wrapper -{ - typedef const typename boost::array< T , Constant::value > type; -}; - -template< class T , size_t i , class StageCategory > -struct stage -{ - T c; - boost::array< T , i > a; - typedef StageCategory category; -}; - -template< class T , size_t i> -struct stage< T , i , last_stage > -{ - T c; - boost::array< T , i > b; - typedef last_stage category; -}; - - - -template< class T , class Constant , class StageCategory > -struct stage_wrapper -{ - typedef stage< T , Constant::value , StageCategory > type; -}; - - -template< class StateType , size_t stage_count > -class explicit_rk -{ - -public: - - typedef StateType state_type; - - typedef mpl::range_c< size_t , 1 , stage_count > stage_indices; - - typedef typename fusion::result_of::as_vector - < - typename mpl::copy - < - stage_indices , - mpl::inserter - < - mpl::vector0< > , - mpl::push_back< mpl::_1 , array_wrapper< double , mpl::_2 > > - > - >::type - >::type coef_a_type; - - typedef boost::array< double , stage_count > coef_b_type; - typedef boost::array< double , stage_count > coef_c_type; - - typedef typename fusion::result_of::as_vector - < - typename mpl::push_back - < - typename mpl::copy - < - stage_indices, - mpl::inserter - < - mpl::vector0<> , - mpl::push_back< mpl::_1 , stage_wrapper< double , mpl::_2 , intermediate_stage > > - > - >::type , - stage< double , stage_count , last_stage > - >::type - >::type stage_vector_base; - - - struct stage_vector : public stage_vector_base - { - struct do_insertion - { - stage_vector_base &m_base; - const coef_a_type &m_a; - const coef_c_type &m_c; - - do_insertion( stage_vector_base &base , const coef_a_type &a , const coef_c_type &c ) - : m_base( base ) , m_a( a ) , m_c( c ) { } - - template< class Index > - void operator()( Index ) const - { - //fusion::at< Index >( m_base ) = stage< double , Index::value+1 , intermediate_stage >( m_c[ Index::value ] , fusion::at< Index >( m_a ) ); - fusion::at< Index >( m_base ).c = m_c[ Index::value ]; - fusion::at< Index >( m_base ).a = fusion::at< Index >( m_a ); - } - }; - - stage_vector( const coef_a_type &a , const coef_b_type &b , const coef_c_type &c ) - { - typedef mpl::range_c< size_t , 0 , stage_count - 1 > indices; - mpl::for_each< indices >( do_insertion( *this , a , c ) ); - //fusion::at_c< 0 >( fusion::at_c< stage_count - 1 >( *this ) ) = stage_count - 1 ; - fusion::at_c< stage_count - 1 >( *this ).c = c[ stage_count - 1 ]; - fusion::at_c< stage_count - 1 >( *this ).b = b; - } - }; - - - - template< class System > - struct calculate_stage - { - System &system; - state_type &x , &x_tmp; - state_type *F; - const double t; - const double dt; - - calculate_stage( System &_system , state_type &_x , state_type &_x_tmp , state_type *_F , - const double _t , const double _dt ) - : system( _system ) , x( _x ) , x_tmp( _x_tmp ) , F( _F ) , t( _t ) , dt( _dt ) - {} - - - template< typename T , size_t stage_number > - void inline operator()( stage< T , stage_number , intermediate_stage > const &stage ) const - //typename stage_fusion_wrapper< T , mpl::size_t< stage_number > , intermediate_stage >::type const &stage ) const - { - if( stage_number == 1 ) - system( x , F[stage_number-1] , t + stage.c * dt ); - else - system( x_tmp , F[stage_number-1] , t + stage.c * dt ); - - fusion_algebra::foreach( x_tmp , x , stage.a , F , dt); - } - - - template< typename T , size_t stage_number > - void inline operator()( stage< T , stage_number , last_stage > const &stage ) const - //void operator()( typename stage_fusion_wrapper< T , mpl::size_t< stage_number > , last_stage >::type const &stage ) const - { - if( stage_number == 1 ) - system( x , F[stage_number-1] , t + stage.c * dt ); - else - system( x_tmp , F[stage_number-1] , t + stage.c * dt ); - - fusion_algebra::foreach( x , x , stage.b , F , dt); - } - - - }; - -public: - - explicit_rk( const coef_a_type &a , - const coef_b_type &b , - const coef_c_type &c ) - : m_stages( a , b , c ) - - { } - - - template< class System > - void inline do_step( System system , state_type &x , const double t , const double dt ) - { - fusion::for_each( m_stages , calculate_stage< System >( system , x , m_x_tmp , m_F , t , dt ) ); - } - -private: - - stage_vector m_stages; - state_type m_x_tmp; - -protected: - state_type m_F[stage_count]; - -}; - -#endif /* FUSION_EXPLICIT_RK_HPP_ */ diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/generic_odeint_rk4_lorenz.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/generic_odeint_rk4_lorenz.cpp deleted file mode 100644 index 1a6193e..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/generic_odeint_rk4_lorenz.cpp +++ /dev/null @@ -1,84 +0,0 @@ -/* - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#include - -//#include -#include -#include - -#include "rk_performance_test_case.hpp" - -#include "lorenz.hpp" - -using namespace boost::numeric::odeint; - -typedef boost::array< double , 3 > state_type; - -/* -typedef explicit_generic_rk< 4 , 4 , state_type , double , state_type , double , array_algebra > rk4_type; - -typedef rk4_type::coef_a_type coef_a_type; -typedef rk4_type::coef_b_type coef_b_type; -typedef rk4_type::coef_c_type coef_c_type; - -const boost::array< double , 1 > a1 = {{ 0.5 }}; -const boost::array< double , 2 > a2 = {{ 0.0 , 0.5 }}; -const boost::array< double , 3 > a3 = {{ 0.0 , 0.0 , 1.0 }}; - -const coef_a_type a = fusion::make_vector( a1 , a2 , a3 ); -const coef_b_type b = {{ 1.0/6 , 1.0/3 , 1.0/3 , 1.0/6 }}; -const coef_c_type c = {{ 0.0 , 0.5 , 0.5 , 1.0 }}; -*/ - -typedef runge_kutta4< state_type , double , state_type , double , array_algebra > rk4_type; - - -class rk4_wrapper -{ - -public: - - rk4_wrapper() - // : m_stepper( a , b , c ) - {} - - void reset_init_cond() - { - m_x[0] = 10.0 * rand() / RAND_MAX; - m_x[1] = 10.0 * rand() / RAND_MAX; - m_x[2] = 10.0 * rand() / RAND_MAX; - m_t = 0.0; - } - - inline void do_step( const double dt ) - { - m_stepper.do_step( lorenz(), m_x , m_t , dt ); - } - - double state( const size_t i ) const - { return m_x[i]; } - -private: - state_type m_x; - double m_t; - rk4_type m_stepper; -}; - - - -int main() -{ - srand( 12312354 ); - - rk4_wrapper stepper; - - run( stepper ); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/gsl_rk4_lorenz.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/gsl_rk4_lorenz.cpp deleted file mode 100644 index 7cf3116..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/gsl_rk4_lorenz.cpp +++ /dev/null @@ -1,71 +0,0 @@ -/* - * gsl_rk4_lorenz.cpp - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#include - -#include "rk_performance_test_case.hpp" - -#include "lorenz_gsl.hpp" - -const size_t dim = 3; - -class gsl_wrapper -{ -public: - - gsl_wrapper() - { - m_s = gsl_odeiv_step_alloc( gsl_odeiv_step_rk4 , dim); - m_sys.function = lorenz_gsl; - m_sys.jacobian = 0; - m_sys.dimension = dim; - m_sys.params = 0; - } - - void reset_init_cond() - { - m_x[0] = 10.0 * rand() / RAND_MAX; - m_x[1] = 10.0 * rand() / RAND_MAX; - m_x[2] = 10.0 * rand() / RAND_MAX; - m_t = 0.0; - } - - inline void do_step( const double dt ) - { - gsl_odeiv_step_apply ( m_s , m_t , dt , m_x , m_x_err , 0 , 0 , &m_sys ); - //m_t += dt; - } - - double state( const size_t i ) const - { return m_x[i]; } - - ~gsl_wrapper() - { - gsl_odeiv_step_free( m_s ); - } - -private: - double m_x[dim]; - double m_x_err[dim]; - double m_t; - gsl_odeiv_step *m_s; - gsl_odeiv_system m_sys; -}; - - - -int main() -{ - gsl_wrapper stepper; - - run( stepper , 20000000 / 3 , 1E-10 * 3); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/lorenz.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/lorenz.hpp deleted file mode 100644 index 199c393..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/lorenz.hpp +++ /dev/null @@ -1,46 +0,0 @@ -/* - * lorenz.hpp - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef LORENZ_HPP_ -#define LORENZ_HPP_ - -#include - -struct lorenz -{ - template< class state_type > - void inline operator()( const state_type &x , state_type &dxdt , const double t ) const - { - const double sigma = 10.0; - const double R = 28.0; - const double b = 8.0 / 3.0; - dxdt[0] = sigma * ( x[1] - x[0] ); - dxdt[1] = R * x[0] - x[1] - x[0] * x[2]; - dxdt[2] = x[0]*x[1] - b * x[2]; - } -}; - - -typedef boost::array< double , 3 > state_type; - - -inline void lorenz_func( const state_type &x , state_type &dxdt , const double t ) -{ - const double sigma = 10.0; - const double R = 28.0; - const double b = 8.0 / 3.0; - dxdt[0] = sigma * ( x[1] - x[0] ); - dxdt[1] = R * x[0] - x[1] - x[0] * x[2]; - dxdt[2] = x[0]*x[1] - b * x[2]; -} - -#endif /* LORENZ_HPP_ */ diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/lorenz_gsl.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/lorenz_gsl.hpp deleted file mode 100644 index 42891f8..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/lorenz_gsl.hpp +++ /dev/null @@ -1,30 +0,0 @@ -/* - * lorenz_gsl.hpp - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef LORENZ_GSL_HPP_ -#define LORENZ_GSL_HPP_ - -#include - -int lorenz_gsl( const double t , const double y[] , double f[] , void *params) -{ - const double sigma = 10.0; - const double R = 28.0; - const double b = 8.0 / 3.0; - - f[0] = sigma * ( y[1] - y[0] ); - f[1] = R * y[0] - y[1] - y[0] * y[2]; - f[2] = y[0]*y[1] - b * y[2]; - return GSL_SUCCESS; -} - -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/nr_rk4_lorenz.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/nr_rk4_lorenz.cpp deleted file mode 100644 index 967383b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/nr_rk4_lorenz.cpp +++ /dev/null @@ -1,84 +0,0 @@ -/* - * nr_rk4_lorenz.cpp - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#include - -#include "rk_performance_test_case.hpp" - -#include "lorenz.hpp" - -const size_t dim = 3; - -typedef boost::array< double , dim > state_type; - - -template< class System , typename T , size_t dim > -void rk4_step( const System sys , boost::array< T , dim > &x , const double t , const double dt ) -{ // fast rk4 implementation adapted from the book 'Numerical Recipes' - size_t i; - const double hh = dt*0.5; - const double h6 = dt/6.0; - const double th = t+hh; - boost::array< T , dim > dydx , dym , dyt , yt; - - sys( x , dydx , t ); - - for( i=0 ; i - -#include "rk_performance_test_case.hpp" - -#include "phase_lattice.hpp" - -const size_t dim = 1024; - -typedef boost::array< double , dim > state_type; - - -template< class System , typename T , size_t dim > -void rk4_step( const System sys , boost::array< T , dim > &x , const double t , const double dt ) -{ // fast rk4 implementation adapted from the book 'Numerical Recipes' - size_t i; - const double hh = dt*0.5; - const double h6 = dt/6.0; - const double th = t+hh; - boost::array< T , dim > dydx , dym , dyt , yt; - - sys( x , dydx , t ); - - for( i=0 ; i() , m_x , m_t , dt ); - } - - double state( const size_t i ) const - { return m_x[i]; } - -private: - state_type m_x; - double m_t; -}; - - - -int main() -{ - srand( 12312354 ); - - nr_wrapper stepper; - - run( stepper , 10000 , 1E-6 ); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_lorenz_array.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_lorenz_array.cpp deleted file mode 100644 index 2a7dbe8..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_lorenz_array.cpp +++ /dev/null @@ -1,71 +0,0 @@ -/* - * odeint_rk4_lorenz.cpp - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#include - -#include -#include -#include - -#include "rk_performance_test_case.hpp" - -#include "lorenz.hpp" - -typedef boost::array< double , 3 > state_type; -typedef boost::numeric::odeint::runge_kutta4< state_type , double , state_type , double , - boost::numeric::odeint::array_algebra > rk4_odeint_type; - - -class odeint_wrapper -{ -public: - void reset_init_cond() - { - /* random */ - /* - m_x[0] = 10.0 * rand() / RAND_MAX; - m_x[1] = 10.0 * rand() / RAND_MAX; - m_x[2] = 10.0 * rand() / RAND_MAX; - */ - /* hand chosen random (cf fortran) */ - m_x[0] = 8.5; - m_x[1] = 3.1; - m_x[2] = 1.2; - - m_t = 0.0; - } - - inline void do_step( const double dt ) - { - m_stepper.do_step( lorenz() , m_x , m_t , dt ); - //m_t += dt; - } - - double state( const size_t i ) const - { return m_x[i]; } - -private: - state_type m_x; - double m_t; - rk4_odeint_type m_stepper; -}; - - - -int main() -{ - srand( 12312354 ); - - odeint_wrapper stepper; - - run( stepper ); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_lorenz_range.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_lorenz_range.cpp deleted file mode 100644 index ab0a268..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_lorenz_range.cpp +++ /dev/null @@ -1,59 +0,0 @@ -/* - * odeint_rk4_lorenz_def_alg.cpp - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#include - -#include -#include - -#include "rk_performance_test_case.hpp" - -#include "lorenz.hpp" - -typedef boost::array< double , 3 > state_type; -typedef boost::numeric::odeint::runge_kutta4_classic< state_type > rk4_odeint_type; - - -class odeint_wrapper -{ -public: - void reset_init_cond() - { - m_x[0] = 10.0 * rand() / RAND_MAX; - m_x[1] = 10.0 * rand() / RAND_MAX; - m_x[2] = 10.0 * rand() / RAND_MAX; - m_t = 0.0; - } - - inline void do_step( const double dt ) - { - m_stepper.do_step( lorenz() , m_x , m_t , dt ); - //m_t += dt; - } - - double state( const size_t i ) const - { return m_x[i]; } - -private: - state_type m_x; - double m_t; - rk4_odeint_type m_stepper; -}; - - - -int main() -{ - odeint_wrapper stepper; - - run( stepper ); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_phase_lattice.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_phase_lattice.cpp deleted file mode 100644 index 038a13c..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_phase_lattice.cpp +++ /dev/null @@ -1,64 +0,0 @@ -/* - * odeint_rk4_phase_lattice.cpp - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#include - -#include - -#include -#include -#include - -#include "rk_performance_test_case.hpp" - -#include "phase_lattice.hpp" - -const size_t N = 1024; - -typedef boost::array< double , N > state_type; -typedef boost::numeric::odeint::runge_kutta4_classic< state_type , double , state_type , double , boost::numeric::odeint::array_algebra> rk4_odeint_type; - -class odeint_wrapper -{ -public: - void reset_init_cond() - { - for( size_t i = 0 ; i() , m_x , m_t , dt ); - //m_t += dt; - } - - double state( const size_t i ) const - { return m_x[i]; } - -private: - state_type m_x; - double m_t; - rk4_odeint_type m_stepper; -}; - - - -int main() -{ - srand( 12312354 ); - - odeint_wrapper stepper; - - run( stepper , 10000 , 1E-6 ); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_phase_lattice_mkl.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_phase_lattice_mkl.cpp deleted file mode 100644 index 82315ec..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_phase_lattice_mkl.cpp +++ /dev/null @@ -1,69 +0,0 @@ -/* - * odeint_rk4_phase_lattice_mkl.cpp - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#include - -#include -#include -#include - - -#include "rk_performance_test_case.hpp" - -#include "phase_lattice.hpp" -#include "phase_lattice_mkl.hpp" - -const size_t N = 1024; - -typedef boost::array< double , N > state_type; -typedef boost::numeric::odeint::runge_kutta4< state_type - , double , state_type , double , - boost::numeric::odeint::vector_space_algebra , - boost::numeric::odeint::mkl_operations - > rk4_odeint_type; - - -class odeint_wrapper -{ -public: - void reset_init_cond() - { - for( size_t i = 0 ; i() , m_x , m_t , dt ); - //m_t += dt; - } - - double state( const size_t i ) const - { return m_x[i]; } - -private: - state_type m_x; - double m_t; - rk4_odeint_type m_stepper; -}; - - - -int main() -{ - srand( 12312354 ); - - odeint_wrapper stepper; - - run( stepper , 10000 , 1E-6 ); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/performance.py b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/performance.py deleted file mode 100644 index cdba9f2..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/performance.py +++ /dev/null @@ -1,70 +0,0 @@ -""" - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -""" - - -from os import popen -from os import system -from os.path import isfile -from numpy import * -#from pylab import * - -#toolset = "gcc-4.5" -#toolset = "intel-11.1" -toolset = "msvc" -#toolset = "msvc-10.0" - -#bin_path = "bin/gcc-4.5/release/" -#bin_path = "bin/intel-linux-11.1/release/" -bin_path = "bin\\msvc-10.0\\release\\threading-multi\\" -extension = ".exe" -#extension = "" - -bins = [ "odeint_rk4_lorenz_array" , "odeint_rk4_lorenz_range" , "generic_odeint_rk4_lorenz" , "nr_rk4_lorenz" , "rt_generic_rk4_lorenz" , "gsl_rk4_lorenz" ] - -results = [] - -print "Performance tests for " , bin_path -print - -for bin in bins: - #system( "bjam toolset=" + toolset + " -a " + bin ); - if isfile( bin_path + bin + extension): - print "Running" , bin - res = popen( bin_path+bin+extension ).read() - print bin , res - results.append( res ) - else: - print "no executable found:" , bin_path + bin + extension - results.append( 0 ) - -print "Results from" , bin_path -print - -for i in range(len(bins)): - print bins[i] , results[i] - -res = array( results , dtype='float' ) -savetxt( bin_path + "rk4_lorenz.dat" , res ) - -res = 100*res[0]/res - -bar_width = 0.6 - -""" -figure(1) -title("Runge-Kutta 4 with " + toolset , fontsize=20) -bar( arange(6) , res , bar_width , color='blue' , linewidth=4 , edgecolor='blue' , ecolor='red') #, elinewidth=2, ecolor='red' ) -xlim( -0.5 , 5.5+bar_width ) -xticks( arange(6)+bar_width/2 , ('array' , 'range' , 'generic' , 'NR' , 'rt gen' , 'gsl' ) ) -ylabel('Performance in %' , fontsize=20) - -savefig( bin_path + "rk4_lorenz.png" ) - -show() -""" diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/phase_lattice.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/phase_lattice.hpp deleted file mode 100644 index 6a8f44b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/phase_lattice.hpp +++ /dev/null @@ -1,43 +0,0 @@ -/* - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#include - -#include - -template< size_t N > -struct phase_lattice -{ - typedef double value_type; - typedef boost::array< value_type , N > state_type; - - value_type m_epsilon; - state_type m_omega; - - phase_lattice() : m_epsilon( 6.0/(N*N) ) // should be < 8/N^2 to see phase locking - { - for( size_t i=1 ; i - -#include -#include -#include - -template< size_t N > -struct phase_lattice_mkl -{ - typedef double value_type; - typedef boost::array< value_type , N > state_type; - - value_type m_epsilon; - state_type m_omega; - state_type m_tmp; - - phase_lattice_mkl() : m_epsilon( 6.0/(N*N) ) // should be < 8/N^2 to see phase locking - { - for( size_t i=1 ; i -#include -#include -#include - -#define tab "\t" - -using namespace std; -using namespace boost::accumulators; - -typedef accumulator_set< - double , stats< tag::mean , tag::variance > - > accumulator_type; - -ostream& operator<<( ostream& out , accumulator_type &acc ) -{ - out << boost::accumulators::mean( acc ) << tab; -// out << boost::accumulators::variance( acc ) << tab; - return out; -} - -typedef boost::timer timer_type; - - -template< class Stepper > -void run( Stepper &stepper , const size_t num_of_steps = 20000000 , const double dt = 1E-10 ) -{ - const size_t loops = 20; - - accumulator_type acc; - timer_type timer; - - srand( 12312354 ); - - // transient - //stepper.reset_init_cond( ); - //for( size_t i = 0 ; i < num_of_steps ; ++i ) - // stepper.do_step( dt ); - - for( size_t n=0 ; n0 ) - { // take first run as transient - acc(timer.elapsed()); - clog.precision(8); - clog.width(10); - clog << acc << " " << stepper.state(0) << endl; - } - } - cout << acc << endl; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_algebra.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_algebra.hpp deleted file mode 100644 index 311dce1..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_algebra.hpp +++ /dev/null @@ -1,32 +0,0 @@ -/* - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#include - -using namespace std; - -struct rt_algebra -{ - template< typename T , size_t dim > - inline static void foreach( boost::array< T , dim > & x_tmp , - const boost::array< T , dim > &x , - //const vector< double > &a , - const double* a , - const boost::array< T , dim > *k_vector , - const double dt , const size_t s ) - { - for( size_t i=0 ; i - -#include "rt_algebra.hpp" - -using namespace std; - -template< class StateType > -class rt_explicit_rk -{ -public: - typedef StateType state_type; - typedef double* const * coeff_a_type; - typedef vector< double > coeff_b_type; - typedef vector< double > coeff_c_type; - - rt_explicit_rk( size_t stage_count ) : m_s( stage_count ) - { - m_F = new state_type[ m_s ]; - } - - rt_explicit_rk( const size_t stage_count , - const coeff_a_type a , - const coeff_b_type &b , const coeff_c_type &c ) - : m_s( stage_count ) , m_a( a ) , m_b( b ) , m_c( c ) - { - m_F = new state_type[ m_s ]; - } - - ~rt_explicit_rk() - { - delete[] m_F; - } - - /* void set_params( coeff_a_type &a , coeff_b_type &b , coeff_c_type &c ) - { - m_a = a; - m_b = b; - m_c = c; - }*/ - - template< class System > - void do_step( System sys , state_type &x , const double t , const double dt ) - { - // first stage separately - sys( x , m_F[0] , t + m_c[0]*t ); - if( m_s == 1 ) - rt_algebra::foreach( x , x , &m_b[0] , m_F , dt , 1 ); - else - rt_algebra::foreach( m_x_tmp , x , m_a[0] , m_F , dt , 1 ); - - for( size_t stage = 2 ; stage <= m_s ; ++stage ) - { - sys( m_x_tmp , m_F[stage-1] , t + m_c[stage-1]*dt ); - if( stage == m_s ) - rt_algebra::foreach( x , x , &m_b[0] , m_F , dt , stage-1 ); - else - rt_algebra::foreach( m_x_tmp , x , m_a[stage-1] , m_F , dt , stage-1 ); - } - } - - -private: - const size_t m_s; - const coeff_a_type m_a; - const coeff_b_type m_b; - const coeff_c_type m_c; - - state_type m_x_tmp; - state_type *m_F; -}; - -#endif /* RT_EXPLICIT_RK_HPP_ */ diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_generic_rk4_lorenz.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_generic_rk4_lorenz.cpp deleted file mode 100644 index 0bcb61c..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_generic_rk4_lorenz.cpp +++ /dev/null @@ -1,81 +0,0 @@ -/* - * rt_generic_rk4_lorenz.cpp - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#include - -#include "rt_explicit_rk.hpp" - -#include "rk_performance_test_case.hpp" - -#include "lorenz.hpp" - -typedef boost::array< double , 3 > state_type; - -typedef rt_explicit_rk< state_type > rk_stepper_type; - -const size_t stage_count = 4; - - -class rt_generic_wrapper -{ -public: - - rt_generic_wrapper( const double * const * a , - const rk_stepper_type::coeff_b_type &b , - const rk_stepper_type::coeff_c_type &c ) - : m_stepper( stage_count , - (rk_stepper_type::coeff_a_type) a , b , c ) - { } - - void reset_init_cond() - { - m_x[0] = 10.0 * rand() / RAND_MAX; - m_x[1] = 10.0 * rand() / RAND_MAX; - m_x[2] = 10.0 * rand() / RAND_MAX; - m_t = 0.0; - } - - inline void do_step( const double dt ) - { - m_stepper.do_step( lorenz() , m_x , m_t , dt ); - //m_t += dt; - } - - double state( const size_t i ) const - { return m_x[i]; } - -private: - state_type m_x; - double m_t; - rk_stepper_type m_stepper; -}; - - - -int main() -{ - - const double a_tmp[3*4/2] = { 0.5 , - 0.0 , 1.0 , - 0.0 , 0.0 , 1.0 }; - const double* const a[3] = { a_tmp , a_tmp+1 , a_tmp+3 }; - - rk_stepper_type::coeff_b_type b( stage_count ); - b[0] = 1.0/6; b[1] = 1.0/3; b[2] = 1.0/3; b[3] = 1.0/6; - - rk_stepper_type::coeff_c_type c( stage_count ); - c[0] = 0.0; c[1] = 0.5; c[2] = 0.5; c[3] = 1.0; - - rt_generic_wrapper stepper( a , b , c ); - - run( stepper ); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_generic_rk4_phase_lattice.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_generic_rk4_phase_lattice.cpp deleted file mode 100644 index 08676c5..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_generic_rk4_phase_lattice.cpp +++ /dev/null @@ -1,83 +0,0 @@ -/* - * rt_generic_rk4_lorenz.cpp - * - * Copyright 2009-2012 Karsten Ahnert - * Copyright 2009-2012 Mario Mulansky - * - * Distributed under the Boost Software License, Version 1.0. - * (See accompanying file LICENSE_1_0.txt or - * copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#include - -#include "rt_explicit_rk.hpp" - -#include "rk_performance_test_case.hpp" - -#include "phase_lattice.hpp" - -const size_t N = 1024; - -typedef boost::array< double , N > state_type; - -typedef rt_explicit_rk< state_type > rk_stepper_type; - -const size_t stage_count = 4; - - -class rt_generic_wrapper -{ -public: - - rt_generic_wrapper( const double * const * a , - const rk_stepper_type::coeff_b_type &b , - const rk_stepper_type::coeff_c_type &c ) - : m_stepper( stage_count , - (rk_stepper_type::coeff_a_type) a , b , c ) - { } - - void reset_init_cond() - { - for( size_t i = 0 ; i() , m_x , m_t , dt ); - //m_t += dt; - } - - double state( const size_t i ) const - { return m_x[i]; } - -private: - state_type m_x; - double m_t; - rk_stepper_type m_stepper; -}; - - - -int main() -{ - srand( 12312354 ); - - const double a_tmp[3*4/2] = { 0.5 , - 0.0 , 1.0 , - 0.0 , 0.0 , 1.0 }; - const double* const a[3] = { a_tmp , a_tmp+1 , a_tmp+3 }; - - rk_stepper_type::coeff_b_type b( stage_count ); - b[0] = 1.0/6; b[1] = 1.0/3; b[2] = 1.0/3; b[3] = 1.0/6; - - rk_stepper_type::coeff_c_type c( stage_count ); - c[0] = 0.0; c[1] = 0.5; c[2] = 0.5; c[3] = 1.0; - - rt_generic_wrapper stepper( a , b , c ); - - run( stepper , 10000 , 1E-6 ); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/Jamfile.v2 b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/Jamfile.v2 deleted file mode 100644 index 9e35a51..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/Jamfile.v2 +++ /dev/null @@ -1,55 +0,0 @@ -# (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky -# Distributed under the Boost Software License, Version 1.0. -# (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) - -# bring in rules for testing - - -import testing ; - -use-project boost : $(BOOST_ROOT) ; - -project - : requirements - /boost/test//boost_unit_test_framework - BOOST_ALL_NO_LIB=1 - ../../../.. - static - clang:-Wno-unused-variable - -# -D_SCL_SECURE_NO_WARNINGS - ; - -test-suite "odeint" - : - [ run euler_stepper.cpp ] - [ run runge_kutta_concepts.cpp ] - [ run runge_kutta_error_concepts.cpp ] - [ run runge_kutta_controlled_concepts.cpp ] - [ run resizing.cpp ] - [ run default_operations.cpp ] - [ run range_algebra.cpp ] - [ run implicit_euler.cpp ] - [ run fusion_algebra.cpp ] - [ run stepper_with_units.cpp ] - [ run stepper_copying.cpp ] - [ run stepper_with_ranges.cpp ] - [ run rosenbrock4.cpp ] - [ run is_pair.cpp ] - [ run adams_bashforth.cpp ] - [ run adams_moulton.cpp ] - [ run adams_bashforth_moulton.cpp ] - [ run generic_stepper.cpp ] - [ run generic_error_stepper.cpp ] - [ run bulirsch_stoer.cpp ] - [ run integrate_times.cpp ] - [ run integrate.cpp ] - [ run integrate_implicit.cpp ] - [ run generation.cpp ] - [ run trivial_state.cpp ] - [ run is_resizeable.cpp ] - [ run resize.cpp ] - [ run same_size.cpp ] - [ run symplectic_steppers.cpp ] - : valgrind - ; diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_bashforth.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_bashforth.cpp deleted file mode 100644 index 02672b7..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_bashforth.cpp +++ /dev/null @@ -1,232 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/adams_bashforth.cpp - - [begin_description] - This file tests the use of the adams bashforth stepper. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -// disable checked iterator warning for msvc - -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE odeint_adams_bashforth - -#include - -#include - -#include - -#include -#include -#include - - -#include -#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - -typedef double value_type; - -struct lorenz -{ - template< class State , class Deriv , class Value > - void operator()( const State &_x , Deriv &_dxdt , const Value &dt ) const - { - const value_type sigma = 10.0; - const value_type R = 28.0; - const value_type b = 8.0 / 3.0; - - typename boost::range_iterator< const State >::type x = boost::begin( _x ); - typename boost::range_iterator< Deriv >::type dxdt = boost::begin( _dxdt ); - - dxdt[0] = sigma * ( x[1] - x[0] ); - dxdt[1] = R * x[0] - x[1] - x[0] * x[2]; - dxdt[2] = x[0]*x[1] - b * x[2]; - } -}; - -template< class State > -class rk4_decorator -{ -public: - - size_t do_count; - - template< class System , class StateIn , class DerivIn , class StateOut > - void do_step( System system , const StateIn &in , const DerivIn &dxdt , value_type t , StateOut &out , value_type dt ) - { - m_stepper.do_step( system , in , dxdt , t , out , dt ); - ++do_count; - } - - template< class System , class StateInOut , class DerivIn > - void do_step( System system , StateInOut &x , const DerivIn &dxdt , value_type t , value_type dt ) - { - m_stepper.do_step( system , x , dxdt , t , dt ); - ++do_count; - } - - - runge_kutta4< State > m_stepper; - -private: - - -}; - - -BOOST_AUTO_TEST_SUITE( adams_bashforth_test ) - -BOOST_AUTO_TEST_CASE( test_adams_bashforth_coefficients ) -{ - detail::adams_bashforth_coefficients< value_type , 1 > c1; - detail::adams_bashforth_coefficients< value_type , 2 > c2; - detail::adams_bashforth_coefficients< value_type , 3 > c3; - detail::adams_bashforth_coefficients< value_type , 4 > c4; - detail::adams_bashforth_coefficients< value_type , 5 > c5; - detail::adams_bashforth_coefficients< value_type , 6 > c6; - detail::adams_bashforth_coefficients< value_type , 7 > c7; - detail::adams_bashforth_coefficients< value_type , 8 > c8; -} - -BOOST_AUTO_TEST_CASE( test_rotating_buffer ) -{ - const size_t N = 5; - detail::rotating_buffer< size_t , N > buffer; - for( size_t i=0 ; i state_type; - typedef adams_bashforth< 2 , state_type > stepper_type; - - stepper_type s1; - s1.step_storage()[0].m_v[0] = 1.5; - s1.step_storage()[1].m_v[0] = 2.25; - - stepper_type s2( s1 ); - BOOST_CHECK_CLOSE( s1.step_storage()[0].m_v[0] , s2.step_storage()[0].m_v[0] , 1.0e-14 ); - BOOST_CHECK_CLOSE( s1.step_storage()[1].m_v[0] , s2.step_storage()[1].m_v[0] , 1.0e-14 ); - BOOST_CHECK( ( &(s1.step_storage()[0]) ) != ( &(s2.step_storage()[0]) ) ); - - stepper_type s3; - state_type *p1 = &( s3.step_storage()[0].m_v ) , *p2 = &( s3.step_storage()[1].m_v ); - s3 = s1; - BOOST_CHECK( p1 == ( &( s3.step_storage()[0].m_v ) ) ); - BOOST_CHECK( p2 == ( &( s3.step_storage()[1].m_v ) ) ); - - BOOST_CHECK_CLOSE( s1.step_storage()[0].m_v[0] , s3.step_storage()[0].m_v[0] , 1.0e-14 ); - BOOST_CHECK_CLOSE( s1.step_storage()[1].m_v[0] , s3.step_storage()[1].m_v[0] , 1.0e-14 ); -} - -typedef boost::mpl::range_c< size_t , 1 , 6 > vector_of_steps; - -BOOST_AUTO_TEST_CASE_TEMPLATE( test_init_and_steps , step_type , vector_of_steps ) -{ - const static size_t steps = step_type::value; - typedef boost::array< value_type , 3 > state_type; - - adams_bashforth< steps , state_type > stepper; - state_type x = {{ 10.0 , 10.0 , 10.0 }}; - const value_type dt = 0.01; - value_type t = 0.0; - - stepper.initialize( lorenz() , x , t , dt ); - BOOST_CHECK_CLOSE( t , value_type( steps - 1 ) * dt , 1.0e-14 ); - - stepper.do_step( lorenz() , x , t , dt ); -} - -BOOST_AUTO_TEST_CASE( test_instantiation ) -{ - typedef boost::array< double , 3 > state_type; - adams_bashforth< 1 , state_type > s1; - adams_bashforth< 2 , state_type > s2; - adams_bashforth< 3 , state_type > s3; - adams_bashforth< 4 , state_type > s4; - adams_bashforth< 5 , state_type > s5; - adams_bashforth< 6 , state_type > s6; - adams_bashforth< 7 , state_type > s7; - adams_bashforth< 8 , state_type > s8; - - state_type x = {{ 10.0 , 10.0 , 10.0 }}; - value_type t = 0.0 , dt = 0.01; - s1.do_step( lorenz() , x , t , dt ); - s2.do_step( lorenz() , x , t , dt ); - s3.do_step( lorenz() , x , t , dt ); - s4.do_step( lorenz() , x , t , dt ); - s5.do_step( lorenz() , x , t , dt ); - s6.do_step( lorenz() , x , t , dt ); -// s7.do_step( lorenz() , x , t , dt ); -// s8.do_step( lorenz() , x , t , dt ); -} - -BOOST_AUTO_TEST_CASE( test_auto_initialization ) -{ - typedef boost::array< double , 3 > state_type; - state_type x = {{ 10.0 , 10.0 , 10.0 }}; - - adams_bashforth< 3 , state_type , value_type , state_type , value_type , range_algebra , default_operations , - initially_resizer , rk4_decorator< state_type > > adams; - - adams.initializing_stepper().do_count = 0; - adams.do_step( lorenz() , x , 0.0 , x , 0.1 ); - BOOST_CHECK_EQUAL( adams.initializing_stepper().do_count , size_t( 1 ) ); - - adams.do_step( lorenz() , x , 0.0 , x , 0.1 ); - BOOST_CHECK_EQUAL( adams.initializing_stepper().do_count , size_t( 2 ) ); - - adams.do_step( lorenz() , x , 0.0 , x , 0.1 ); - BOOST_CHECK_EQUAL( adams.initializing_stepper().do_count , size_t( 2 ) ); - - adams.do_step( lorenz() , x , 0.0 , x , 0.1 ); - BOOST_CHECK_EQUAL( adams.initializing_stepper().do_count , size_t( 2 ) ); - - adams.do_step( lorenz() , x , 0.0 , x , 0.1 ); - BOOST_CHECK_EQUAL( adams.initializing_stepper().do_count , size_t( 2 ) ); -} - -BOOST_AUTO_TEST_CASE( test_manual_initialization ) -{ - typedef boost::array< double , 3 > state_type; - state_type x = {{ 10.0 , 10.0 , 10.0 }}; - - adams_bashforth< 3 , state_type , value_type , state_type , value_type , range_algebra , default_operations , - initially_resizer , rk4_decorator< state_type > > adams; - - adams.initializing_stepper().do_count = 0; - double t = 0.0 , dt = 0.1; - adams.initialize( lorenz() , x , t , dt ); - BOOST_CHECK_EQUAL( adams.initializing_stepper().do_count , size_t( 2 ) ); - - adams.do_step( lorenz() , x , 0.0 , x , 0.1 ); - BOOST_CHECK_EQUAL( adams.initializing_stepper().do_count , size_t( 2 ) ); -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_bashforth_moulton.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_bashforth_moulton.cpp deleted file mode 100644 index 55af50d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_bashforth_moulton.cpp +++ /dev/null @@ -1,112 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/adams_bashforth_moulton.cpp - - [begin_description] - This file tests the use of the Adams-Bashforth-Moulton. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#define BOOST_TEST_MODULE odeint_adams_bashforth_moulton - -#include - -#include - -#include -#include -#include - -#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - -typedef double value_type; - -struct lorenz -{ - template< class State , class Deriv , class Value > - void operator()( const State &_x , Deriv &_dxdt , const Value &dt ) const - { - const value_type sigma = 10.0; - const value_type R = 28.0; - const value_type b = 8.0 / 3.0; - - typename boost::range_iterator< const State >::type x = boost::begin( _x ); - typename boost::range_iterator< Deriv >::type dxdt = boost::begin( _dxdt ); - - dxdt[0] = sigma * ( x[1] - x[0] ); - dxdt[1] = R * x[0] - x[1] - x[0] * x[2]; - dxdt[2] = x[0]*x[1] - b * x[2]; - } -}; - -BOOST_AUTO_TEST_SUITE( adams_bashforth_moulton_test ) - -typedef boost::mpl::range_c< size_t , 1 , 6 > vector_of_steps; - -BOOST_AUTO_TEST_CASE_TEMPLATE( test_init_and_steps , step_type , vector_of_steps ) -{ - const static size_t steps = step_type::value; - typedef boost::array< value_type , 3 > state_type; - - adams_bashforth_moulton< steps , state_type > stepper; - state_type x = {{ 10.0 , 10.0 , 10.0 }}; - const value_type dt = 0.01; - value_type t = 0.0; - - stepper.initialize( lorenz() , x , t , dt ); - BOOST_CHECK_CLOSE( t , value_type( steps - 1 ) * dt , 1.0e-14 ); - - stepper.do_step( lorenz() , x , t , dt ); -} - - -BOOST_AUTO_TEST_CASE( test_copying ) -{ - typedef boost::array< double , 1 > state_type; - typedef adams_bashforth_moulton< 2 , state_type > stepper_type; - - stepper_type s1; - - stepper_type s2( s1 ); - - stepper_type s3; - s3 = s1; - } - - -BOOST_AUTO_TEST_CASE( test_instantiation ) -{ - typedef boost::array< double , 3 > state_type; - adams_bashforth_moulton< 1 , state_type > s1; - adams_bashforth_moulton< 2 , state_type > s2; - adams_bashforth_moulton< 3 , state_type > s3; - adams_bashforth_moulton< 4 , state_type > s4; - adams_bashforth_moulton< 5 , state_type > s5; - adams_bashforth_moulton< 6 , state_type > s6; - adams_bashforth_moulton< 7 , state_type > s7; - adams_bashforth_moulton< 8 , state_type > s8; - - state_type x = {{ 10.0 , 10.0 , 10.0 }}; - value_type t = 0.0 , dt = 0.01; - s1.do_step( lorenz() , x , t , dt ); - s2.do_step( lorenz() , x , t , dt ); - s3.do_step( lorenz() , x , t , dt ); - s4.do_step( lorenz() , x , t , dt ); - s5.do_step( lorenz() , x , t , dt ); - s6.do_step( lorenz() , x , t , dt ); -// s7.do_step( lorenz() , x , t , dt ); -// s8.do_step( lorenz() , x , t , dt ); -} - - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_moulton.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_moulton.cpp deleted file mode 100644 index 10aaf61..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_moulton.cpp +++ /dev/null @@ -1,104 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/adams_moulton.cpp - - [begin_description] - This file tests the use of the Adams-Moulton stepper. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#define BOOST_TEST_MODULE odeint_adams_moulton - -#include - -#include - -#include - -#include -#include -#include - - -#include -#include -#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - -typedef double value_type; - -struct lorenz -{ - template< class State , class Deriv , class Value > - void operator()( const State &_x , Deriv &_dxdt , const Value &dt ) const - { - const value_type sigma = 10.0; - const value_type R = 28.0; - const value_type b = 8.0 / 3.0; - - typename boost::range_iterator< const State >::type x = boost::begin( _x ); - typename boost::range_iterator< Deriv >::type dxdt = boost::begin( _dxdt ); - - dxdt[0] = sigma * ( x[1] - x[0] ); - dxdt[1] = R * x[0] - x[1] - x[0] * x[2]; - dxdt[2] = x[0]*x[1] - b * x[2]; - } -}; - -BOOST_AUTO_TEST_SUITE( adams_moulton_test ) - -BOOST_AUTO_TEST_CASE( test_adams_moulton_coefficients ) -{ - detail::adams_moulton_coefficients< value_type , 1 > c1; - detail::adams_moulton_coefficients< value_type , 2 > c2; - detail::adams_moulton_coefficients< value_type , 3 > c3; - detail::adams_moulton_coefficients< value_type , 4 > c4; - detail::adams_moulton_coefficients< value_type , 5 > c5; - detail::adams_moulton_coefficients< value_type , 6 > c6; - detail::adams_moulton_coefficients< value_type , 7 > c7; - detail::adams_moulton_coefficients< value_type , 8 > c8; -} - -typedef boost::mpl::range_c< size_t , 1 , 6 > vector_of_steps; - -BOOST_AUTO_TEST_CASE_TEMPLATE( test_init_and_steps , step_type , vector_of_steps ) -{ - const static size_t steps = step_type::value; - typedef boost::array< value_type , 3 > state_type; - - adams_moulton< steps , state_type > stepper; -// state_type x = {{ 10.0 , 10.0 , 10.0 }}; -// const value_type dt = 0.01; -// value_type t = 0.0; - -// stepper.do_step( lorenz() , x , t , dt ); -} - -BOOST_AUTO_TEST_CASE( test_instantiation ) -{ - typedef boost::array< double , 3 > state_type; - adams_moulton< 1 , state_type > s1; - adams_moulton< 2 , state_type > s2; - adams_moulton< 3 , state_type > s3; - adams_moulton< 4 , state_type > s4; - adams_moulton< 5 , state_type > s5; - adams_moulton< 6 , state_type > s6; - adams_moulton< 7 , state_type > s7; - adams_moulton< 8 , state_type > s8; - -// state_type x = {{ 10.0 , 10.0 , 10.0 }}; -// value_type t = 0.0 , dt = 0.01; -} - - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/boost_units_helpers.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/boost_units_helpers.hpp deleted file mode 100644 index 11a14eb..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/boost_units_helpers.hpp +++ /dev/null @@ -1,59 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/dummy_boost_units.hpp - - [begin_description] - tba. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - - -#ifndef LIBS_NUMERIC_ODEINT_TEST_DUMMY_BOOST_UNITS_HPP_DEFINED -#define LIBS_NUMERIC_ODEINT_TEST_DUMMY_BOOST_UNITS_HPP_DEFINED - -#include -#include -#include -#include -#include - -#include - - - -typedef double value_type; -typedef boost::units::quantity< boost::units::si::time , value_type > time_type; -typedef boost::units::quantity< boost::units::si::length , value_type > length_type; -typedef boost::units::quantity< boost::units::si::velocity , value_type > velocity_type; -typedef boost::units::quantity< boost::units::si::acceleration , value_type > acceleration_type; - - - -struct oscillator_mom_func_units -{ - template< class Coor , class MomDeriv > - void operator()( const Coor &q , MomDeriv &dp ) const - { - const boost::units::quantity< boost::units::si::frequency , value_type > omega = 1.0 * boost::units::si::hertz; - boost::fusion::at_c< 0 >( dp ) = - omega * omega * boost::fusion::at_c< 0 >( q ); - } -}; - -struct oscillator_coor_func_units -{ - template< class Mom , class CoorDeriv > - void operator()( const Mom &p , CoorDeriv &dq ) const - { - boost::fusion::at_c< 0 >( dq ) = boost::fusion::at_c< 0 >( p ); - } -}; - - -#endif // LIBS_NUMERIC_ODEINT_TEST_DUMMY_BOOST_UNITS_HPP_DEFINED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/bulirsch_stoer.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/bulirsch_stoer.cpp deleted file mode 100644 index 0289ce3..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/bulirsch_stoer.cpp +++ /dev/null @@ -1,137 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/bulirsch_stoer.cpp - - [begin_description] - This file tests the Bulirsch-Stoer stepper. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -// disable checked iterator warning for msvc -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE odeint_bulirsch_stoer - -#include -#include - -#include - -#include - -#include -#include - -#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - -typedef double value_type; -typedef boost::array< value_type , 3 > state_type; - -const double sigma = 10.0; -const double R = 28.0; -const double b = 8.0 / 3.0; - -struct lorenz -{ - template< class State , class Deriv > - void operator()( const State &x , Deriv &dxdt , double t ) const - { - dxdt[0] = sigma * ( x[1] - x[0] ); - dxdt[1] = R * x[0] - x[1] - x[0] * x[2]; - dxdt[2] = -b * x[2] + x[0] * x[1]; - } -}; - -struct const_system -{ - template< class State , class Deriv > - void operator()( const State &x , Deriv &dxdt , double t ) const - { - dxdt[0] = 1.0; - dxdt[1] = 1.0; - dxdt[2] = 1.0; - } -}; - -struct sin_system -{ - template< class State , class Deriv > - void operator()( const State &x , Deriv &dxdt , double t ) const - { - dxdt[0] = sin( x[0] ); - dxdt[1] = cos( x[1] ); - dxdt[2] = sin( x[2] ) + cos( x[2] ); - } -}; - -BOOST_AUTO_TEST_SUITE( bulirsch_stoer_test ) - -BOOST_AUTO_TEST_CASE( test_bulirsch_stoer ) -{ - typedef bulirsch_stoer< state_type > stepper_type; - stepper_type stepper( 1E-9 , 1E-9 , 1.0 , 0.0 ); - - state_type x; - x[0] = 10.0 ; x[1] = 10.0 ; x[2] = 5.0; - - double dt = 0.1; - - //stepper.try_step( lorenz() , x , t , dt ); - - std::cout << "starting integration..." << std::endl; - - size_t steps = integrate_adaptive( stepper , lorenz() , x , 0.0 , 10.0 , dt ); - - std::cout << "required steps: " << steps << std::endl; - - bulirsch_stoer_dense_out< state_type > bs_do( 1E-9 , 1E-9 , 1.0 , 0.0 ); - x[0] = 10.0 ; x[1] = 10.0 ; x[2] = 5.0; - double t = 0.0; - dt = 1E-1; - bs_do.initialize( x , t , dt ); - bs_do.do_step( sin_system() ); - std::cout << "one step successful, new time: " << bs_do.current_time() << " (" << t << ")" << std::endl; - - x = bs_do.current_state(); - std::cout << "x( " << bs_do.current_time() << " ) = [ " << x[0] << " , " << x[1] << " , " << x[2] << " ]" << std::endl; - - bs_do.calc_state( bs_do.current_time()/3 , x ); - std::cout << "x( " << bs_do.current_time()/3 << " ) = [ " << x[0] << " , " << x[1] << " , " << x[2] << " ]" << std::endl; - - std::cout << std::endl << "=======================================================================" << std::endl << std::endl; - - x[0] = 10.0 ; x[1] = 10.0 ; x[2] = 5.0; - t = 0.0; dt /= 3; - bs_do.initialize( x , t , dt ); - bs_do.do_step( sin_system() ); - x = bs_do.current_state(); - std::cout << "x( " << bs_do.current_time() << " ) = [ " << x[0] << " , " << x[1] << " , " << x[2] << " ]" << std::endl; - - t = dt; - bs_do.initialize( x , t , dt ); - bs_do.do_step( sin_system() ); - x = bs_do.current_state(); - - t = 2*dt; - bs_do.initialize( x , t , dt ); - bs_do.do_step( sin_system() ); - x = bs_do.current_state(); - - std::cout << "x( " << bs_do.current_time() << " ) = [ " << x[0] << " , " << x[1] << " , " << x[2] << " ]" << std::endl; -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/const_range.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/const_range.hpp deleted file mode 100644 index f74614f..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/const_range.hpp +++ /dev/null @@ -1,50 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/const_range.hpp - - [begin_description] - tba. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - - -#ifndef LIBS_NUMERIC_ODEINT_TEST_CONST_RANGE_HPP_DEFINED -#define LIBS_NUMERIC_ODEINT_TEST_CONST_RANGE_HPP_DEFINED - -#include -#include -#include -#include -#include -#include -#include - - -namespace mpl = boost::mpl; - - - -template< class N , class T > -struct const_range -{ - typedef typename mpl::copy< - mpl::range_c< typename N::value_type , 0 , N::value > , - mpl::inserter< - mpl::vector0<> , - mpl::insert< - mpl::_1 , - mpl::end< mpl::_1 > , - T - > - > - >::type type; -}; - -#endif // LIBS_NUMERIC_ODEINT_TEST_CONST_RANGE_HPP_DEFINED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/default_operations.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/default_operations.cpp deleted file mode 100644 index 8620438..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/default_operations.cpp +++ /dev/null @@ -1,268 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/default_operations.cpp - - [begin_description] - This file tests default_operations. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - - -#define BOOST_TEST_MODULE odeint_standard_operations - -#include -#include - -#include -#include - -#include -#include -#include -#include -#include - -#include - -#include - -namespace units = boost::units; -namespace si = boost::units::si; -namespace mpl = boost::mpl; -using boost::numeric::odeint::default_operations; - - -template< class Value > struct internal_value_type { typedef Value type; }; -template< class T > struct internal_value_type< std::complex< T > > { typedef T type; }; - -template< class T > struct default_eps; -template<> struct default_eps< double > { static double def_eps( void ) { return 1.0e-10; } }; -template<> struct default_eps< float > { static float def_eps( void ) { return 1.0e-5; } }; - - -typedef units::unit< units::derived_dimension< units::time_base_dimension , 2 >::type , si::system > time_2; -typedef units::unit< units::derived_dimension< units::time_base_dimension , 3 >::type , si::system > time_3; -typedef units::unit< units::derived_dimension< units::time_base_dimension , 4 >::type , si::system > time_4; -typedef units::unit< units::derived_dimension< units::time_base_dimension , 5 >::type , si::system > time_5; -typedef units::unit< units::derived_dimension< units::time_base_dimension , 6 >::type , si::system > time_6; -typedef units::unit< units::derived_dimension< units::time_base_dimension , 7 >::type , si::system > time_7; - -const time_2 second2 = si::second * si::second; -const time_3 second3 = second2 * si::second; -const time_4 second4 = second3 * si::second; -const time_5 second5 = second4 * si::second; -const time_6 second6 = second5 * si::second; -const time_7 second7 = second6 * si::second; - - - - -template< class Value , class Compare = typename internal_value_type< Value >::type > -struct double_fixture -{ - typedef Value value_type; - typedef Compare compare_type; - - double_fixture( const compare_type &eps_ = default_eps< compare_type >::def_eps() ) - : m_eps( eps_ ) , res( 0.0 ) , x1( 1.0 ) , x2( 2.0 ) , x3( 3.0 ) , x4( 4.0 ) , x5( 5.0 ) , x6( 6.0 ) , x7( 7.0 ) , x8( 8.0 ) - {} - - ~double_fixture( void ) - { - using std::abs; - BOOST_CHECK_SMALL( abs( x1 - value_type( 1.0 ) ) , m_eps ); - BOOST_CHECK_SMALL( abs( x2 - value_type( 2.0 ) ) , m_eps ); - BOOST_CHECK_SMALL( abs( x3 - value_type( 3.0 ) ) , m_eps ); - BOOST_CHECK_SMALL( abs( x4 - value_type( 4.0 ) ) , m_eps ); - BOOST_CHECK_SMALL( abs( x5 - value_type( 5.0 ) ) , m_eps ); - BOOST_CHECK_SMALL( abs( x6 - value_type( 6.0 ) ) , m_eps ); - BOOST_CHECK_SMALL( abs( x7 - value_type( 7.0 ) ) , m_eps ); - } - - const compare_type m_eps; - value_type res; - value_type x1 , x2 , x3 , x4 , x5 , x6 , x7 , x8; -}; - -template< class Value , class Compare = typename internal_value_type< Value >::type > -struct unit_fixture -{ - typedef Value value_type; - typedef Compare compare_type; - typedef units::quantity< si::length , value_type > length_type; - - typedef units::quantity< si::time , value_type > time_type; - typedef units::quantity< time_2 , value_type > time_2_type; - typedef units::quantity< time_3 , value_type > time_3_type; - typedef units::quantity< time_4 , value_type > time_4_type; - typedef units::quantity< time_5 , value_type > time_5_type; - typedef units::quantity< time_6 , value_type > time_6_type; - typedef units::quantity< time_7 , value_type > time_7_type; - - typedef units::quantity< si::velocity , value_type > velocity_type; - typedef units::quantity< si::acceleration , value_type > acceleration_type; - - unit_fixture( const compare_type &eps_ = default_eps< compare_type >::def_eps() ) - : m_eps( eps_ ) - , res( 0.0 * si::meter ) - , x( 1.0 * si::meter ) - , d1x( 2.0 * si::meter / si::second ) - , d2x( 3.0 * si::meter / si::second / si::second ) - {} - - ~unit_fixture( void ) - { - using std::abs; - BOOST_CHECK_SMALL( abs( x.value() - value_type( 1.0 ) ) , m_eps ); - BOOST_CHECK_SMALL( abs( d1x.value() - value_type( 2.0 ) ) , m_eps ); - BOOST_CHECK_SMALL( abs( d2x.value() - value_type( 3.0 ) ) , m_eps ); - } - - compare_type m_eps; - length_type res; - length_type x; - velocity_type d1x; - acceleration_type d2x; -}; - - -typedef mpl::list< float , double , std::complex< double > > test_types; - -BOOST_AUTO_TEST_SUITE( check_operations_test ) - -using std::abs; - -BOOST_AUTO_TEST_CASE_TEMPLATE( scale_sum2_test , T , test_types ) -{ - typedef double_fixture< T > fix_type; - fix_type f; - typedef typename default_operations::scale_sum2< T , T > Op; - Op op( 1.25 , 9.81 ); - op( f.res , f.x1 , f.x2 ); - BOOST_CHECK_SMALL( abs( f.res - T( 20.87 ) ) , f.m_eps ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( scale_sum3_test , T , test_types ) -{ - typedef double_fixture< T > fix_type; - fix_type f; - typedef default_operations::scale_sum3< T , T , T > Op; - Op op( 1.25 , 9.81 , 0.87 ); - op( f.res , f.x1 , f.x2 , f.x3 ); - BOOST_CHECK_SMALL( abs( f.res - T( 23.48 ) ) , f.m_eps ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( scale_sum4_test , T , test_types ) -{ - typedef double_fixture< T > fix_type; - fix_type f; - typedef default_operations::scale_sum4< T , T , T , T > Op; - Op op( 1.25 , 9.81 , 0.87 , -0.15 ); - op( f.res , f.x1 , f.x2 , f.x3 , f.x4 ); - BOOST_CHECK_SMALL( abs( f.res - T( 22.88 ) ) , f.m_eps ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( scale_sum5_test , T , test_types ) -{ - typedef double_fixture< T > fix_type; - fix_type f; - typedef default_operations::scale_sum5< T , T , T , T , T > Op; - Op op( 1.25 , 9.81 , 0.87 , -0.15 , -3.3 ); - op( f.res , f.x1 , f.x2 , f.x3 , f.x4 , f.x5 ); - BOOST_CHECK_SMALL( abs( f.res - T( 6.38 ) ) , f.m_eps ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( scale_sum6_test , T , test_types ) -{ - typedef double_fixture< T > fix_type; - fix_type f; - typedef default_operations::scale_sum6< T , T , T , T , T , T > Op; - Op op( 1.25 , 9.81 , 0.87 , -0.15 , -3.3 , 4.2 ); - op( f.res , f.x1 , f.x2 , f.x3 , f.x4 , f.x5 , f.x6 ); - BOOST_CHECK_SMALL( abs( f.res - T( 31.58 ) ) , f.m_eps ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( scale_sum7_test , T , test_types ) -{ - typedef double_fixture< T > fix_type; - fix_type f; - typedef default_operations::scale_sum7< T , T , T , T , T , T , T > Op; - Op op( 1.25 , 9.81 , 0.87 , -0.15 , -3.3 , 4.2 , -0.22 ); - op( f.res , f.x1 , f.x2 , f.x3 , f.x4 , f.x5 , f.x6 , f.x7 ); - BOOST_CHECK_SMALL( abs( f.res - T( 30.04 ) ) , f.m_eps ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( rel_error_test , T , test_types ) -{ - typedef double_fixture< T > fix_type; - fix_type f; - f.res = -1.1; - typedef default_operations::rel_error< T > Op; - Op op( 0.1 , 0.2 , 0.15 , 0.12 ); - op( f.res , -f.x1 , -f.x2 ); - BOOST_CHECK_SMALL( abs( f.res - T( 6.17978 ) ) , typename fix_type::compare_type( 1.0e-4 ) ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( maximum_test , T , test_types ) -{ - typedef double_fixture< T > fix_type; - fix_type f; - typedef default_operations::maximum< typename fix_type::compare_type > Op; - Op op; - f.res = op( f.x1 , f.x2 ); - BOOST_CHECK_SMALL( abs( f.res - T( 2.0 ) ) , f.m_eps ); -} - - - - - -BOOST_AUTO_TEST_CASE_TEMPLATE( scale_sum2_units_test , T , test_types ) -{ - typedef unit_fixture< T > fix_type; - typedef typename fix_type::value_type value_type; - typedef typename fix_type::time_type time_type; - typedef typename fix_type::time_2_type time_2_type; - typedef typename fix_type::time_3_type time_3_type; - typedef typename fix_type::time_4_type time_4_type; - typedef typename fix_type::time_5_type time_5_type; - typedef typename fix_type::time_6_type time_6_type; - typedef typename fix_type::time_7_type time_7_type; - - fix_type f; - typedef default_operations::scale_sum2< value_type , time_type > Op; - Op op( 1.0 , time_type( 1.0 * si::second ) ); - op( f.res , f.x , f.d1x ); - BOOST_CHECK_SMALL( abs( f.res.value() - T( 3.0 ) ) , f.m_eps ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( scale_sum3_units_test , T , test_types ) -{ - typedef unit_fixture< T > fix_type; - typedef typename fix_type::value_type value_type; - typedef typename fix_type::time_type time_type; - typedef typename fix_type::time_2_type time_2_type; - typedef typename fix_type::time_3_type time_3_type; - typedef typename fix_type::time_4_type time_4_type; - typedef typename fix_type::time_5_type time_5_type; - typedef typename fix_type::time_6_type time_6_type; - typedef typename fix_type::time_7_type time_7_type; - - fix_type f; - typedef default_operations::scale_sum3< value_type , time_type , time_2_type > Op; - Op op( 1.0 , time_type( 1.0 * si::second ) , time_2_type( 1.0 * second2 ) ); - op( f.res , f.x , f.d1x , f.d2x ); - BOOST_CHECK_SMALL( abs( f.res.value() - T( 6.0 ) ) , f.m_eps ); -} - - - - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/diagnostic_state_type.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/diagnostic_state_type.hpp deleted file mode 100644 index d2a5239..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/diagnostic_state_type.hpp +++ /dev/null @@ -1,185 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/diagnostic_state_type.hpp - - [begin_description] - tba. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - - -#ifndef LIBS_NUMERIC_ODEINT_TEST_DIAGNOSTIC_STATE_TYPE_HPP_DEFINED -#define LIBS_NUMERIC_ODEINT_TEST_DIAGNOSTIC_STATE_TYPE_HPP_DEFINED - -#include -#include -#include -#include -#include - -template< size_t N > -struct counter -{ - static size_t& adjust_size_count( void ) - { - static size_t m_adjust_size_count; - return m_adjust_size_count; - } - - static size_t& construct_count( void ) - { - static size_t m_construct_count; - return m_construct_count; - } - - static size_t& copy_count( void ) - { - static size_t m_copy_count; - return m_copy_count; - } - - static size_t& destroy_count( void ) - { - static size_t m_destroy_count; - return m_destroy_count; - } - - - static void init_counter( void ) - { - counter< N >::adjust_size_count() = 0; - counter< N >::construct_count() = 0; - counter< N >::copy_count() = 0; - counter< N >::destroy_count() = 0; - } -}; - -template< size_t N > -class diagnostic_type : public boost::array< double , 1 > { }; - - -typedef diagnostic_type< 0 > diagnostic_state_type; -typedef diagnostic_type< 1 > diagnostic_deriv_type; -typedef diagnostic_type< 2 > diagnostic_state_type2; -typedef diagnostic_type< 3 > diagnostic_deriv_type2; - -typedef counter< 0 > counter_state; -typedef counter< 1 > counter_deriv; -typedef counter< 2 > counter_state2; -typedef counter< 3 > counter_deriv2; - - - -namespace boost { -namespace numeric { -namespace odeint { - - template< size_t N > - struct is_resizeable< diagnostic_type< N > > - { - typedef boost::true_type type; - const static bool value = type::value; - }; - - template< size_t N , size_t M > - struct same_size_impl< diagnostic_type< N > , diagnostic_type< M > > - { - static bool same_size( const diagnostic_type< N > &x1 , const diagnostic_type< M > &x2 ) - { - return false; - } - }; - - template< size_t N , class State1 > - struct same_size_impl< diagnostic_type< N > , State1 > - { - static bool same_size( const diagnostic_type< N > &x1 , const State1 &x2 ) - { - return false; - } - }; - - template< class State1 , size_t N > - struct same_size_impl< State1 , diagnostic_type< N > > - { - static bool same_size( const State1 &x1 , const diagnostic_type< N > &x2 ) - { - return false; - } - }; - - - - template< size_t N , class StateIn > - struct resize_impl< diagnostic_type< N > , StateIn > - { - static void resize( diagnostic_type< N > &x1 , const StateIn &x2 ) - { - counter< N >::adjust_size_count()++; - } - }; - - template< size_t N > - struct state_wrapper< diagnostic_type< N > > - { - typedef state_wrapper< diagnostic_type< N > > state_wrapper_type; - typedef diagnostic_type< N > state_type; - typedef double value_type; - - state_type m_v; - - state_wrapper() : m_v() - { - counter< N >::construct_count()++; - } - - state_wrapper( const state_type &v ) : m_v( v ) - { - counter< N >::construct_count()++; - counter< N >::copy_count()++; - } - - state_wrapper( const state_wrapper_type &x ) : m_v( x.m_v ) - { - counter< N >::construct_count()++; - counter< N >::copy_count()++; - } - - state_wrapper_type& operator=( const state_wrapper_type &x ) - { - counter< N >::copy_count()++; - return *this; - } - - ~state_wrapper() - { - counter< N >::destroy_count()++; - } - }; - - -} // namespace odeint -} // namespace numeric -} // namespace boost - -#define TEST_COUNTERS( c , s1 , s2 , s3 ,s4 ) \ - BOOST_CHECK_EQUAL( c::adjust_size_count() , size_t( s1 ) ); \ - BOOST_CHECK_EQUAL( c::construct_count() , size_t( s2 ) ); \ - BOOST_CHECK_EQUAL( c::copy_count() , size_t( s3 ) ); \ - BOOST_CHECK_EQUAL( c::destroy_count() , size_t( s4 ) ); - -#define TEST_COUNTERS_MSG( c , s1 , s2 , s3 ,s4 , msg ) \ - BOOST_CHECK_EQUAL( c::adjust_size_count() , size_t( s1 ) ); \ - BOOST_CHECK_EQUAL( c::construct_count() , size_t( s2 ) ); \ - BOOST_CHECK_EQUAL( c::copy_count() , size_t( s3 ) ); \ - BOOST_CHECK_EQUAL( c::destroy_count() , size_t( s4 ) ); - - -#endif // LIBS_NUMERIC_ODEINT_TEST_DIAGNOSTIC_STATE_TYPE_HPP_DEFINED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/dummy_odes.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/dummy_odes.hpp deleted file mode 100644 index 6aab990..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/dummy_odes.hpp +++ /dev/null @@ -1,126 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/dummy_odes.hpp - - [begin_description] - tba. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - - -#ifndef LIBS_NUMERIC_ODEINT_TEST_DUMMY_ODES_HPP_DEFINED -#define LIBS_NUMERIC_ODEINT_TEST_DUMMY_ODES_HPP_DEFINED - -#include "vector_space_1d.hpp" - -#include - - - - - - -/* - * rhs functors/functions for different state types - */ -struct constant_system_functor_standard -{ - template< class State , class Deriv , class Time > - void operator()( const State &x , Deriv &dxdt , const Time t ) const - { - dxdt[0] = 1.0; - } -}; - -struct constant_system_functor_vector_space -{ - template< class State , class Deriv , class Time > - void operator()( const State &x , Deriv &dxdt , const Time t ) const - { - dxdt.m_x = 1.0; - } -}; - -struct constant_system_functor_fusion -{ - template< class State , class Deriv , class Time > - void operator()( const State &x , Deriv &dxdt , const Time t ) const - { - boost::fusion::at_c< 0 >( dxdt ) = boost::fusion::at_c< 0 >( x ) / Time( 1.0 ); - } -}; - -template< class State , class Deriv , class Time > -void constant_system_standard( const State &x , Deriv &dxdt , const Time t ) -{ - dxdt[0] = 1.0; -} - -template< class State , class Deriv , class Time > -void constant_system_vector_space( const State &x , Deriv &dxdt , const Time t ) -{ - dxdt.m_x = 1.0; -} - -template< class State , class Deriv , class Time > -void constant_system_fusion( const State &x , Deriv &dxdt , const Time t ) -{ - boost::fusion::at_c< 0 >( dxdt ) = boost::fusion::at_c< 0 >( x ) / Time( 1.0 ); -} - - - - -/* - * rhs functors for symplectic steppers - */ -struct constant_mom_func -{ - template< class StateIn , class StateOut > - void operator()( const StateIn &q , StateOut &dp ) const - { - dp[0] = 1.0; - } -}; - -struct default_coor_func -{ - template< class StateIn , class StateOut > - void operator()( const StateIn &p , StateOut &dq ) const - { - dq[0] = p[0]; - } -}; - - - -struct constant_mom_func_vector_space_1d -{ - template< class T > - void operator()( const vector_space_1d< T > &q , vector_space_1d< T > &dp ) const - { - dp.m_x = 1.0; - } -}; - -struct default_coor_func_vector_space_1d -{ - template< class T > - void operator()( const vector_space_1d< T > &p , vector_space_1d< T > &dq ) const - { - dq.m_x = p.m_x; - } -}; - - - - - -#endif // LIBS_NUMERIC_ODEINT_TEST_DUMMY_ODES_HPP_DEFINED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/dummy_steppers.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/dummy_steppers.hpp deleted file mode 100644 index 223be1f..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/dummy_steppers.hpp +++ /dev/null @@ -1,117 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/dummy_steppers.hpp - - [begin_description] - Dummy steppers for several tests. - [end_description] - - Copyright 2009-2011 Karsten Ahnert - Copyright 2009-2011 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#ifndef BOOST_LIBS_NUMERIC_ODEINT_TEST_DUMMY_STEPPER_HPP_INCLUDED -#define BOOST_LIBS_NUMERIC_ODEINT_TEST_DUMMY_STEPPER_HPP_INCLUDED - -#include -#include -#include - -namespace boost { -namespace numeric { -namespace odeint { - -struct dummy_stepper -{ - typedef double value_type; - typedef value_type time_type; - typedef boost::array< value_type , 1 > state_type; - typedef state_type deriv_type; - typedef unsigned short order_type; - typedef stepper_tag stepper_category; - - order_type order( void ) const { return 1; } - - template< class System > - void do_step( System sys , state_type &x , time_type t , time_type dt ) const - { - x[0] += 0.25; - } -}; - -struct dummy_dense_output_stepper -{ - typedef double value_type; - typedef value_type time_type; - typedef boost::array< value_type , 1 > state_type; - typedef state_type deriv_type; - typedef dense_output_stepper_tag stepper_category; - - void initialize( const state_type &x0 , time_type t0 , time_type dt0 ) - { - m_x = x0; - m_t = t0; - m_dt = dt0; - } - - template< class System > - std::pair< time_type , time_type > do_step( System sys ) - { - m_x[0] += 0.25; - m_t += m_dt; - return std::make_pair( m_t - m_dt , m_t ); - } - - void calc_state( time_type t_inter , state_type &x ) const - { - value_type theta = ( m_t - t_inter ) / m_dt; - x[0] = m_x[0] - 0.25 * theta; - - } - - const time_type& current_time( void ) const - { - return m_t; - } - - const state_type& current_state( void ) const - { - return m_x; - } - - state_type m_x; - time_type m_t; - time_type m_dt; -}; - - - -struct dummy_controlled_stepper -{ - typedef double value_type; - typedef value_type time_type; - typedef boost::array< value_type , 1 > state_type; - typedef state_type deriv_type; - typedef controlled_stepper_tag stepper_category; - - template< class Sys > - controlled_step_result try_step( Sys sys , state_type &x , time_type &t , time_type &dt ) const - { - x[0] += 0.25; - t += dt; - return success; - } -}; - - -} // odeint -} // numeric -} // boost - - -#endif // BOOST_LIBS_NUMERIC_ODEINT_TEST_DUMMY_STEPPER_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/euler_stepper.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/euler_stepper.cpp deleted file mode 100644 index 8691ea4..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/euler_stepper.cpp +++ /dev/null @@ -1,105 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/euler_stepper.cpp - - [begin_description] - This file tests explicit Euler stepper. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#define BOOST_TEST_MODULE odeint_explicit_euler - -#include - -#include -#include -#include - -#include -#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - -// test with own vector implementation - -class my_vec : public std::vector< double > { - -public: - - my_vec() : std::vector< double >() - { } - - my_vec( const my_vec &x ) : std::vector< double >( x ) - { } - - - my_vec( size_t dim ) - : std::vector< double >( dim ) - { } - -}; - -namespace boost { -namespace numeric { -namespace odeint { - -template<> -struct is_resizeable< my_vec > -{ - //struct type : public boost::true_type { }; - typedef boost::true_type type; - const static bool value = type::value; -}; -} } } - -typedef double value_type; -//typedef std::vector< value_type > state_type; -typedef my_vec state_type; - -/* use functors, because functions don't work with msvc 10, I guess this is a bug */ -struct sys -{ - void operator()( const state_type &x , state_type &dxdt , const value_type t ) const - { - std::cout << "sys start " << dxdt.size() << std::endl; - dxdt[0] = x[0] + 2 * x[1]; - dxdt[1] = x[1]; - std::cout << "sys done" << std::endl; - } -}; - - -BOOST_AUTO_TEST_SUITE( explicit_euler_test ) - -BOOST_AUTO_TEST_CASE( test_euler ) -{ - range_algebra algebra; - euler< state_type > stepper( algebra ); - state_type x( 2 ); - x[0] = 0.0; x[1] = 1.0; - - std::cout << "initialized" << std::endl; - - const value_type eps = 1E-12; - const value_type dt = 0.1; - - stepper.do_step( sys() , x , 0.0 , dt ); - - using std::abs; - - // compare with analytic solution of above system - BOOST_CHECK_MESSAGE( abs( x[0] - 2.0*1.0*dt ) < eps , x[0] - 2.0*1.0*dt ); - BOOST_CHECK_MESSAGE( abs( x[1] - (1.0 + dt) ) < eps , x[1] - (1.0+dt) ); - -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/fusion_algebra.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/fusion_algebra.cpp deleted file mode 100644 index 06a8be3..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/fusion_algebra.cpp +++ /dev/null @@ -1,184 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/fusion_algebra.cpp - - [begin_description] - This file tests the Fusion algebra. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#define BOOST_TEST_MODULE odeint_fusion_algebra - -// using fusion vectors as state types requires increased macro variables -#define BOOST_FUSION_INVOKE_MAX_ARITY 15 -#define BOOST_RESULT_OF_NUM_ARGS 15 - -#include -#include -#include -#include - -#include - -#include -#include - -#include -#include -#include -#include -#include - -#include - -#include -#include - -namespace units = boost::units; -namespace si = boost::units::si; -namespace fusion = boost::fusion; - -using boost::numeric::odeint::default_operations; -using boost::numeric::odeint::fusion_algebra; - -typedef double value_type; -typedef units::quantity< si::time , value_type > time_type; -typedef units::quantity< si::length , value_type > length_type; -typedef units::quantity< si::velocity , value_type > velocity_type; -typedef units::quantity< si::acceleration , value_type > acceleration_type; -typedef fusion::vector< length_type , velocity_type > state_type; -typedef fusion::vector< velocity_type , acceleration_type > deriv_type; - -const time_type dt = 0.1 * si::second; - - -struct fusion_fixture -{ - fusion_fixture( void ) - : res( 0.0 * si::meter , 0.0 * si::meter_per_second ) , - x( 1.0 * si::meter , 1.0 * si::meter_per_second ) , - k1( 1.0 * si::meter_per_second , 1.0 * si::meter_per_second_squared ) , - k2( 2.0 * si::meter_per_second , 2.0 * si::meter_per_second_squared ) , - k3( 3.0 * si::meter_per_second , 3.0 * si::meter_per_second_squared ) , - k4( 4.0 * si::meter_per_second , 4.0 * si::meter_per_second_squared ) , - k5( 5.0 * si::meter_per_second , 5.0 * si::meter_per_second_squared ) , - k6( 6.0 * si::meter_per_second , 6.0 * si::meter_per_second_squared ) { } - - ~fusion_fixture( void ) - { - BOOST_CHECK_CLOSE( fusion::at_c< 0 >( x ).value() , 1.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 1 >( x ).value() , 1.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 0 >( k1 ).value() , 1.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 1 >( k1 ).value() , 1.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 0 >( k2 ).value() , 2.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 1 >( k2 ).value() , 2.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 0 >( k3 ).value() , 3.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 1 >( k3 ).value() , 3.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 0 >( k4 ).value() , 4.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 1 >( k4 ).value() , 4.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 0 >( k5 ).value() , 5.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 1 >( k5 ).value() , 5.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 0 >( k6 ).value() , 6.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 1 >( k6 ).value() , 6.0 , 1.0e-10 ); - } - - state_type res , x; - deriv_type k1 , k2 , k3 , k4 , k5 , k6 ; -}; - - - -BOOST_AUTO_TEST_SUITE( fusion_algebra_test ) - -fusion_algebra algebra; - -BOOST_AUTO_TEST_CASE( for_each2 ) -{ - fusion_fixture f; - algebra.for_each2( f.res , f.k1 , - default_operations::scale_sum1< time_type >( dt ) ); - BOOST_CHECK_CLOSE( fusion::at_c< 0 >( f.res ).value() , 0.1 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 1 >( f.res ).value() , 0.1 , 1.0e-10 ); -} - -BOOST_AUTO_TEST_CASE( for_each3 ) -{ - fusion_fixture f; - algebra.for_each3( f.res , f.x , f.k1 , - default_operations::scale_sum2< value_type , time_type >( 1.0 , dt ) ); - BOOST_CHECK_CLOSE( fusion::at_c< 0 >( f.res ).value() , 1.1 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 1 >( f.res ).value() , 1.1 , 1.0e-10 ); -} - -BOOST_AUTO_TEST_CASE( for_each4 ) -{ - fusion_fixture f; - algebra.for_each4( f.res , f.x , f.k1 , f.k2 , - default_operations::scale_sum3< value_type , time_type , time_type >( 1.0 , dt , dt ) ); - BOOST_CHECK_CLOSE( fusion::at_c< 0 >( f.res ).value() , 1.3 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 1 >( f.res ).value() , 1.3 , 1.0e-10 ); -} - -BOOST_AUTO_TEST_CASE( for_each5 ) -{ - fusion_fixture f; - algebra.for_each5( f.res , f.x , f.k1 , f.k2 , f.k3 , - default_operations::scale_sum4< value_type , time_type , time_type , time_type >( 1.0 , dt , dt , dt ) ); - BOOST_CHECK_CLOSE( fusion::at_c< 0 >( f.res ).value() , 1.6 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 1 >( f.res ).value() , 1.6 , 1.0e-10 ); -} - -BOOST_AUTO_TEST_CASE( for_each6 ) -{ - fusion_fixture f; - algebra.for_each6( f.res , f.x , f.k1 , f.k2 , f.k3 , f.k4 , - default_operations::scale_sum5< value_type , time_type , time_type , time_type , time_type >( 1.0 , dt , dt , dt , dt ) ); - BOOST_CHECK_CLOSE( fusion::at_c< 0 >( f.res ).value() , 2.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 1 >( f.res ).value() , 2.0 , 1.0e-10 ); -} - -BOOST_AUTO_TEST_CASE( for_each7 ) -{ - fusion_fixture f; - algebra.for_each7( f.res , f.x , f.k1 , f.k2 , f.k3 , f.k4 , f.k5 , - default_operations::scale_sum6< value_type , time_type , time_type , time_type , time_type , time_type >( 1.0 , dt , dt , dt , dt , dt ) ); - BOOST_CHECK_CLOSE( fusion::at_c< 0 >( f.res ).value() , 2.5 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 1 >( f.res ).value() , 2.5 , 1.0e-10 ); -} - -BOOST_AUTO_TEST_CASE( for_each8 ) -{ - fusion_fixture f; - algebra.for_each8( f.res , f.x , f.k1 , f.k2 , f.k3 , f.k4 , f.k5 , f.k6 , - default_operations::scale_sum7< value_type , time_type , time_type , time_type , time_type , time_type , time_type >( 1.0 , dt , dt , dt , dt , dt , dt ) ); - BOOST_CHECK_CLOSE( fusion::at_c< 0 >( f.res ).value() , 3.1 , 1.0e-10 ); - BOOST_CHECK_CLOSE( fusion::at_c< 1 >( f.res ).value() , 3.1 , 1.0e-10 ); -} - -BOOST_AUTO_TEST_CASE( for_each15 ) -{ - fusion_fixture f; - algebra.for_each15( f.res , f.x , f.k1 , f.k2 , f.k3 , f.k4 , f.k5 , f.k6 , f.k1 , f.k2 , f.k3 , f.k4 , f.k5 , f.k6 , f.k1 , - default_operations::scale_sum14< value_type , time_type , time_type , time_type , time_type , time_type , time_type , - time_type , time_type , time_type , time_type , time_type , time_type , time_type >( 1.0 , dt , dt , dt , dt , dt , dt , dt , dt , dt , dt , dt , dt , dt ) ); - //BOOST_CHECK_CLOSE( fusion::at_c< 0 >( f.res ).value() , 3.1 , 1.0e-10 ); - //BOOST_CHECK_CLOSE( fusion::at_c< 1 >( f.res ).value() , 3.1 , 1.0e-10 ); -} - - -BOOST_AUTO_TEST_CASE( reduce ) -{ - double sum = algebra.reduce( fusion::make_vector( 1.0 , 2.0 , 3.0 ) , std::plus< double >() , 0.0 ); - BOOST_CHECK_CLOSE( sum , 6.0 , 1.0e-10 ); -} - - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generation.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generation.cpp deleted file mode 100644 index 970efd8..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generation.cpp +++ /dev/null @@ -1,87 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/generation.cpp - - [begin_description] - This file tests the generation functions. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#define BOOST_TEST_MODULE odeint_generation - -#include - -#include -#include -#include - -#include -#include - -using namespace boost::numeric::odeint; - -template< class Stepper1 , class Stepper2 > -void check_stepper_type( const Stepper1 &s1 , const Stepper2 &s2 ) -{ - BOOST_STATIC_ASSERT(( boost::is_same< Stepper1 , Stepper2 >::value )); -} - -BOOST_AUTO_TEST_SUITE( generation_test ) - -typedef std::vector< double > state_type; - -typedef runge_kutta_cash_karp54< state_type > rk54_type; -typedef runge_kutta_cash_karp54_classic< state_type > rk54_classic_type; -typedef runge_kutta_dopri5< state_type > dopri5_type; -typedef runge_kutta_fehlberg78< state_type > fehlberg78_type; -typedef rosenbrock4< double > rosenbrock4_type; - - -BOOST_AUTO_TEST_CASE( test_generation_dopri5 ) -{ - check_stepper_type( make_controlled( 1.0e-6 , 1.0e-10 , dopri5_type() ) , controlled_runge_kutta< dopri5_type >() ); - check_stepper_type( make_controlled< dopri5_type >( 1.0e-6 , 1.0e-10 ) , controlled_runge_kutta< dopri5_type >() ); - - check_stepper_type( make_dense_output( 1.0e-6 , 1.0e-10 , dopri5_type() ) , dense_output_runge_kutta< controlled_runge_kutta< dopri5_type > >() ); - check_stepper_type( make_dense_output< dopri5_type >( 1.0e-6 , 1.0e-10 ) , dense_output_runge_kutta< controlled_runge_kutta< dopri5_type > >() ); -} - -BOOST_AUTO_TEST_CASE( test_generation_cash_karp54 ) -{ - check_stepper_type( make_controlled( 1.0e-6 , 1.0e-10 , rk54_type() ) , controlled_runge_kutta< rk54_type >() ); - check_stepper_type( make_controlled< rk54_type >( 1.0e-6 , 1.0e-10 ) , controlled_runge_kutta< rk54_type >() ); -} - -BOOST_AUTO_TEST_CASE( test_generation_cash_karp54_classic ) -{ - check_stepper_type( make_controlled( 1.0e-6 , 1.0e-10 , rk54_classic_type() ) , controlled_runge_kutta< rk54_classic_type >() ); - check_stepper_type( make_controlled< rk54_classic_type >( 1.0e-6 , 1.0e-10 ) , controlled_runge_kutta< rk54_classic_type >() ); -} - - -BOOST_AUTO_TEST_CASE( test_generation_fehlberg78 ) -{ - check_stepper_type( make_controlled( 1.0e-6 , 1.0e-10 , fehlberg78_type() ) , controlled_runge_kutta< fehlberg78_type >() ); - check_stepper_type( make_controlled< fehlberg78_type >( 1.0e-6 , 1.0e-10 ) , controlled_runge_kutta< fehlberg78_type >() ); -} - - -BOOST_AUTO_TEST_CASE( test_generation_rosenbrock4 ) -{ - check_stepper_type( make_controlled( 1.0e-6 , 1.0e-10 , rosenbrock4_type() ) , rosenbrock4_controller< rosenbrock4_type >() ); - check_stepper_type( make_controlled< rosenbrock4_type >( 1.0e-6 , 1.0e-10 ) , rosenbrock4_controller< rosenbrock4_type >() ); - - check_stepper_type( make_dense_output( 1.0e-6 , 1.0e-10 , rosenbrock4_type() ) , rosenbrock4_dense_output< rosenbrock4_controller< rosenbrock4_type > >() ); - check_stepper_type( make_dense_output< rosenbrock4_type >( 1.0e-6 , 1.0e-10 ) , rosenbrock4_dense_output< rosenbrock4_controller< rosenbrock4_type > >() ); -} - - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generic_error_stepper.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generic_error_stepper.cpp deleted file mode 100644 index e244426..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generic_error_stepper.cpp +++ /dev/null @@ -1,111 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/generic_error_stepper.cpp - - [begin_description] - This file tests the generic error stepper. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -// disable checked iterator warning for msvc -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE odeint_generic_error_stepper - -#include -#include - -#include - -#include -#include -#include - -#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - -namespace fusion = boost::fusion; - -typedef double value_type; -typedef boost::array< value_type , 2 > state_type; - -void sys( const state_type &x , state_type &dxdt , const value_type &t ) -{ - dxdt[ 0 ] = x[ 0 ] + 2 * x[ 1 ]; - dxdt[ 1 ] = x[ 1 ]; -} - -typedef explicit_error_generic_rk< 6 , 5 , 4 , 5 , state_type> error_rk_generic_type; - -const boost::array< double , 1 > a1 = {{ 0.2 }}; -const boost::array< double , 2 > a2 = {{ 3.0/40.0 , 9.0/40 }}; -const boost::array< double , 3 > a3 = {{ 0.3 , -0.9 , 1.2 }}; -const boost::array< double , 4 > a4 = {{ -11.0/54.0 , 2.5 , -70.0/27.0 , 35.0/27.0 }}; -const boost::array< double , 5 > a5 = {{ 1631.0/55296.0 , 175.0/512.0 , 575.0/13824.0 , 44275.0/110592.0 , 253.0/4096.0 }}; - -const error_rk_generic_type::coef_a_type a = fusion::make_vector( a1 , a2 , a3 , a4 , a5 ); -const error_rk_generic_type::coef_b_type b = {{ 37.0/378.0 , 0.0 , 250.0/621.0 , 125.0/594.0 , 0.0 , 512.0/1771.0 }}; -const error_rk_generic_type::coef_b_type b2 = {{ b[0]-2825.0/27648.0 , b[1]-0.0 , b[2]-18575.0/48384.0 , b[3]-13525.0/55296.0 , b[4]-277.0/14336.0 , b[5]-0.25 }}; -const error_rk_generic_type::coef_c_type c = {{ 0.0 , 0.2 , 0.3 , 0.6 , 1.0 , 7.0/8 }}; - -typedef runge_kutta_cash_karp54< state_type > error_rk54_ck_generic_type; -typedef runge_kutta_cash_karp54_classic< state_type > rk54_ck_type; - -BOOST_AUTO_TEST_SUITE( generic_error_stepper_test ) - -BOOST_AUTO_TEST_CASE( test_generic_error_stepper ) -{ - //simultaneously test copying - error_rk_generic_type rk_generic_( a , b , b2 , c ); - error_rk_generic_type rk_generic = rk_generic_; - - error_rk54_ck_generic_type rk54_ck_generic_; - error_rk54_ck_generic_type rk54_ck_generic = rk54_ck_generic_; - - //std::cout << stepper; - - rk54_ck_type rk54_ck_; - rk54_ck_type rk54_ck = rk54_ck_; - - typedef error_rk_generic_type::state_type state_type; - typedef error_rk_generic_type::value_type stepper_value_type; - typedef error_rk_generic_type::deriv_type deriv_type; - typedef error_rk_generic_type::time_type time_type; - - state_type x = {{ 0.0 , 1.0 }}; - state_type y = x; - state_type z = x; - state_type x_err , y_err , z_err; - - rk_generic.do_step( sys , x , 0.0 , 0.1 , x_err ); - - rk54_ck_generic.do_step( sys , y , 0.0 , 0.1 , y_err); - - rk54_ck.do_step( sys , z , 0.0 , 0.1 , z_err ); - - BOOST_CHECK_NE( 0.0 , x[0] ); - BOOST_CHECK_NE( 1.0 , x[1] ); - BOOST_CHECK_NE( 0.0 , x_err[0] ); - BOOST_CHECK_NE( 0.0 , x_err[1] ); - // compare with analytic solution of above system - BOOST_CHECK_EQUAL( x[0] , y[0] ); - BOOST_CHECK_EQUAL( x[1] , y[1] ); - BOOST_CHECK_EQUAL( x[0] , z[0] ); - BOOST_CHECK_EQUAL( x[1] , z[1] ); - -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generic_stepper.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generic_stepper.cpp deleted file mode 100644 index 3978c6f..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generic_stepper.cpp +++ /dev/null @@ -1,104 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/generic_stepper.cpp - - [begin_description] - This file tests the generic stepper. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -// disable checked iterator warning for msvc -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE odeint_generic_stepper - -#include -#include - -#include - -#include -#include -#include - -#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - -namespace fusion = boost::fusion; - -typedef double value_type; -typedef boost::array< value_type , 2 > state_type; - -void sys( const state_type &x , state_type &dxdt , const value_type &t ) -{ - dxdt[ 0 ] = x[ 0 ] + 2 * x[ 1 ]; - dxdt[ 1 ] = x[ 1 ]; -} - -typedef explicit_generic_rk< 4 , 4 , state_type> rk_generic_type; -typedef runge_kutta4< state_type > rk4_generic_type; - -const boost::array< double , 1 > a1 = {{ 0.5 }}; -const boost::array< double , 2 > a2 = {{ 0.0 , 0.5 }}; -const boost::array< double , 3 > a3 = {{ 0.0 , 0.0 , 1.0 }}; - -const rk_generic_type::coef_a_type a = fusion::make_vector( a1 , a2 , a3 ); -const rk_generic_type::coef_b_type b = {{ 1.0/6 , 1.0/3 , 1.0/3 , 1.0/6 }}; -const rk_generic_type::coef_c_type c = {{ 0.0 , 0.5 , 0.5 , 1.0 }}; - -typedef runge_kutta4_classic< state_type > rk4_type; - -BOOST_AUTO_TEST_SUITE( generic_stepper_test ) - -BOOST_AUTO_TEST_CASE( test_generic_stepper ) -{ - //simultaneously test copying - rk_generic_type rk_generic_( a , b , c ); - rk_generic_type rk_generic = rk_generic_; - - rk4_generic_type rk4_generic_; - rk4_generic_type rk4_generic = rk4_generic_; - - //std::cout << stepper; - - rk4_type rk4_; - rk4_type rk4 = rk4_; - - typedef rk_generic_type::state_type state_type; - typedef rk_generic_type::value_type stepper_value_type; - typedef rk_generic_type::deriv_type deriv_type; - typedef rk_generic_type::time_type time_type; - - state_type x = {{ 0.0 , 1.0 }}; - state_type y = x; - state_type z = x; - - rk_generic.do_step( sys , x , 0.0 , 0.1 ); - - rk4_generic.do_step( sys , y , 0.0 , 0.1 ); - - rk4.do_step( sys , z , 0.0 , 0.1 ); - - BOOST_CHECK_NE( 0.0 , x[0] ); - BOOST_CHECK_NE( 1.0 , x[1] ); - // compare with analytic solution of above system - BOOST_CHECK_EQUAL( x[0] , y[0] ); - BOOST_CHECK_EQUAL( x[1] , y[1] ); - BOOST_CHECK_EQUAL( x[0] , z[0] ); - BOOST_CHECK_EQUAL( x[1] , z[1] ); - -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/implicit_euler.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/implicit_euler.cpp deleted file mode 100644 index bd4408c..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/implicit_euler.cpp +++ /dev/null @@ -1,86 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/implicit_euler.cpp - - [begin_description] - This file tests the implicit Euler stepper. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -// disable checked iterator warning for msvc -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE odeint_implicit_euler - -#include - -#include -#include - -#include -//#include - -#include -#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - -typedef double value_type; -typedef boost::numeric::ublas::vector< value_type > state_type; -typedef boost::numeric::ublas::matrix< value_type > matrix_type; - -/* use functors, because functions don't work with msvc 10, I guess this is a bug */ -struct sys -{ - void operator()( const state_type &x , state_type &dxdt , const value_type t ) const - { - dxdt( 0 ) = x( 0 ) + 2 * x( 1 ); - dxdt( 1 ) = x( 1 ); - } -}; - -struct jacobi -{ - void operator()( const state_type &x , matrix_type &jacobi , const value_type t ) const - { - jacobi( 0 , 0 ) = 1; - jacobi( 0 , 1 ) = 2; - jacobi( 1 , 0 ) = 0; - jacobi( 1 , 1 ) = 1; - } -}; - -BOOST_AUTO_TEST_SUITE( implicit_euler_test ) - -BOOST_AUTO_TEST_CASE( test_euler ) -{ - implicit_euler< value_type > stepper; - state_type x( 2 ); - x(0) = 0.0; x(1) = 1.0; - - value_type eps = 1E-12; - - /* make_pair doesn't work with function pointers on msvc 10 */ - stepper.do_step( std::make_pair( sys() , jacobi() ) , x , 0.0 , 0.1 ); - - using std::abs; - - // compare with analytic solution of above system - BOOST_CHECK_MESSAGE( abs( x(0) - 20.0/81.0 ) < eps , x(0) - 20.0/81.0 ); - BOOST_CHECK_MESSAGE( abs( x(1) - 10.0/9.0 ) < eps , x(0) - 10.0/9.0 ); - -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate.cpp deleted file mode 100644 index 980f2e0..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate.cpp +++ /dev/null @@ -1,275 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/integrate.cpp - - [begin_description] - This file tests the integrate function and its variants. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - - -#define BOOST_TEST_MODULE odeint_integrate_functions - -#include -#include -#include - -#include - -#include -#include -#include - -#include - -#include - -// nearly everything from odeint is used in these tests -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; -namespace mpl = boost::mpl; - - -typedef double value_type; -typedef std::vector< value_type > state_type; - -void lorenz( const state_type &x , state_type &dxdt , const value_type t ) -{ - //const value_type sigma( 10.0 ); - const value_type R( 28.0 ); - const value_type b( value_type( 8.0 ) / value_type( 3.0 ) ); - - // first component trivial - dxdt[0] = 1.0; //sigma * ( x[1] - x[0] ); - dxdt[1] = R * x[0] - x[1] - x[0] * x[2]; - dxdt[2] = -b * x[2] + x[0] * x[1]; -} - -struct push_back_time -{ - std::vector< double >& m_times; - - state_type& m_x; - - push_back_time( std::vector< double > × , state_type &x ) - : m_times( times ) , m_x( x ) { } - - void operator()( const state_type &x , double t ) - { - m_times.push_back( t ); - boost::numeric::odeint::copy( x , m_x ); - } -}; - -template< class Stepper > -struct perform_integrate_const_test -{ - void operator()( const value_type t_end , const value_type dt ) - { - std::cout << "Testing integrate_const with " << typeid( Stepper ).name() << std::endl; - - state_type x( 3 , 10.0 ) , x_end( 3 ); - - std::vector< value_type > times; - - integrate_const( Stepper() , lorenz , x , 0.0 , t_end , - dt , push_back_time( times , x_end ) ); - - // int steps = times.size()-1; - - //std::cout << t_end << " (" << dt << "), " << steps << " , " << times.size() << " , " << 10.0+dt*steps << "=" << x_end[0] << std::endl; - - BOOST_CHECK_EQUAL( static_cast(times.size()) , static_cast(floor(t_end/dt))+1 ); - - for( size_t i=0 ; i(i)*dt << std::endl; - // check if observer was called at times 0,1,2,... - BOOST_CHECK_SMALL( times[i] - static_cast< value_type >(i)*dt , (i+1) * 2E-16 ); - } - - // check first, trivial, component - BOOST_CHECK_SMALL( (10.0 + times[times.size()-1]) - x_end[0] , 1E-6 ); // precision of steppers: 1E-6 - //BOOST_CHECK_EQUAL( x[1] , x_end[1] ); - //BOOST_CHECK_EQUAL( x[2] , x_end[2] ); - } -}; - -template< class Stepper > -struct perform_integrate_adaptive_test -{ - void operator()( const value_type t_end = 10.0 , const value_type dt = 0.03 ) - { - std::cout << "Testing integrate_adaptive with " << typeid( Stepper ).name() << std::endl; - - state_type x( 3 , 10.0 ) , x_end( 3 ); - - std::vector< value_type > times; - - size_t steps = integrate_adaptive( Stepper() , *lorenz , x , 0.0 , t_end , - dt , push_back_time( times , x_end ) ); - -// std::cout << t_end << " , " << steps << " , " << times.size() << " , " << 10.0+dt*steps << "=" << x_end[0] << std::endl; - - BOOST_CHECK_EQUAL( times.size() , steps+1 ); - - BOOST_CHECK_SMALL( times[0] - 0.0 , 2E-16 ); - BOOST_CHECK_SMALL( times[times.size()-1] - t_end , times.size() * 2E-16 ); - - // check first, trivial, component - BOOST_CHECK_SMALL( (10.0 + t_end) - x_end[0] , 1E-6 ); // precision of steppers: 1E-6 -// BOOST_CHECK_EQUAL( x[1] , x_end[1] ); -// BOOST_CHECK_EQUAL( x[2] , x_end[2] ); - } -}; - - -template< class Stepper > -struct perform_integrate_times_test -{ - void operator()( const int n = 10 , const int dn=1 , const value_type dt = 0.03 ) - { - std::cout << "Testing integrate_times with " << typeid( Stepper ).name() << std::endl; - - state_type x( 3 ) , x_end( 3 ); - x[0] = x[1] = x[2] = 10.0; - - std::vector< double > times; - - std::vector< double > obs_times( abs(n) ); - for( int i=0 ; boost::numeric::odeint::detail::less_with_sign( i , - static_cast(obs_times.size()) , - dt ) ; i+=dn ) - { - obs_times[i] = i; - } - // simple stepper - integrate_times( Stepper() , lorenz , x , obs_times.begin() , obs_times.end() , - dt , push_back_time( times , x_end ) ); - - BOOST_CHECK_EQUAL( static_cast(times.size()) , abs(n) ); - - for( size_t i=0 ; i(i) ); - - // check first, trivial, component - BOOST_CHECK_SMALL( (10.0 + 1.0*times[times.size()-1]) - x_end[0] , 1E-6 ); // precision of steppers: 1E-6 -// BOOST_CHECK_EQUAL( x[1] , x_end[1] ); -// BOOST_CHECK_EQUAL( x[2] , x_end[2] ); - } -}; - -template< class Stepper > -struct perform_integrate_n_steps_test -{ - void operator()( const int n = 200 , const value_type dt = 0.01 ) - { - std::cout << "Testing integrate_n_steps with " << typeid( Stepper ).name() << std::endl; - - state_type x( 3 ) , x_end( 3 ); - x[0] = x[1] = x[2] = 10.0; - - std::vector< double > times; - - // simple stepper - value_type end_time = integrate_n_steps( Stepper() , lorenz , x , 0.0 , dt , n , push_back_time( times , x_end ) ); - - BOOST_CHECK_SMALL( end_time - n*dt , 2E-16 ); - BOOST_CHECK_EQUAL( static_cast(times.size()) , n+1 ); - - for( size_t i=0 ; i(i)*dt , 2E-16 ); - - // check first, trivial, component - BOOST_CHECK_SMALL( (10.0 + end_time) - x_end[0] , 1E-6 ); // precision of steppers: 1E-6 -// BOOST_CHECK_EQUAL( x[1] , x_end[1] ); -// BOOST_CHECK_EQUAL( x[2] , x_end[2] ); - - } -}; - - - -class stepper_methods : public mpl::vector< - euler< state_type > , - modified_midpoint< state_type > , - runge_kutta4< state_type > , - runge_kutta_cash_karp54< state_type > , - runge_kutta_dopri5< state_type > , - runge_kutta_fehlberg78< state_type > , - controlled_runge_kutta< runge_kutta_cash_karp54< state_type > > , - controlled_runge_kutta< runge_kutta_dopri5< state_type > > , - controlled_runge_kutta< runge_kutta_fehlberg78< state_type > > , - bulirsch_stoer< state_type > , - dense_output_runge_kutta< controlled_runge_kutta< runge_kutta_dopri5< state_type > > > - //bulirsch_stoer_dense_out< state_type > -> { }; - - - -BOOST_AUTO_TEST_SUITE( integrate_test ) - -BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_const_test_case , Stepper, stepper_methods ) -{ - perform_integrate_const_test< Stepper > tester; - tester( 1.005 , 0.01 ); - tester( 1.0 , 0.01 ); - tester( 1.1 , 0.01 ); - tester( -1.005 , -0.01 ); -} - - -BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_adaptive_test_case , Stepper, stepper_methods ) -{ - perform_integrate_adaptive_test< Stepper > tester; - tester( 1.005 , 0.01 ); - tester( 1.0 , 0.01 ); - tester( 1.1 , 0.01 ); - tester( -1.005 , -0.01 ); -} - - -BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_times_test_case , Stepper, stepper_methods ) -{ - perform_integrate_times_test< Stepper > tester; - tester(); - //tester( -10 , -0.01 ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_n_steps_test_case , Stepper, stepper_methods ) -{ - perform_integrate_n_steps_test< Stepper > tester; - tester(); - tester( 200 , 0.01 ); - tester( 200 , 0.01 ); - tester( 200 , 0.01 ); - tester( 200 , -0.01 ); -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_implicit.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_implicit.cpp deleted file mode 100644 index 68e5b5e..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_implicit.cpp +++ /dev/null @@ -1,226 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/integrate_implicit.cpp - - [begin_description] - This file tests the integrate function and its variants with the implicit steppers. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#define BOOST_TEST_MODULE odeint_integrate_functions_implicit - -#include -#include -#include - -#include - -#include -#include -#include -#include -#include - -#include - -#include - -#include -#include -#include -#include -#include -#include -#include - - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; -namespace mpl = boost::mpl; -namespace ublas = boost::numeric::ublas; - -typedef double value_type; -typedef ublas::vector< value_type > state_type; -typedef boost::numeric::ublas::matrix< value_type > matrix_type; - -struct sys -{ - void operator()( const state_type &x , state_type &dxdt , const value_type &t ) const - { - dxdt( 0 ) = x( 0 ) + 2 * x( 1 ); - dxdt( 1 ) = x( 1 ); - } -}; - -struct jacobi -{ - void operator()( const state_type &x , matrix_type &jacobi , const value_type &t , state_type &dfdt ) const - { - jacobi( 0 , 0 ) = 1; - jacobi( 0 , 1 ) = 2; - jacobi( 1 , 0 ) = 0; - jacobi( 1 , 1 ) = 1; - dfdt( 0 ) = 0.0; - dfdt( 1 ) = 0.0; - } -}; - -struct push_back_time -{ - std::vector< double >& m_times; - - push_back_time( std::vector< double > × ) - : m_times( times ) { } - - void operator()( const state_type &x , double t ) - { - m_times.push_back( t ); - } -}; - -template< class Stepper > -struct perform_integrate_const_test -{ - void operator()( void ) - { - state_type x( 2 , 1.0 ); - const value_type dt = 0.03; - const value_type t_end = 10.0; - - std::vector< value_type > times; - - integrate_const( Stepper() , std::make_pair( sys() , jacobi() ) , x , 0.0 , t_end , - dt , push_back_time( times ) ); - - BOOST_CHECK_EQUAL( static_cast(times.size()) , static_cast(floor(t_end/dt))+1 ); - - for( size_t i=0 ; i(i)*dt , (i+1) * 2.0e-16 ); - } - } -}; - -template< class Stepper > -struct perform_integrate_adaptive_test -{ - void operator()( void ) - { - state_type x( 2 , 1.0 ); - const value_type dt = 0.03; - const value_type t_end = 10.0; - - std::vector< value_type > times; - - size_t steps = integrate_adaptive( Stepper() , std::make_pair( sys() , jacobi() ) , x , 0.0 , t_end , - dt , push_back_time( times ) ); - - BOOST_CHECK_EQUAL( times.size() , steps+1 ); - - BOOST_CHECK_SMALL( times[0] - 0.0 , 2.0e-16 ); - BOOST_CHECK_SMALL( times[times.size()-1] - t_end , times.size() * 3.0e-16 ); - } -}; - - -template< class Stepper > -struct perform_integrate_times_test -{ - void operator()( void ) - { - state_type x( 2 , 1.0 ); - - const value_type dt = 0.03; - - std::vector< double > times; - - // simple stepper - integrate_times( Stepper() , std::make_pair( sys() , jacobi() ) , x , - boost::counting_iterator(0) , boost::counting_iterator(10) , - dt , push_back_time( times ) ); - - BOOST_CHECK_EQUAL( static_cast(times.size()) , 10 ); - - for( size_t i=0 ; i(i) ); - } -}; - -template< class Stepper > -struct perform_integrate_n_steps_test -{ - void operator()( void ) - { - state_type x( 2 , 1.0 ); - - const value_type dt = 0.03; - const int n = 200; - - std::vector< double > times; - - // simple stepper - value_type end_time = integrate_n_steps( Stepper() , std::make_pair( sys() , jacobi() ) , x , 0.0 , dt , n , push_back_time( times ) ); - - BOOST_CHECK_SMALL( end_time - n*dt , 3.0e-16 ); - BOOST_CHECK_EQUAL( static_cast(times.size()) , n+1 ); - - for( size_t i=0 ; i(i)*dt , (i+1) * 2.0e-16 ); - } -}; - - - -class stepper_methods : public mpl::vector< - rosenbrock4< value_type > , - rosenbrock4_controller< rosenbrock4< value_type > > , - rosenbrock4_dense_output< rosenbrock4_controller< rosenbrock4< value_type > > > -> { }; - - - -BOOST_AUTO_TEST_SUITE( integrate_test ) - -BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_const_test_case , Stepper, stepper_methods ) -{ - perform_integrate_const_test< Stepper > tester; - tester(); -} - - -BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_adaptive_test_case , Stepper, stepper_methods ) -{ - perform_integrate_adaptive_test< Stepper > tester; - tester(); -} - - -BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_times_test_case , Stepper, stepper_methods ) -{ - perform_integrate_times_test< Stepper > tester; - tester(); -} - - -class simple_stepper_methods : public mpl::vector< - rosenbrock4< value_type > -> { }; - -BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_n_steps_test_case , Stepper, simple_stepper_methods ) -{ - perform_integrate_n_steps_test< Stepper > tester; - tester(); -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_times.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_times.cpp deleted file mode 100644 index e5491aa..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_times.cpp +++ /dev/null @@ -1,186 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/integrate_times.cpp - - [begin_description] - This file tests the integrate_times function and its variants. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#define BOOST_TEST_MODULE odeint_integrate_times - -#include - -#include -#include -#include - -#include -#include - - -#include -#include -#include -#include -#include -#include -#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - -typedef double value_type; -typedef std::vector< value_type > state_type; - - -void lorenz( const state_type &x , state_type &dxdt , const value_type t ) -{ - const value_type sigma( 10.0 ); - const value_type R( 28.0 ); - const value_type b( value_type( 8.0 ) / value_type( 3.0 ) ); - - dxdt[0] = sigma * ( x[1] - x[0] ); - dxdt[1] = R * x[0] - x[1] - x[0] * x[2]; - dxdt[2] = -b * x[2] + x[0] * x[1]; -} - -struct push_back_time -{ - std::vector< double >& m_times; - - push_back_time( std::vector< double > × ) - : m_times( times ) { } - - void operator()( const state_type &x , double t ) - { - m_times.push_back( t ); - } -}; - -BOOST_AUTO_TEST_SUITE( integrate_times_test ) - -BOOST_AUTO_TEST_CASE( test_integrate_times ) -{ - - state_type x( 3 ); - x[0] = x[1] = x[2] = 10.0; - - const value_type dt = 0.03; - - std::vector< double > times; - - // simple stepper - integrate_times( runge_kutta4< state_type >() , lorenz , x , boost::counting_iterator(0) , boost::counting_iterator(10) , - dt , push_back_time( times ) ); - - for( int i=0 ; i<10 ; ++i ) - // check if observer was called at times 0,1,2,... - BOOST_CHECK_EQUAL( times[i] , static_cast(i) ); - times.clear(); - - // controlled stepper - integrate_times( controlled_runge_kutta< runge_kutta_dopri5< state_type > >() , lorenz , x , - boost::counting_iterator(0) , boost::counting_iterator(10) , - dt , push_back_time( times ) ); - - for( int i=0 ; i<10 ; ++i ) - // check if observer was called at times 0,1,2,... - BOOST_CHECK_EQUAL( times[i] , static_cast(i) ); - times.clear(); - - //another controlled stepper - integrate_times( bulirsch_stoer< state_type >() , lorenz , x , - boost::counting_iterator(0) , boost::counting_iterator(10) , - dt , push_back_time( times ) ); - - for( int i=0 ; i<10 ; ++i ) - // check if observer was called at times 0,1,2,... - BOOST_CHECK_EQUAL( times[i] , static_cast(i) ); - times.clear(); - - - // dense output stepper - integrate_times( dense_output_runge_kutta< controlled_runge_kutta< runge_kutta_dopri5< state_type > > >() , - lorenz , x , - boost::counting_iterator(0) , boost::counting_iterator(10) , - dt , push_back_time( times ) ); - - for( int i=0 ; i<10 ; ++i ) - // check if observer was called at times 0,1,2,... - BOOST_CHECK_EQUAL( times[i] , static_cast(i) ); - - - integrate_times( bulirsch_stoer_dense_out< state_type >() , lorenz , x , - boost::counting_iterator(0) , boost::counting_iterator(10) , - dt , push_back_time( times ) ); - - for( int i=0 ; i<10 ; ++i ) - // check if observer was called at times 0,1,2,... - BOOST_CHECK_EQUAL( times[i] , static_cast(i) ); - -} - - -BOOST_AUTO_TEST_CASE( test_integrate_times_ranges ) -{ - - state_type x( 3 ); - x[0] = x[1] = x[2] = 10.0; - - const value_type dt = 0.03; - - std::vector< double > times; - - // simple stepper - integrate_times( runge_kutta4< state_type >() , lorenz , x , - std::make_pair( boost::counting_iterator(0) , boost::counting_iterator(10) ) , - dt , push_back_time( times ) ); - - for( int i=0 ; i<10 ; ++i ) - // check if observer was called at times 0,1,2,... - BOOST_CHECK_EQUAL( times[i] , static_cast(i) ); - times.clear(); - - // controlled stepper - integrate_times( controlled_runge_kutta< runge_kutta_dopri5< state_type > >() , lorenz , x , - std::make_pair( boost::counting_iterator(0) , boost::counting_iterator(10) ) , - dt , push_back_time( times ) ); - - for( int i=0 ; i<10 ; ++i ) - // check if observer was called at times 0,1,2,... - BOOST_CHECK_EQUAL( times[i] , static_cast(i) ); - times.clear(); - - //another controlled stepper - integrate_times( bulirsch_stoer< state_type >() , lorenz , x , - std::make_pair( boost::counting_iterator(0) , boost::counting_iterator(10) ) , - dt , push_back_time( times ) ); - - for( int i=0 ; i<10 ; ++i ) - // check if observer was called at times 0,1,2,... - BOOST_CHECK_EQUAL( times[i] , static_cast(i) ); - times.clear(); - - - // dense output stepper - integrate_times( bulirsch_stoer_dense_out< state_type >() , lorenz , x , - std::make_pair( boost::counting_iterator(0) , boost::counting_iterator(10) ) , - dt , push_back_time( times ) ); - - for( int i=0 ; i<10 ; ++i ) - // check if observer was called at times 0,1,2,... - BOOST_CHECK_EQUAL( times[i] , static_cast(i) ); - -} - - - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_pair.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_pair.cpp deleted file mode 100644 index e0208d5..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_pair.cpp +++ /dev/null @@ -1,49 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/is_pair.cpp - - [begin_description] - This file tests the is_pair meta-function. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - -#define BOOST_TEST_MODULE odeint_is_pair - -#include - -#include -#include - -#include - -using namespace boost::numeric::odeint; - - - -BOOST_AUTO_TEST_SUITE( is_pair_test ) - -BOOST_AUTO_TEST_CASE( test_is_pair ) -{ - typedef std::pair< int , int > type1; - typedef std::pair< int& , int > type2; - typedef std::pair< int , int& > type3; - typedef std::pair< int& , int& > type4; - typedef std::pair< const int , int > type5; - typedef std::pair< const int& , int > type6; - - BOOST_STATIC_ASSERT(( is_pair< type1 >::value )); - BOOST_STATIC_ASSERT(( is_pair< type2 >::value )); - BOOST_STATIC_ASSERT(( is_pair< type3 >::value )); - BOOST_STATIC_ASSERT(( is_pair< type4 >::value )); - BOOST_STATIC_ASSERT(( is_pair< type5 >::value )); - BOOST_STATIC_ASSERT(( is_pair< type6 >::value )); -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_resizeable.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_resizeable.cpp deleted file mode 100644 index 2b8a106..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_resizeable.cpp +++ /dev/null @@ -1,88 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/is_resizeable.cpp - - [begin_description] - This file tests is_resizeable meta-function of odeint. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -// disable checked iterator warning for msvc -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE odeint_is_resizeable - -#include -#include - -#include - -#include -#include -#include -#include -#include -#include -#include - - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - -BOOST_AUTO_TEST_CASE( test_vector ) -{ - BOOST_CHECK( is_resizeable< std::vector< int > >::value ); -} - -BOOST_AUTO_TEST_CASE( test_double ) -{ - BOOST_CHECK( !( is_resizeable< double >::value ) ); -} - -BOOST_AUTO_TEST_CASE( test_fusion_vector_of_vector ) -{ - typedef boost::fusion::vector< std::vector< double > , std::vector< double > > state_type; - BOOST_CHECK( is_resizeable< state_type >::value ); -} - -BOOST_AUTO_TEST_CASE( test_fusion_vector_of_double ) -{ - typedef boost::fusion::vector< double , double > state_type; - BOOST_CHECK( !( is_resizeable< state_type >::value ) ); -} - -BOOST_AUTO_TEST_CASE( test_fusion_vector_mixed1 ) -{ - typedef boost::fusion::vector< double , std::vector< double > > state_type; - BOOST_CHECK( is_resizeable< state_type >::value); -} - -BOOST_AUTO_TEST_CASE( test_fusion_vector_mixed2 ) -{ - typedef boost::fusion::vector< std::vector< double > , double > state_type; - BOOST_CHECK( is_resizeable< state_type >::value ); -} - -BOOST_AUTO_TEST_CASE( test_fusion_quantity_sequence ) -{ - namespace units = boost::units; - namespace si = boost::units::si; - - typedef double value_type; - typedef units::quantity< si::time , value_type > time_type; - typedef units::quantity< si::length , value_type > length_type; - typedef units::quantity< si::velocity , value_type > velocity_type; - typedef boost::fusion::vector< length_type , velocity_type > state_type; - - BOOST_CHECK( !( is_resizeable< state_type >::value ) ); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/Jamfile.v2 b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/Jamfile.v2 deleted file mode 100644 index 4801628..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/Jamfile.v2 +++ /dev/null @@ -1,29 +0,0 @@ -# (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky -# Distributed under the Boost Software License, Version 1.0. -# (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) - -# bring in rules for testing - - -import testing ; - -use-project boost : $(BOOST_ROOT) ; - -project - : requirements - /boost/test//boost_unit_test_framework - BOOST_ALL_NO_LIB=1 - ../../../.. - static - clang:-Wno-unused-variable - -# -D_SCL_SECURE_NO_WARNINGS - ; - -test-suite "odeint" - : - [ run runge_kutta.cpp ] - [ run symplectic.cpp ] - [ run rosenbrock.cpp ] - : valgrind - ; diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/rosenbrock.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/rosenbrock.cpp deleted file mode 100644 index 0bb8365..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/rosenbrock.cpp +++ /dev/null @@ -1,89 +0,0 @@ -/* Boost numeric test of the rosenbrock4 stepper test file - - Copyright 2012 Karsten Ahnert - Copyright 2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - -// disable checked iterator warning for msvc -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE numeric_rosenbrock - -#include -#include - -#include - -#include - -#include -#include -#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - -typedef double value_type; -typedef boost::numeric::ublas::vector< value_type > state_type; -typedef boost::numeric::ublas::matrix< value_type > matrix_type; - -// harmonic oscillator, analytic solution x[0] = sin( t ) -struct sys -{ - void operator()( const state_type &x , state_type &dxdt , const value_type &t ) const - { - dxdt( 0 ) = x( 1 ); - dxdt( 1 ) = -x( 0 ); - } -}; - -struct jacobi -{ - void operator()( const state_type &x , matrix_type &jacobi , const value_type &t , state_type &dfdt ) const - { - jacobi( 0 , 0 ) = 0; - jacobi( 0 , 1 ) = 1; - jacobi( 1 , 0 ) = -1; - jacobi( 1 , 1 ) = 0; - dfdt( 0 ) = 0.0; - dfdt( 1 ) = 0.0; - } -}; - - -BOOST_AUTO_TEST_SUITE( numeric_rosenbrock4 ) - -BOOST_AUTO_TEST_CASE( rosenbrock4_numeric_test ) -{ - typedef rosenbrock4< value_type > stepper_type; - stepper_type stepper; - - const int o = stepper.order()+1; - - state_type x0( 2 ) , x1( 2 ); - x0(0) = 0.0; x0(1) = 1.0; - - double dt = 0.5; - - stepper.do_step( std::make_pair( sys() , jacobi() ) , x0 , 0.0 , x1 , dt ); - const double f = 2.0 * std::abs( sin(dt) - x1(0) ) / std::pow( dt , o ); - - std::cout << o << " , " << f << std::endl; - - while( f*std::pow( dt , o ) > 1E-16 ) - { - stepper.do_step( std::make_pair( sys() , jacobi() ) , x0 , 0.0 , x1 , dt ); - std::cout << "Testing dt=" << dt << std::endl; - BOOST_CHECK_SMALL( std::abs( sin(dt) - x1(0) ) , f*std::pow( dt , o ) ); - dt *= 0.5; - } -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/runge_kutta.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/runge_kutta.cpp deleted file mode 100644 index f51a840..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/runge_kutta.cpp +++ /dev/null @@ -1,168 +0,0 @@ -/* Boost numeric test of the runge kutta steppers test file - - Copyright 2012 Karsten Ahnert - Copyright 2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - -// disable checked iterator warning for msvc -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE numeric_runge_kutta - -#include -#include - -#include - -#include - -#include - -#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; -namespace mpl = boost::mpl; - -typedef double value_type; - -typedef boost::array< double , 2 > state_type; - -// harmonic oscillator, analytic solution x[0] = sin( t ) -struct osc -{ - void operator()( const state_type &x , state_type &dxdt , const double t ) const - { - dxdt[0] = x[1]; - dxdt[1] = -x[0]; - } -}; - -/* reset dispatcher */ -template< class StepperCategory > -struct resetter -{ - template< class Stepper > - static void reset( Stepper &stepper ) { } -}; - -template< > -struct resetter< explicit_error_stepper_fsal_tag > -{ - template< class Stepper > - static void reset( Stepper &stepper ) - { stepper.reset(); } -}; - - -BOOST_AUTO_TEST_SUITE( numeric_runge_kutta_test ) - - -/* generic test for all runge kutta steppers */ -template< class Stepper > -struct perform_runge_kutta_test -{ - void operator()( void ) - { - - Stepper stepper; - const int o = stepper.order()+1; //order of the error is order of approximation + 1 - - const state_type x0 = {{ 0.0 , 1.0 }}; - state_type x1; - const double t = 0.0; - /* do a first step with dt=0.1 to get an estimate on the prefactor of the error dx = f * dt^(order+1) */ - double dt = 0.5; - stepper.do_step( osc() , x0 , t , x1 , dt ); - const double f = 2.0 * std::abs( sin(dt) - x1[0] ) / std::pow( dt , o ); // upper bound - - std::cout << o << " , " << f << std::endl; - - /* as long as we have errors above machine precision */ - while( f*std::pow( dt , o ) > 1E-16 ) - { - // reset stepper which require resetting (fsal steppers) - resetter< typename Stepper::stepper_category >::reset( stepper ); - - stepper.do_step( osc() , x0 , t , x1 , dt ); - std::cout << "Testing dt=" << dt << std::endl; - BOOST_CHECK_LT( std::abs( sin(dt) - x1[0] ) , f*std::pow( dt , o ) ); - dt *= 0.5; - } - } -}; - - -/* generic error test for all runge kutta steppers */ -template< class Stepper > -struct perform_runge_kutta_error_test -{ - void operator()( void ) - { - Stepper stepper; - const int o = stepper.error_order()+1; //order of the error is order of approximation + 1 - - const state_type x0 = {{ 0.0 , 1.0 }}; - state_type x1 , x_err; - const double t = 0.0; - /* do a first step with dt=0.1 to get an estimate on the prefactor of the error dx = f * dt^(order+1) */ - double dt = 0.5; - stepper.do_step( osc() , x0 , t , x1 , dt , x_err ); - const double f = 2.0 * std::abs( x_err[0] ) / std::pow( dt , o ); - - std::cout << o << " , " << f << " , " << x0[0] << std::endl; - - /* as long as we have errors above machine precision */ - while( f*std::pow( dt , o ) > 1E-16 ) - { - // reset stepper which require resetting (fsal steppers) - resetter< typename Stepper::stepper_category >::reset( stepper ); - - stepper.do_step( osc() , x0 , t , x1 , dt , x_err ); - std::cout << "Testing dt=" << dt << ": " << x_err[1] << std::endl; - BOOST_CHECK_SMALL( std::abs( x_err[0] ) , f*std::pow( dt , o ) ); - dt *= 0.5; - } - } -}; - - -typedef mpl::vector< - euler< state_type > , - modified_midpoint< state_type > , - runge_kutta4< state_type > , - runge_kutta4_classic< state_type > , - runge_kutta_cash_karp54_classic< state_type > , - runge_kutta_cash_karp54< state_type > , - runge_kutta_dopri5< state_type > , - runge_kutta_fehlberg78< state_type > - > runge_kutta_steppers; - -BOOST_AUTO_TEST_CASE_TEMPLATE( runge_kutta_test , Stepper, runge_kutta_steppers ) -{ - perform_runge_kutta_test< Stepper > tester; - tester(); -} - - -typedef mpl::vector< - runge_kutta_cash_karp54_classic< state_type > , - runge_kutta_cash_karp54< state_type > , - runge_kutta_dopri5< state_type > , - runge_kutta_fehlberg78< state_type > - > runge_kutta_error_steppers; - -BOOST_AUTO_TEST_CASE_TEMPLATE( runge_kutta_error_test , Stepper, runge_kutta_error_steppers ) -{ - perform_runge_kutta_error_test< Stepper > tester; - tester(); -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/symplectic.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/symplectic.cpp deleted file mode 100644 index 9facf90..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/symplectic.cpp +++ /dev/null @@ -1,95 +0,0 @@ -/* Boost numeric test of the symplectic steppers test file - - Copyright 2012 Karsten Ahnert - Copyright 2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - -// disable checked iterator warning for msvc -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE numeric_symplectic - -#include -#include - -#include - -#include - -#include - -#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; -namespace mpl = boost::mpl; - -typedef double value_type; - -typedef boost::array< double ,1 > state_type; - -// harmonic oscillator, analytic solution x[0] = sin( t ) -struct osc -{ - void operator()( const state_type &q , state_type &dpdt ) const - { - dpdt[0] = -q[0]; - } -}; - -BOOST_AUTO_TEST_SUITE( numeric_symplectic_test ) - - -/* generic test for all symplectic steppers */ -template< class Stepper > -struct perform_symplectic_test -{ - void operator()( void ) - { - - Stepper stepper; - const int o = stepper.order()+1; //order of the error is order of approximation + 1 - - const state_type q0 = {{ 0.0 }}; - const state_type p0 = {{ 1.0 }}; - state_type q1,p1; - std::pair< state_type , state_type >x1( q1 , p1 ); - const double t = 0.0; - /* do a first step with dt=0.1 to get an estimate on the prefactor of the error dx = f * dt^(order+1) */ - double dt = 0.5; - stepper.do_step( osc() , std::make_pair( q0 , p0 ) , t , x1 , dt ); - const double f = 2.0 * std::abs( sin(dt) - x1.first[0] ) / std::pow( dt , o ); - - std::cout << o << " , " << f << std::endl; - - /* as long as we have errors above machine precision */ - while( f*std::pow( dt , o ) > 1E-16 ) - { - stepper.do_step( osc() , std::make_pair( q0 , p0 ) , t , x1 , dt ); - std::cout << "Testing dt=" << dt << std::endl; - BOOST_CHECK_SMALL( std::abs( sin(dt) - x1.first[0] ) , f*std::pow( dt , o ) ); - dt *= 0.5; - } - } -}; - - -typedef mpl::vector< - symplectic_euler< state_type > , - symplectic_rkn_sb3a_mclachlan< state_type > - > symplectic_steppers; - -BOOST_AUTO_TEST_CASE_TEMPLATE( symplectic_test , Stepper, symplectic_steppers ) -{ - perform_symplectic_test< Stepper > tester; - tester(); -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/prepare_stepper_testing.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/prepare_stepper_testing.hpp deleted file mode 100644 index 0217924..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/prepare_stepper_testing.hpp +++ /dev/null @@ -1,72 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/prepare_stepper_testing.hpp - - [begin_description] - This file defines some helper functions for the stepper tests. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#ifndef PREPARE_STEPPER_TESTING_HPP_ -#define PREPARE_STEPPER_TESTING_HPP_ - -#include -#include -#include - -#include - -#include -#include - -#include "vector_space_1d.hpp" - -namespace mpl = boost::mpl; -namespace fusion = boost::fusion; - -using namespace boost::numeric::odeint; - -/* the state types that will be tested */ -typedef std::vector< double > vector_type; -typedef vector_space_1d< double > vector_space_type; -typedef boost::array< double , 1 > array_type; - -typedef mpl::vector< vector_type , vector_space_type , array_type >::type container_types; - -/* choose the right algebra */ -template< class State > struct algebra_dispatcher { typedef range_algebra type; }; -template<> struct algebra_dispatcher< array_type > { typedef array_algebra type; }; -template<> struct algebra_dispatcher< vector_space_type > { typedef vector_space_algebra type; }; -template<> struct algebra_dispatcher< double > { typedef vector_space_algebra type; }; - - - -/* -typedef mpl::vector -< - mpl::vector< float , boost::array< float , 1 > , boost::array< float , 1 > , constant_system_standard , stepper_type > , - mpl::vector< float , boost::array< float , 1 > , std::vector< float > , constant_system_standard , stepper_type > - > types_and_systems_matrix; - - -struct check_stepper -{ - template< class Vector > - void operator()( Vector ) - { - typedef typename mpl::at_c< Vector , 0 >::type value_type; - typedef typename mpl::at_c< Vector , 1 >::type deriv_type; - typedef typename mpl::at_c< Vector , 2 >::type state_type; - typedef typename mpl::at_c< Vector , 3 >::type system_type; - } -}; -*/ - -#endif /* PREPARE_STEPPER_TESTING_HPP_ */ diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/range_algebra.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/range_algebra.cpp deleted file mode 100644 index ee3629c..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/range_algebra.cpp +++ /dev/null @@ -1,190 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/check_operations.cpp - - [begin_description] - This file tests interaction between the algebras and the operations. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#define BOOST_TEST_MODULE odeint_standard_algebra - -#include -#include -#include -#include -#include - -#include -#include - -#include -#include -#include -#include - -#include -#include -#include - -#include - -namespace units = boost::units; -namespace si = boost::units::si; - -using boost::numeric::odeint::default_operations; -using boost::numeric::odeint::range_algebra; -using boost::numeric::odeint::array_algebra; - - -BOOST_AUTO_TEST_SUITE( standard_algebra_test ) - -typedef boost::mpl::list< range_algebra , array_algebra > algebra_types; -range_algebra algebra; - -BOOST_AUTO_TEST_CASE_TEMPLATE( for_each2 , algebra_type , algebra_types ) -{ - algebra_type algebra; - boost::array< double , 2 > x1 = {{ 1.0 , 1.0 }} , x2 = {{ 2.0 , 2.0 }}; - algebra.for_each2( x1 , x2 , default_operations::scale_sum1<>( 1.0 ) ); - BOOST_CHECK_CLOSE( x1[0] , 2.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( x1[1] , 2.0 , 1.0e-10 ); -} - - - -BOOST_AUTO_TEST_CASE_TEMPLATE( for_each3 , algebra_type , algebra_types ) -{ - algebra_type algebra; - boost::array< double , 2 > x1 = {{ 1.0 , 1.0 }} , x2 = {{ 2.0 , 2.0 }} , x3 = {{ 3.0 , 3.0 }}; - algebra.for_each3( x1 , x2 , x3 , default_operations::scale_sum2<>( 1.0 , 2.0 ) ); - BOOST_CHECK_CLOSE( x1[0] , 8.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( x1[1] , 8.0 , 1.0e-10 ); -} - - -BOOST_AUTO_TEST_CASE_TEMPLATE( for_each4 , algebra_type , algebra_types ) -{ - algebra_type algebra; - boost::array< double , 2 > x1 = {{ 1.0 , 1.0 }} , x2 = {{ 2.0 , 2.0 }} , x3 = {{ 3.0 , 3.0 }} , x4 = {{ 4.0 , 4.0 }}; - algebra.for_each4( x1 , x2 , x3 , x4 , default_operations::scale_sum3<>( 1.0 , 2.0 , 3.0 ) ); - BOOST_CHECK_CLOSE( x1[0] , 20.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( x1[1] , 20.0 , 1.0e-10 ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( for_each5 , algebra_type , algebra_types ) -{ - algebra_type algebra; - boost::array< double , 2 > x1 = {{ 1.0 , 1.0 }} , x2 = {{ 2.0 , 2.0 }} , x3 = {{ 3.0 , 3.0 }} , x4 = {{ 4.0 , 4.0 }} , x5 = {{ 5.0 , 5.0 }}; - algebra.for_each5( x1 , x2 , x3 , x4 , x5 , default_operations::scale_sum4<>( 1.0 , 2.0 , 3.0 , 4.0 ) ); - BOOST_CHECK_CLOSE( x1[0] , 40.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( x1[1] , 40.0 , 1.0e-10 ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( for_each6 , algebra_type , algebra_types ) -{ - algebra_type algebra; - boost::array< double , 2 > x1 = {{ 1.0 , 1.0 }} , x2 = {{ 2.0 , 2.0 }} , x3 = {{ 3.0 , 3.0 }} , x4 = {{ 4.0 , 4.0 }} , x5 = {{ 5.0 , 5.0 }} , x6 = {{ 6.0 , 6.0 }}; - algebra.for_each6( x1 , x2 , x3 , x4 , x5 , x6 ,default_operations::scale_sum5<>( 1.0 , 2.0 , 3.0 , 4.0 , 5.0 ) ); - BOOST_CHECK_CLOSE( x1[0] , 70.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( x1[1] , 70.0 , 1.0e-10 ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( for_each7 , algebra_type , algebra_types ) -{ - algebra_type algebra; - boost::array< double , 2 > x1 = {{ 1.0 , 1.0 }} , x2 = {{ 2.0 , 2.0 }} , x3 = {{ 3.0 , 3.0 }} , x4 = {{ 4.0 , 4.0 }} , x5 = {{ 5.0 , 5.0 }} , x6 = {{ 6.0 , 6.0 }} , x7 = {{ 7.0 , 7.0 }}; - algebra.for_each7( x1 , x2 , x3 , x4 , x5 , x6 , x7 , default_operations::scale_sum6<>( 1.0 , 2.0 , 3.0 , 4.0 , 5.0 , 6.0 ) ); - BOOST_CHECK_CLOSE( x1[0] , 112.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( x1[1] , 112.0 , 1.0e-10 ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( for_each8 , algebra_type , algebra_types ) -{ - algebra_type algebra; - boost::array< double , 2 > x1 = {{ 1.0 , 1.0 }} , x2 = {{ 2.0 , 2.0 }} , x3 = {{ 3.0 , 3.0 }} , x4 = {{ 4.0 , 4.0 }} , x5 = {{ 5.0 , 5.0 }} , x6 = {{ 6.0 , 6.0 }} , x7 = {{ 7.0 , 7.0 }} , x8 = {{ 8.0 , 8.0 }}; - algebra.for_each8( x1 , x2 , x3 , x4 , x5 , x6 , x7 , x8 , default_operations::scale_sum7<>( 1.0 , 2.0 , 3.0 , 4.0 , 5.0 , 6.0 , 7.0 ) ); - BOOST_CHECK_CLOSE( x1[0] , 168.0 , 1.0e-10 ); - BOOST_CHECK_CLOSE( x1[1] , 168.0 , 1.0e-10 ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( reduce , algebra_type , algebra_types ) -{ - algebra_type algebra; - boost::array< double , 2 > x = {{ 1.25 , 2.25 }}; - double sum = algebra.reduce( x , std::plus< double >() , 0.0 ); - BOOST_CHECK_CLOSE( sum , 3.5 , 1.0e-10 ); - BOOST_CHECK_CLOSE( x[0] , 1.25 , 1.0e-10 ); - BOOST_CHECK_CLOSE( x[1] , 2.25 , 1.0e-10 ); -} - -struct adder -{ - template< typename Value , typename T1 , typename T2 > - Value operator()( Value val , T1 t1 , T2 t2 ) const - { - return val + t1 + t2; - } - - template< typename Value , typename T1 , typename T2 , typename T3 > - Value operator()( Value val , T1 t1 , T2 t2 , T3 t3 ) const - { - return val + t1 + t2 + t3 ; - } - - template< typename Value , typename T1 , typename T2 , typename T3 , typename T4 > - Value operator()( Value val , T1 t1 , T2 t2 , T3 t3 , T4 t4 ) const - { - return val + t1 + t2 + t3 + t4 ; - } - -}; - -BOOST_AUTO_TEST_CASE( reduce2 ) -{ - range_algebra algebra; - boost::array< double , 2 > x1 = {{ 1.25 , 2.25 }} , x2 = {{ 0.5 , -1.0 }}; - double sum = algebra.reduce2( x1 , x2 , adder() , 0.0 ); - BOOST_CHECK_CLOSE( sum , 3.0 , 1.0e-10 ); - -} - -BOOST_AUTO_TEST_CASE( reduce3 ) -{ - range_algebra algebra; - boost::array< double , 2 > x1 = {{ 1.25 , 2.25 }} , x2 = {{ 0.5 , -1.0 }} , x3 = {{ 5.0 , 10.0 }}; - double sum = algebra.reduce3( x1 , x2 , x3 , adder() , 0.0 ); - BOOST_CHECK_CLOSE( sum , 18.0 , 1.0e-10 ); -} - -BOOST_AUTO_TEST_CASE( reduce4 ) -{ - range_algebra algebra; - boost::array< double , 2 > x1 = {{ 1.25 , 2.25 }} , x2 = {{ 0.5 , -1.0 }} , x3 = {{ 5.0 , 10.0 }} , x4 = {{ 2.0 , -1.0 }}; - double sum = algebra.reduce4( x1 , x2 , x3 , x4 , adder() , 0.0 ); - BOOST_CHECK_CLOSE( sum , 19.0 , 1.0e-10 ); -} - - -BOOST_AUTO_TEST_CASE( for_each2_with_units ) -{ - range_algebra algebra; - typedef units::quantity< si::time , double > time_type; - typedef units::quantity< si::length , double > length_type; - typedef units::quantity< si::velocity , double > velocity_type; - boost::array< length_type , 2 > x1 = {{ 1.0 * si::meter , 1.0 * si::meter }}; - boost::array< velocity_type , 2 > x2 = {{ 2.0 * si::meter / si::seconds , 2.0 * si::meter / si::seconds }}; - algebra.for_each2( x1 , x2 , default_operations::scale_sum1< time_type >( 0.1 * si::second ) ); - BOOST_CHECK_CLOSE( x1[0].value() , 0.2 , 1.0e-10 ); - BOOST_CHECK_CLOSE( x1[1].value() , 0.2 , 1.0e-10 ); -} - - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resize.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resize.cpp deleted file mode 100644 index 9c7fc2c..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resize.cpp +++ /dev/null @@ -1,98 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/resize.cpp - - [begin_description] - This file tests the resize function of odeint. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -// disable checked iterator warning for msvc -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE odeint_resize - -#include -#include - -#include - -#include -#include -#include -#include -#include -#include -#include -#include - - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - -BOOST_AUTO_TEST_CASE( test_vector ) -{ - std::vector< double > x1( 10 ); - std::vector< double > x2; - resize( x2 , x1 ); - BOOST_CHECK( x2.size() == 10 ); -} - - -BOOST_AUTO_TEST_CASE( test_fusion_vector_of_vector ) -{ - typedef boost::fusion::vector< std::vector< double > , std::vector< double > > state_type; - state_type x1; - boost::fusion::at_c< 0 >( x1 ).resize( 10 ); - boost::fusion::at_c< 1 >( x1 ).resize( 10 ); - state_type x2; - resize( x2 , x1 ); - BOOST_CHECK( boost::fusion::at_c< 0 >( x2 ).size() == 10 ); - BOOST_CHECK( boost::fusion::at_c< 1 >( x2 ).size() == 10 ); -} - - -BOOST_AUTO_TEST_CASE( test_fusion_vector_mixed1 ) -{ - typedef boost::fusion::vector< std::vector< double > , double > state_type; - state_type x1; - boost::fusion::at_c< 0 >( x1 ).resize( 10 ); - state_type x2; - resize( x2 , x1 ); - BOOST_CHECK( boost::fusion::at_c< 0 >( x2 ).size() == 10 ); -} - -BOOST_AUTO_TEST_CASE( test_fusion_vector_mixed2 ) -{ - typedef boost::fusion::vector< double , std::vector< double > , double > state_type; - state_type x1; - boost::fusion::at_c< 1 >( x1 ).resize( 10 ); - state_type x2; - resize( x2 , x1 ); - BOOST_CHECK( boost::fusion::at_c< 1 >( x2 ).size() == 10 ); -} - -BOOST_AUTO_TEST_CASE( test_fusion_quantity_sequence ) -{ - namespace units = boost::units; - namespace si = boost::units::si; - - typedef double value_type; - typedef units::quantity< si::time , value_type > time_type; - typedef units::quantity< si::length , value_type > length_type; - typedef units::quantity< si::velocity , value_type > velocity_type; - typedef boost::fusion::vector< length_type , velocity_type > state_type; - - state_type x1 , x2; - resize( x2 , x1 ); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resizing.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resizing.cpp deleted file mode 100644 index f91e129..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resizing.cpp +++ /dev/null @@ -1,139 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/resizing.cpp - - [begin_description] - This file tests the resizing mechanism of odeint. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -// disable checked iterator warning for msvc -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE odeint_resize - -#include -#include - -#include -#include -#include -#include - -#include - -#include -#include -#include - -#include -#include -#include -#include - -#include -#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - -namespace mpl = boost::mpl; - -size_t adjust_size_count; - -typedef boost::array< double , 1 > test_array_type; - -namespace boost { namespace numeric { namespace odeint { - - - template<> - struct is_resizeable< test_array_type > - { - typedef boost::true_type type; - const static bool value = type::value; - }; - - template<> - struct same_size_impl< test_array_type , test_array_type > - { - static bool same_size( const test_array_type &x1 , const test_array_type &x2 ) - { - return false; - } - }; - - template<> - struct resize_impl< test_array_type , test_array_type > - { - static void resize( test_array_type &x1 , const test_array_type &x2 ) - { - adjust_size_count++; - } - }; - -} } } - - - -void constant_system( const test_array_type &x , test_array_type &dxdt , double t ) { dxdt[0] = 1.0; } - - -BOOST_AUTO_TEST_SUITE( check_resize_test ) - - -typedef euler< test_array_type , double , test_array_type , double , range_algebra , default_operations , never_resizer > euler_manual_type; -typedef euler< test_array_type , double , test_array_type , double , range_algebra , default_operations , initially_resizer > euler_initially_type; -typedef euler< test_array_type , double , test_array_type , double , range_algebra , default_operations , always_resizer > euler_always_type; - -typedef runge_kutta4_classic< test_array_type , double , test_array_type , double , range_algebra , default_operations , never_resizer > rk4_manual_type; -typedef runge_kutta4_classic< test_array_type , double , test_array_type , double , range_algebra , default_operations , initially_resizer > rk4_initially_type; -typedef runge_kutta4_classic< test_array_type , double , test_array_type , double , range_algebra , default_operations , always_resizer > rk4_always_type; - - -typedef runge_kutta4< test_array_type , double , test_array_type , double , range_algebra , default_operations , never_resizer > rk4_gen_manual_type; -typedef runge_kutta4< test_array_type , double , test_array_type , double , range_algebra , default_operations , initially_resizer > rk4_gen_initially_type; -typedef runge_kutta4< test_array_type , double , test_array_type , double , range_algebra , default_operations , always_resizer > rk4_gen_always_type; - - -typedef mpl::vector< - mpl::vector< euler_manual_type , mpl::int_<1> , mpl::int_<0> > , - mpl::vector< euler_initially_type , mpl::int_<1> , mpl::int_<1> > , - mpl::vector< euler_always_type , mpl::int_<1> , mpl::int_<3> > , - mpl::vector< rk4_manual_type , mpl::int_<5> , mpl::int_<0> > , - mpl::vector< rk4_initially_type , mpl::int_<5> , mpl::int_<1> > , - mpl::vector< rk4_always_type , mpl::int_<5> , mpl::int_<3> > , - mpl::vector< rk4_gen_manual_type , mpl::int_<5> , mpl::int_<0> > , - mpl::vector< rk4_gen_initially_type , mpl::int_<5> , mpl::int_<1> > , - mpl::vector< rk4_gen_always_type , mpl::int_<5> , mpl::int_<3> > - >::type resize_check_types; - - -BOOST_AUTO_TEST_CASE_TEMPLATE( test_resize , T, resize_check_types ) -{ - typedef typename mpl::at< T , mpl::int_< 0 > >::type stepper_type; - const size_t resize_calls = mpl::at< T , mpl::int_< 1 > >::type::value; - const size_t multiplicity = mpl::at< T , mpl::int_< 2 > >::type::value; - adjust_size_count = 0; - - stepper_type stepper; - test_array_type x; - stepper.do_step( constant_system , x , 0.0 , 0.1 ); - stepper.do_step( constant_system , x , 0.0 , 0.1 ); - stepper.do_step( constant_system , x , 0.0 , 0.1 ); - - BOOST_TEST_MESSAGE( "adjust_size_count : " << adjust_size_count ); - BOOST_CHECK_MESSAGE( adjust_size_count == resize_calls * multiplicity , "adjust_size_count : " << adjust_size_count << " expected: " << resize_calls * multiplicity ); -} - - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/rosenbrock4.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/rosenbrock4.cpp deleted file mode 100644 index 7993f92..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/rosenbrock4.cpp +++ /dev/null @@ -1,140 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/rosenbrock4.cpp - - [begin_description] - This file tests the Rosenbrock 4 stepper and its controller and dense output stepper. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -// disable checked iterator warning for msvc -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE odeint_rosenbrock4 - -#include -#include - -#include - -#include -#include -#include - -#include -#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - -typedef double value_type; -typedef boost::numeric::ublas::vector< value_type > state_type; -typedef boost::numeric::ublas::matrix< value_type > matrix_type; - - -struct sys -{ - void operator()( const state_type &x , state_type &dxdt , const value_type &t ) const - { - dxdt( 0 ) = x( 0 ) + 2 * x( 1 ); - dxdt( 1 ) = x( 1 ); - } -}; - -struct jacobi -{ - void operator()( const state_type &x , matrix_type &jacobi , const value_type &t , state_type &dfdt ) const - { - jacobi( 0 , 0 ) = 1; - jacobi( 0 , 1 ) = 2; - jacobi( 1 , 0 ) = 0; - jacobi( 1 , 1 ) = 1; - dfdt( 0 ) = 0.0; - dfdt( 1 ) = 0.0; - } -}; - -BOOST_AUTO_TEST_SUITE( rosenbrock4_test ) - -BOOST_AUTO_TEST_CASE( test_rosenbrock4_stepper ) -{ - typedef rosenbrock4< value_type > stepper_type; - stepper_type stepper; - - typedef stepper_type::state_type state_type; - typedef stepper_type::value_type stepper_value_type; - typedef stepper_type::deriv_type deriv_type; - typedef stepper_type::time_type time_type; - - state_type x( 2 ) , xerr( 2 ); - x(0) = 0.0; x(1) = 1.0; - - stepper.do_step( std::make_pair( sys() , jacobi() ) , x , 0.0 , 0.1 , xerr ); - - stepper.do_step( std::make_pair( sys() , jacobi() ) , x , 0.0 , 0.1 ); - -// using std::abs; -// value_type eps = 1E-12; -// -// // compare with analytic solution of above system -// BOOST_CHECK_SMALL( abs( x(0) - 20.0/81.0 ) , eps ); -// BOOST_CHECK_SMALL( abs( x(1) - 10.0/9.0 ) , eps ); - -} - -BOOST_AUTO_TEST_CASE( test_rosenbrock4_controller ) -{ - typedef rosenbrock4_controller< rosenbrock4< value_type > > stepper_type; - stepper_type stepper; - - typedef stepper_type::state_type state_type; - typedef stepper_type::value_type stepper_value_type; - typedef stepper_type::deriv_type deriv_type; - typedef stepper_type::time_type time_type; - - state_type x( 2 ); - x( 0 ) = 0.0 ; x(1) = 1.0; - - value_type t = 0.0 , dt = 0.01; - stepper.try_step( std::make_pair( sys() , jacobi() ) , x , t , dt ); -} - -BOOST_AUTO_TEST_CASE( test_rosenbrock4_dense_output ) -{ - typedef rosenbrock4_dense_output< rosenbrock4_controller< rosenbrock4< value_type > > > stepper_type; - typedef rosenbrock4_controller< rosenbrock4< value_type > > controlled_stepper_type; - controlled_stepper_type c_stepper; - stepper_type stepper( c_stepper ); - - typedef stepper_type::state_type state_type; - typedef stepper_type::value_type stepper_value_type; - typedef stepper_type::deriv_type deriv_type; - typedef stepper_type::time_type time_type; - state_type x( 2 ); - x( 0 ) = 0.0 ; x(1) = 1.0; - stepper.initialize( x , 0.0 , 0.1 ); - std::pair< value_type , value_type > tr = stepper.do_step( std::make_pair( sys() , jacobi() ) ); - stepper.calc_state( 0.5 * ( tr.first + tr.second ) , x ); -} - -BOOST_AUTO_TEST_CASE( test_rosenbrock4_copy_dense_output ) -{ - typedef rosenbrock4_controller< rosenbrock4< value_type > > controlled_stepper_type; - typedef rosenbrock4_dense_output< controlled_stepper_type > stepper_type; - - controlled_stepper_type c_stepper; - stepper_type stepper( c_stepper ); - stepper_type stepper2( stepper ); -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_concepts.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_concepts.cpp deleted file mode 100644 index 0e8002d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_concepts.cpp +++ /dev/null @@ -1,169 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/runge_kutta_concepts.cpp - - [begin_description] - This file tests the Stepper concepts of odeint with all Runge-Kutta steppers. It's one of the main tests - of odeint. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -// disable checked iterator warning for msvc -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE odeint_runge_kutta_concepts - -#include -#include -#include - -#include - -#include - -#include - -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include "prepare_stepper_testing.hpp" -#include "dummy_odes.hpp" - -using std::vector; - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; -namespace mpl = boost::mpl; - -const double result = 2.2; - -const double eps = 1.0e-14; - -template< class Stepper , class System > -void check_stepper_concept( Stepper &stepper , System system , typename Stepper::deriv_type &x ) -{ - typedef Stepper stepper_type; - typedef typename stepper_type::deriv_type container_type; - typedef typename stepper_type::order_type order_type; - typedef typename stepper_type::time_type time_type; - - stepper.do_step( system , x , 0.0 , 0.1 ); -} - - -template< class Stepper , class State > struct perform_stepper_test; - -template< class Stepper > -struct perform_stepper_test< Stepper , vector_type > -{ - void operator()( void ) - { - vector_type x( 1 , 2.0 ); - Stepper stepper; - check_stepper_concept( stepper , constant_system_standard< vector_type , vector_type , double > , x ); - check_stepper_concept( stepper , boost::cref( constant_system_functor_standard() ) , x ); - std::cout << x[0] << " ?= " << result << std::endl; - BOOST_CHECK_SMALL( fabs( x[0] - result ) , eps ); - } -}; - -template< class Stepper > -struct perform_stepper_test< Stepper , vector_space_type > -{ - void operator()( void ) const - { - vector_space_type x; - x.m_x = 2.0; - Stepper stepper; - check_stepper_concept( stepper , constant_system_vector_space< vector_space_type , vector_space_type , double > , x ); - check_stepper_concept( stepper , boost::cref( constant_system_functor_vector_space() ) , x ); - std::cout << x.m_x << " ?= " << result << std::endl; - BOOST_CHECK_SMALL( fabs( x.m_x - result ) , eps ); - } -}; - -template< class Stepper > -struct perform_stepper_test< Stepper , array_type > -{ - void operator()( void ) - { - array_type x; - x[0] = 2.0; - Stepper stepper; - check_stepper_concept( stepper , constant_system_standard< array_type , array_type , double> , x ); - check_stepper_concept( stepper , boost::cref( constant_system_functor_standard() ) , x ); - std::cout << x[0] << " ?= " << result << std::endl; - BOOST_CHECK_SMALL( fabs( x[0] - result ) , eps ); - } -}; - - -template< class State > class stepper_methods : public mpl::vector< - euler< State , double , State , double , typename algebra_dispatcher< State >::type > , - modified_midpoint< State , double , State , double , typename algebra_dispatcher< State >::type > , - runge_kutta4< State , double , State , double , typename algebra_dispatcher< State >::type > , - runge_kutta4_classic< State , double , State , double , typename algebra_dispatcher< State >::type > , - runge_kutta_cash_karp54_classic< State , double , State , double , typename algebra_dispatcher< State >::type > , - runge_kutta_cash_karp54< State , double , State , double , typename algebra_dispatcher< State >::type > , - runge_kutta_dopri5< State , double , State , double , typename algebra_dispatcher< State >::type > , - runge_kutta_fehlberg78< State , double , State , double , typename algebra_dispatcher< State >::type > - > { }; - - - -typedef mpl::copy -< - container_types , - mpl::inserter - < - mpl::vector0<> , - mpl::insert_range - < - mpl::_1 , - mpl::end< mpl::_1 > , - stepper_methods< mpl::_2 > - > - > ->::type all_stepper_methods; - - - -BOOST_AUTO_TEST_SUITE( runge_kutta_concept_test ) - -BOOST_AUTO_TEST_CASE_TEMPLATE( stepper_test , Stepper, all_stepper_methods ) -{ - perform_stepper_test< Stepper , typename Stepper::deriv_type > tester; - tester(); -} - - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_controlled_concepts.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_controlled_concepts.cpp deleted file mode 100644 index ff1efc6..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_controlled_concepts.cpp +++ /dev/null @@ -1,180 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/runge_kutta_controlled_concepts.cpp - - [begin_description] - This file tests the Stepper concepts of odeint with all Controlled Runge-Kutta steppers. - It's one of the main tests of odeint. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -// disable checked iterator warning for msvc -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE odeint_runge_kutta_controlled_concepts - -#include -#include -#include - -#include - -#include - -#include - -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include - -#include "prepare_stepper_testing.hpp" -#include "dummy_odes.hpp" - -using std::vector; - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; -namespace mpl = boost::mpl; - -const double result = 2.2; // two steps - -const double eps = 1.0e-14; - -template< class Stepper , class System > -void check_controlled_stepper_concept( Stepper &stepper , System system , typename Stepper::state_type &x ) -{ - typedef Stepper stepper_type; - typedef typename stepper_type::deriv_type container_type; - //typedef typename stepper_type::order_type order_type; controlled_error_stepper don't necessarily have a order (burlish-stoer) - typedef typename stepper_type::time_type time_type; - - time_type t = 0.0 , dt = 0.1; - controlled_step_result step_result = stepper.try_step( system , x , t , dt ); - - BOOST_CHECK_MESSAGE( step_result == success , "step result: " << step_result ); // error = 0 for constant system -> step size is always too small -} - - - -template< class ControlledStepper , class State > struct perform_controlled_stepper_test; - -template< class ControlledStepper > -struct perform_controlled_stepper_test< ControlledStepper , vector_type > -{ - void operator()( void ) - { - vector_type x( 1 , 2.0 ); - //typename ControlledStepper::stepper_type error_stepper; - //default_error_checker< typename ControlledStepper::value_type , - // typename ControlledStepper::algebra_type , - // typename ControlledStepper::operations_type > error_checker; - //ControlledStepper controlled_stepper( error_stepper , error_checker ); - ControlledStepper controlled_stepper; - check_controlled_stepper_concept( controlled_stepper , - constant_system_standard< vector_type , vector_type , double > , - x ); - check_controlled_stepper_concept( controlled_stepper , boost::cref( constant_system_functor_standard() ) , x ); - BOOST_CHECK_SMALL( fabs( x[0] - result ) , eps ); - } -}; - -template< class ControlledStepper > -struct perform_controlled_stepper_test< ControlledStepper , vector_space_type > -{ - void operator()( void ) const - { - vector_space_type x; - x.m_x = 2.0; - /*typename ControlledStepper::stepper_type error_stepper; - default_error_checker< typename ControlledStepper::value_type , - typename ControlledStepper::algebra_type , - typename ControlledStepper::operations_type > error_checker; - ControlledStepper controlled_stepper( error_stepper , error_checker );*/ - ControlledStepper controlled_stepper; - check_controlled_stepper_concept( controlled_stepper , - constant_system_vector_space< vector_space_type , vector_space_type , double > - , x ); - check_controlled_stepper_concept( controlled_stepper , boost::cref( constant_system_functor_vector_space() ) , x ); - BOOST_CHECK_SMALL( fabs( x.m_x - result ) , eps ); - } -}; - -template< class ControlledStepper > -struct perform_controlled_stepper_test< ControlledStepper , array_type > -{ - void operator()( void ) - { - array_type x; - x[0] = 2.0; - /*typename ControlledStepper::stepper_type error_stepper; - default_error_checker< typename ControlledStepper::value_type , - typename ControlledStepper::algebra_type , - typename ControlledStepper::operations_type > error_checker; - ControlledStepper controlled_stepper( error_stepper , error_checker );*/ - ControlledStepper controlled_stepper; - check_controlled_stepper_concept( controlled_stepper , constant_system_standard< array_type , array_type , double > , x ); - check_controlled_stepper_concept( controlled_stepper , boost::cref( constant_system_functor_standard() ) , x ); - BOOST_CHECK_SMALL( fabs( x[0] - result ) , eps ); - } -}; - -template< class State > class controlled_stepper_methods : public mpl::vector< - controlled_runge_kutta< runge_kutta_cash_karp54_classic< State , double , State , double , typename algebra_dispatcher< State >::type > > , - controlled_runge_kutta< runge_kutta_dopri5< State , double , State , double , typename algebra_dispatcher< State >::type > > , - controlled_runge_kutta< runge_kutta_fehlberg78< State , double , State , double , typename algebra_dispatcher< State >::type > > , - bulirsch_stoer< State , double , State , double , typename algebra_dispatcher< State >::type > - > { }; - -typedef mpl::copy -< - container_types , - mpl::inserter - < - mpl::vector0<> , - mpl::insert_range - < - mpl::_1 , - mpl::end< mpl::_1 > , - controlled_stepper_methods< mpl::_2 > - > - > - >::type all_controlled_stepper_methods; - - - - -BOOST_AUTO_TEST_SUITE( controlled_runge_kutta_concept_test ) - -BOOST_AUTO_TEST_CASE_TEMPLATE( controlled_stepper_test , ControlledStepper , all_controlled_stepper_methods ) -{ - perform_controlled_stepper_test< ControlledStepper , typename ControlledStepper::state_type > tester; - tester(); -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_error_concepts.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_error_concepts.cpp deleted file mode 100644 index 07897ff..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_error_concepts.cpp +++ /dev/null @@ -1,160 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/runge_kutta_error_concepts.cpp - - [begin_description] - This file tests the Stepper concepts of odeint with all Runge-Kutta Error steppers. - It's one of the main tests of odeint. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -// disable checked iterator warning for msvc -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE odeint_runge_kutta_error_concepts - -#include -#include -#include - -#include - -#include - -#include - -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include "prepare_stepper_testing.hpp" -#include "dummy_odes.hpp" - -using std::vector; - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; -namespace mpl = boost::mpl; - -const double result = 2.4; // four steps total... - -const double eps = 1.0e-14; - -template< class Stepper , class System > -void check_error_stepper_concept( Stepper &stepper , System system , typename Stepper::state_type &x , typename Stepper::state_type &xerr ) -{ - typedef Stepper stepper_type; - typedef typename stepper_type::deriv_type container_type; - typedef typename stepper_type::order_type order_type; - typedef typename stepper_type::time_type time_type; - - stepper.do_step( system , typename boost::add_reference< container_type>::type( x ), 0.0 , 0.1 ); - stepper.do_step( system , typename boost::add_reference< container_type>::type( x ), 0.0 , 0.1 , typename boost::add_reference< container_type>::type( xerr ) ); - -} - -template< class Stepper , class State > struct perform_error_stepper_test; - -template< class Stepper > -struct perform_error_stepper_test< Stepper , vector_type > -{ - void operator()( void ) - { - vector_type x( 1 , 2.0 ) , xerr( 1 ); - Stepper stepper; - check_error_stepper_concept( stepper , constant_system_standard< vector_type , vector_type , double > , x , xerr ); - check_error_stepper_concept( stepper , boost::cref( constant_system_functor_standard() ) , x , xerr ); - BOOST_CHECK_SMALL( fabs( x[0] - result ) , eps ); - } -}; - - -template< class Stepper > -struct perform_error_stepper_test< Stepper , vector_space_type > -{ - void operator()( void ) const - { - vector_space_type x , xerr; - x.m_x = 2.0; - Stepper stepper; - check_error_stepper_concept( stepper , - constant_system_vector_space< vector_space_type , vector_space_type , double > , - x , - xerr ); - check_error_stepper_concept( stepper , boost::cref( constant_system_functor_vector_space() ) , x , xerr ); - BOOST_CHECK_SMALL( fabs( x.m_x - result ) , eps ); - } -}; - -template< class Stepper > -struct perform_error_stepper_test< Stepper , array_type > -{ - void operator()( void ) - { - array_type x , xerr; - x[0] = 2.0; - Stepper stepper; - check_error_stepper_concept( stepper , constant_system_standard< array_type , array_type , double > , x , xerr ); - check_error_stepper_concept( stepper , boost::cref( constant_system_functor_standard() ) , x , xerr ); - BOOST_CHECK_SMALL( fabs( x[0] - result ) , eps ); - } -}; - - -template< class State > class error_stepper_methods : public mpl::vector< - runge_kutta_cash_karp54_classic< State , double , State , double , typename algebra_dispatcher< State >::type > , - runge_kutta_cash_karp54< State , double , State , double , typename algebra_dispatcher< State >::type > , - runge_kutta_dopri5< State , double , State , double , typename algebra_dispatcher< State >::type > , - runge_kutta_fehlberg78< State , double , State , double , typename algebra_dispatcher< State >::type > - > { }; - - -typedef mpl::copy -< - container_types , - mpl::inserter - < - mpl::vector0<> , - mpl::insert_range - < - mpl::_1 , - mpl::end< mpl::_1 > , - error_stepper_methods< mpl::_2 > - > - > - >::type all_error_stepper_methods; - - -BOOST_AUTO_TEST_SUITE( runge_kutta_error_concept_test ) - -BOOST_AUTO_TEST_CASE_TEMPLATE( error_stepper_test , Stepper , all_error_stepper_methods ) -{ - perform_error_stepper_test< Stepper , typename Stepper::state_type > tester; - tester(); -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/same_size.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/same_size.cpp deleted file mode 100644 index e65dfc2..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/same_size.cpp +++ /dev/null @@ -1,65 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/same_size.cpp - - [begin_description] - tba. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE odeint_dummy - -#include - -#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - - -BOOST_AUTO_TEST_SUITE( same_size_test ) - -BOOST_AUTO_TEST_CASE( test_vector_true ) -{ - std::vector< double > v1( 10 ) , v2( 10 ); - BOOST_CHECK_EQUAL( true , same_size( v1 , v2 ) ); -} - - -BOOST_AUTO_TEST_CASE( test_vector_false ) -{ - std::vector< double > v1( 10 ) , v2( 20 ); - BOOST_CHECK_EQUAL( false , same_size( v1 , v2 ) ); -} - -BOOST_AUTO_TEST_CASE( test_fusion_true ) -{ - boost::fusion::vector< double , std::vector< double > > v1 , v2; - boost::fusion::at_c< 1 >( v1 ).resize( 10 ); - boost::fusion::at_c< 1 >( v2 ).resize( 10 ); - BOOST_CHECK_EQUAL( true , same_size( v1 , v2 ) ); -} - -BOOST_AUTO_TEST_CASE( test_fusion_false ) -{ - boost::fusion::vector< double , std::vector< double > > v1 , v2; - boost::fusion::at_c< 1 >( v1 ).resize( 10 ); - boost::fusion::at_c< 1 >( v2 ).resize( 20 ); - BOOST_CHECK_EQUAL( false , same_size( v1 , v2 ) ); -} - - - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_copying.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_copying.cpp deleted file mode 100644 index da4ac30..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_copying.cpp +++ /dev/null @@ -1,856 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/stepper_copying.cpp - - [begin_description] - This file tests the copying of the steppers. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - -// disable checked iterator warning for msvc -#include -#ifdef BOOST_MSVC -#pragma warning(disable:4996) -#endif - - -#define BOOST_TEST_MODULE odeint_stepper_copying - -#include -#include - -//#include -//#include -#include - -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -template< class T , size_t Dim > -class test_array -{ -public: - - const static size_t dim = Dim; - typedef T value_type; - typedef value_type* iterator; - typedef const value_type* const_iterator; - - value_type& operator[]( size_t i ) - { - return m_data[i]; - } - - const value_type& operator[]( size_t i ) const - { - return m_data[i]; - } - - iterator begin( void ) - { - return m_data; - } - - iterator end( void ) - { - return m_data + dim; - } - - const_iterator begin( void ) const - { - return m_data; - } - - const_iterator end( void ) const - { - return m_data + dim; - } - - -private: - - value_type m_data[dim]; -}; - -template< class T , size_t Dim > -class test_array2 : public test_array< T , Dim > -{ -}; - - - -/* - * Explicit testing if copying was successful is difficult, - * hence we only test if the number of copy operations is right. - * - * Otherwise one has to prepare the states. - */ - -size_t construct_count = 0; -size_t construct2_count = 0; -size_t destruct_count = 0; -size_t destruct2_count = 0; -size_t copy_count = 0; -size_t copy2_count = 0; - -void reset_counter( void ) -{ - construct_count = 0; - construct2_count = 0; - destruct_count = 0; - destruct2_count = 0; - copy_count = 0; - copy2_count = 0; -} - - -namespace boost { namespace numeric { namespace odeint { - -//provide the state_wrapper - template< class T , size_t Dim > - struct state_wrapper< test_array< T , Dim > > - { - typedef state_wrapper< test_array< T , Dim > > state_wrapper_type; - typedef test_array< T , Dim > state_type; - typedef T value_type; - - state_type m_v; - - state_wrapper() : m_v() - { - construct_count++; - } - - state_wrapper( const state_type &v ) : m_v( v ) - { - construct_count++; - copy_count++; - } - - state_wrapper( const state_wrapper_type &x ) : m_v( x.m_v ) - { - construct_count++; - copy_count++; - } - - state_wrapper_type& operator=( const state_wrapper_type &x ) - { - copy_count++; - return *this; - } - - ~state_wrapper() - { - destruct_count++; - } - }; - -//provide the state_wrapper - template< class T , size_t Dim > - struct state_wrapper< test_array2< T , Dim > > - { - typedef state_wrapper< test_array2< T , Dim > > state_wrapper_type; - typedef test_array2< T , Dim > state_type; - typedef T value_type; - - state_type m_v; - - state_wrapper() : m_v() - { - construct2_count++; - } - - state_wrapper( const state_type &v ) : m_v( v ) - { - construct2_count++; - copy2_count++; - } - - state_wrapper( const state_wrapper_type &x ) : m_v( x.m_v ) - { - construct2_count++; - copy2_count++; - } - - state_wrapper_type& operator=( const state_wrapper_type &x ) - { - copy2_count++; - return *this; - } - - ~state_wrapper() - { - destruct2_count++; - } - }; - - - } } } - - - -typedef test_array< double , 3 > state_type; -typedef test_array2< double , 3 > deriv_type; -typedef boost::numeric::odeint::euler< state_type , double , deriv_type > euler_type; -typedef boost::numeric::odeint::runge_kutta4_classic< state_type , double , deriv_type > rk4_type; -typedef boost::numeric::odeint::runge_kutta4< state_type , double , deriv_type > rk4_generic_type; -typedef boost::numeric::odeint::runge_kutta_cash_karp54_classic< state_type , double , deriv_type > rk54_type; -typedef boost::numeric::odeint::runge_kutta_cash_karp54< state_type , double , deriv_type > rk54_generic_type; -typedef boost::numeric::odeint::runge_kutta_dopri5< state_type , double , deriv_type > dopri5_type; -typedef boost::numeric::odeint::controlled_runge_kutta< rk54_type > controlled_rk54_type; -typedef boost::numeric::odeint::controlled_runge_kutta< rk54_generic_type > controlled_rk54_generic_type; -typedef boost::numeric::odeint::controlled_runge_kutta< dopri5_type > controlled_dopri5_type; -typedef boost::numeric::odeint::dense_output_runge_kutta< euler_type > dense_output_euler_type; -typedef boost::numeric::odeint::dense_output_runge_kutta< controlled_dopri5_type > dense_output_dopri5_type; - -#define CHECK_COUNTERS( c1 , c2 , c3 , c4 , c5 , c6 ) \ - BOOST_CHECK_EQUAL( construct_count , size_t( c1 ) ); \ - BOOST_CHECK_EQUAL( construct2_count , size_t( c2 ) ); \ - BOOST_CHECK_EQUAL( destruct_count , size_t( c3 ) ); \ - BOOST_CHECK_EQUAL( destruct2_count , size_t( c4) ); \ - BOOST_CHECK_EQUAL( copy_count , size_t( c5 ) ) ; \ - BOOST_CHECK_EQUAL( copy2_count, size_t( c6 ) ) - -BOOST_AUTO_TEST_SUITE( stepper_copying ) - -/* - * Construct + Destruct - * 1 deriv_type in explicit_stepper_base - */ -BOOST_AUTO_TEST_CASE( explicit_euler_construct ) -{ - reset_counter(); - { - euler_type euler; - } - CHECK_COUNTERS( 0 , 1 , 0 , 1 , 0 , 0 ); -} - - -/* - * Construct + Destruct - * 2 * 1 deriv_type in explicit_stepper_base - * - * Copying - * 1 deriv_type in explicit_stepper_base - */ -BOOST_AUTO_TEST_CASE( explicit_euler_copy_construct ) -{ - reset_counter(); - { - euler_type euler; - euler_type euler2( euler ); - } - CHECK_COUNTERS( 0 , 1 + 1 , 0 , 1 + 1 , 0 , 1 ); -} - -/* - * Construct + Destruct - * 2 * 1 deriv_type in explicit_stepper_base - * - * Copying - * 1 deriv_type in explicit_stepper_base - */ -BOOST_AUTO_TEST_CASE( explicit_euler_assign ) -{ - reset_counter(); - { - euler_type euler; - euler_type euler2; - euler2 = euler; - } - CHECK_COUNTERS( 0 , 2 , 0 , 2 , 0 , 1 ); -} - -/* - * Construct + Destruct - * 1 deriv_type in explicit_stepper_base - * 3 deriv_type in explicit_rk4 - * 1 state_type in explicit_rk4 - */ -BOOST_AUTO_TEST_CASE( explicit_rk4_construct ) -{ - reset_counter(); - { - rk4_type rk4; - } - CHECK_COUNTERS( 1 , 4 , 1 , 4 , 0 , 0 ); -} - -/* - * Construct + Destruct - * 2 * 1 deriv_type in explicit_stepper_base - * 2 * 3 deriv_type in explicit_rk4 - * 2 * 1 state_type in explicit_rk4 - * - * Copying - * 1 deriv_type in explicit_stepper_base - * 3 deriv_type in explicit_stepper_base - * 1 state_type in explicit_stepper_base - */ -BOOST_AUTO_TEST_CASE( explicit_rk4_copy_construct ) -{ - reset_counter(); - { - rk4_type rk4; - rk4_type rk4_2( rk4 ); - } - CHECK_COUNTERS( 2 , 8 , 2 , 8 , 1 , 4 ); -} - -/* - * Construct + Destruct - * 2 * 1 deriv_type in explicit_stepper_base - * 2 * 3 deriv_type in explicit_rk4 - * 2 * 1 state_type in explicit_rk4 - * - * Copying - * 1 deriv_type in explicit_stepper_base - * 3 deriv_type in explicit_stepper_base - * 1 state_type in explicit_stepper_base - */ -BOOST_AUTO_TEST_CASE( explicit_rk4_assign ) -{ - reset_counter(); - { - rk4_type rk4; - rk4_type rk4_2; - rk4 = rk4_2; - } - CHECK_COUNTERS( 2 , 8 , 2 , 8 , 1 , 4 ); -} - - -/* - * Construct + Destruct - * 1 deriv_type in explicit_stepper_base - * 3 deriv_type in explicit_rk4 - * 1 state_type in explicit_rk4 - */ -BOOST_AUTO_TEST_CASE( explicit_rk4_generic_construct ) -{ - reset_counter(); - { - rk4_generic_type rk4; - } - CHECK_COUNTERS( 1 , 4 , 1 , 4 , 0 , 0 ); -} - -/* - * Construct + Destruct - * 2 * 1 deriv_type in explicit_stepper_base - * 2 * 3 deriv_type in explicit_rk4 - * 2 * 1 state_type in explicit_rk4 - * - * Copying - * 1 deriv_type in explicit_stepper_base - * 3 deriv_type in explicit_stepper_base - * 1 state_type in explicit_stepper_base - */ -BOOST_AUTO_TEST_CASE( explicit_rk4_generic_copy_construct ) -{ - reset_counter(); - { - rk4_generic_type rk4; - rk4_generic_type rk4_2( rk4 ); - } - CHECK_COUNTERS( 2 , 8 , 2 , 8 , 1 , 4 ); -} - -/* - * Construct + Destruct - * 2 * 1 deriv_type in explicit_stepper_base - * 2 * 3 deriv_type in explicit_rk4 - * 2 * 1 state_type in explicit_rk4 - * - * Copying - * 1 deriv_type in explicit_stepper_base - * 3 deriv_type in explicit_stepper_base - * 1 state_type in explicit_stepper_base - */ -BOOST_AUTO_TEST_CASE( explicit_rk4_generic_assign ) -{ - reset_counter(); - { - rk4_generic_type rk4; - rk4_generic_type rk4_2; - rk4 = rk4_2; - } - CHECK_COUNTERS( 2 , 8 , 2 , 8 , 1 , 4 ); -} - -/* - * Construct + Destruct - * 2 explicit_rk54_ck: - * 2 * 1 deriv_type in explicit_error_stepper_base - * 2 * 5 deriv_type in explicit_error_rk54_ck - * 2 * 1 state_type in explicit_error_rk4 - * 1 controlled_stepper: - * 1 deriv_type - * 2 state_type - * - * Copying - * 1 copy process of explicit_rk54_ck: - * 1 deriv_type from explicit_error_stepper_base - * 5 deriv_type from explicit_error_rk54_ck - * 1 state_type from explicit_error_rk54_ck - */ -BOOST_AUTO_TEST_CASE( controlled_rk54_construct ) -{ - reset_counter(); - { - controlled_rk54_type stepper; - } - CHECK_COUNTERS( 4 , 13 , 4 , 13 , 1 , 6 ); -} - - -/* - * Construct + Destruct - * 3 explicit_rk54_ck: - * 3 * 1 deriv_type in explicit_error_stepper_base - * 3 * 5 deriv_type in explicit_error_rk54_ck - * 3 * 1 state_type in explicit_error_rk4 - * 2 controlled_stepper: - * 2 * 1 deriv_type - * 2 * 2 state_type - * - * Copying - * 1 copy process of explicit_rk54_ck: - * 1 deriv_type from explicit_error_stepper_base - * 5 deriv_type from explicit_error_rk54_ck - * 1 state_type from explicit_error_rk54_ck - * - * 1 process of copying controlled_error_stepper - * 1 deriv_type from explicit_error_stepper_base - * 5 deriv_type from explicit_error_rk54_ck - * 1 state_type from explicit_error_rk54_ck - * 1 deriv_type from controlled_error_stepper - * 2 state_type from controlled_error_stepper - */ -BOOST_AUTO_TEST_CASE( controlled_rk54_copy_construct ) -{ - reset_counter(); - { - controlled_rk54_type stepper; - controlled_rk54_type stepper2( stepper ); - } - CHECK_COUNTERS( 7 , 20 , 7 , 20 , 4 , 13 ); -} - -/* - * Construct + Destruct - * 4 explicit_rk54_ck: - * 4 * 1 deriv_type in explicit_error_stepper_base - * 4 * 5 deriv_type in explicit_error_rk54_ck - * 4 * 1 state_type in explicit_error_rk4 - * 2 controlled_stepper: - * 2 * 1 deriv_type - * 2 * 2 state_type - * - * Copying - * 2 copy process of explicit_rk54_ck: - * 2 * 1 deriv_type from explicit_error_stepper_base - * 2 * 5 deriv_type from explicit_error_rk54_ck - * 2 * 1 state_type from explicit_error_rk54_ck - * - * 1 process of copying controlled_error_stepper - * 1 deriv_type from explicit_error_stepper_base - * 5 deriv_type from explicit_error_rk54_ck - * 1 state_type from explicit_error_rk54_ck - * 1 deriv_type from controlled_error_stepper - * 2 state_type from controlled_error_stepper - */ -BOOST_AUTO_TEST_CASE( controlled_rk54_assign ) -{ - reset_counter(); - { - controlled_rk54_type stepper; - controlled_rk54_type stepper2; - stepper2 = stepper; - } - CHECK_COUNTERS( 8 , 26 , 8 , 26 , 5 , 19 ); -} - - - -/* - * Construct + Destruct - * 2 explicit_rk54_ck_generic: - * 2 * 1 deriv_type in explicit_error_stepper_base - * 2 * 5 deriv_type in explicit_error_rk54_ck_generic - * 2 * 1 state_type in explicit_error_rk54_ck_generic - * 1 controlled_stepper: - * 1 deriv_type - * 2 state_type - * - * Copying - * 1 copy process of explicit_rk54_ck_generic: - * 1 deriv_type from explicit_error_stepper_base - * 5 deriv_type from explicit_error_rk54_ck_generic - * 1 state_type from explicit_error_rk54_ck_generic - */ -BOOST_AUTO_TEST_CASE( controlled_rk54_generic_construct ) -{ - reset_counter(); - { - controlled_rk54_generic_type stepper; - } - CHECK_COUNTERS( 4 , 13 , 4 , 13 , 1 , 6 ); -} - - -/* - * Construct + Destruct - * 3 explicit_rk54_ck_generic: - * 3 * 1 deriv_type in explicit_error_stepper_base - * 3 * 5 deriv_type in explicit_error_rk54_ck_generic - * 3 * 1 state_type in explicit_error_rk4_generic - * 2 controlled_stepper: - * 2 * 1 deriv_type - * 2 * 2 state_type - * - * Copying - * 1 copy process of explicit_rk54_ck_generic: - * 1 deriv_type from explicit_error_stepper_base - * 5 deriv_type from explicit_error_rk54_ck_generic - * 1 state_type from explicit_error_rk54_ck_generic - * - * 1 process of copying controlled_error_stepper - * 1 deriv_type from explicit_error_stepper_base - * 5 deriv_type from explicit_error_rk54_ck_generic - * 1 state_type from explicit_error_rk54_ck_generic - * 1 deriv_type from controlled_error_stepper - * 2 state_type from controlled_error_stepper - */ -BOOST_AUTO_TEST_CASE( controlled_rk54_generic_copy_construct ) -{ - reset_counter(); - { - controlled_rk54_generic_type stepper; - controlled_rk54_generic_type stepper2( stepper ); - } - CHECK_COUNTERS( 7 , 20 , 7 , 20 , 4 , 13 ); -} - -/* - * Construct + Destruct - * 4 explicit_rk54_ck_generic: - * 4 * 1 deriv_type in explicit_error_stepper_base - * 4 * 5 deriv_type in explicit_error_rk54_ck_generic - * 4 * 1 state_type in explicit_error_rk4_generic - * 2 controlled_stepper: - * 2 * 1 deriv_type - * 2 * 2 state_type - * - * Copying - * 2 copy process of explicit_rk54_ck_generic: - * 2 * 1 deriv_type from explicit_error_stepper_base - * 2 * 5 deriv_type from explicit_error_rk54_ck_generic - * 2 * 1 state_type from explicit_error_rk54_ck_generic - * - * 1 process of copying controlled_error_stepper - * 1 deriv_type from explicit_error_stepper_base - * 5 deriv_type from explicit_error_rk54_ck_generic - * 1 state_type from explicit_error_rk54_ck_generic - * 1 deriv_type from controlled_error_stepper - * 2 state_type from controlled_error_stepper - */ -BOOST_AUTO_TEST_CASE( controlled_rk54_generic_assign ) -{ - reset_counter(); - { - controlled_rk54_generic_type stepper; - controlled_rk54_generic_type stepper2; - stepper2 = stepper; - } - CHECK_COUNTERS( 8 , 26 , 8 , 26 , 5 , 19 ); -} - - -/* - * Construct + Destruct - * 2 explicit_error_dopri5: - * 2 * 1 deriv_type in explicit_error_stepper_base_fsal - * 2 * 6 deriv_type in explicit_error_dopri5 - * 2 * 1 state_type in explicit_error_dopri5 - * 1 controlled_error_stepper (fsal): - * 2 deriv_type - * 2 state_type - * - * Copying - * 1 copy process of explicit_dopri5: - * 1 deriv_type from explicit_error_stepper_base_fsal - * 6 deriv_type from explicit_error_dopri5 - * 1 state_type from explicit_error_dopri5 - */ - -BOOST_AUTO_TEST_CASE( controlled_dopri5_construct ) -{ - reset_counter(); - { - controlled_dopri5_type dopri5; - } - CHECK_COUNTERS( 2 * 1 + 2 , 2 * (6+1) + 2 , 2 * 1 + 2 , 2 * (6+1) + 2 , 1 , 1 + 6 ); -} - - -/* - * Construct + Destruct - * 3 explicit_error_dopri5: - * 3 * 1 deriv_type in explicit_error_stepper_base_fsal - * 3 * 6 deriv_type in explicit_error_dopri5 - * 3 * 1 state_type in explicit_error_dopri5 - * 2 controlled_error_stepper (fsal): - * 2 * 2 deriv_type - * 2 * 2 state_type - * - * Copying - * 1 copy process of explicit_error_dopri5: - * 1 deriv_type from explicit_error_stepper_base_fsal - * 6 deriv_type from explicit_error_error_dopri5 - * 1 state_type from explicit_error_error_dopri5 - * - * 1 process of copying controlled_error_stepper - * 1 deriv_type from explicit_error_stepper_base_fsal - * 6 deriv_type from explicit_error_dopri5 - * 1 state_type from explicit_error_dopri5 - * 2 deriv_type from controlled_error_stepper (fsal) - * 2 state_type from controlled_error_stepper (fsal) - */ -BOOST_AUTO_TEST_CASE( controlled_dopri5_copy_construct ) -{ - reset_counter(); - { - controlled_dopri5_type dopri5; - controlled_dopri5_type dopri5_2( dopri5 ); - } - CHECK_COUNTERS( 3 * 1 + 2 * 2 , 3 * (6+1) + 2 * 2 , 3 * 1 + 2 * 2 , 3 * (6+1) + 2 * 2 , 1 + 1 + 2 , 1 + 6 + 1 + 6 + 2 ); -} - -/* - * Construct + Destruct - * 4 explicit_error_dopri5: - * 4 * 1 deriv_type in explicit_error_stepper_base_fsal - * 4 * 6 deriv_type in explicit_error_dopri5 - * 4 * 1 state_type in explicit_error_dopri5 - * 2 controlled_error_stepper (fsal): - * 2 * 2 deriv_type - * 2 * 2 state_type - * - * Copying - * 2 copy process of explicit_error_dopri5: - * 2 * 1 deriv_type from explicit_error_stepper_base_fsal - * 2 * 6 deriv_type from explicit_error_dopri5 - * 2 * 1 state_type from explicit_error_dopri5 - * - * 1 process of copying controlled_error_stepper - * 1 deriv_type from explicit_error_stepper_base - * 6 deriv_type from explicit_error_dopri5 - * 1 state_type from explicit_error_dopri5 - * 2 deriv_type from controlled_error_stepper (fsal) - * 2 state_type from controlled_error_stepper (fsal) - */ -BOOST_AUTO_TEST_CASE( controlled_dopri5_assign ) -{ - reset_counter(); - { - controlled_dopri5_type dopri5; - controlled_dopri5_type dopri5_2; - dopri5_2 = dopri5; - } - CHECK_COUNTERS( 4 * 1 + 2 * 2 , 4 * (1+6) + 2 * 2 , 4 * 1 + 2 * 2 , 4 * (1+6) + 2 * 2 , 2 * 1 + 1 + 2 , 2 * (6+1) + 1 + 6 + 2 ); -} - - -/* - * Construct + Destruct - * 2 explicit_euler: - * 2 * 1 deriv_type in explicit_stepper_base - * 1 dense_output_explicit: - * 2 state_type - * - * Copying - * 1 copy process of explicit_euler: - * 1 deriv_type from explicit_stepper_base - */ -BOOST_AUTO_TEST_CASE( dense_output_euler_construct ) -{ - reset_counter(); - { - dense_output_euler_type euler; - } - CHECK_COUNTERS( 2 , 2 * 1 , 2 , 2 * 1 , 0 , 1 ); -} - -/* - * Construct + Destruct - * 3 explicit_euler: - * 3 * 1 deriv_type in explicit_stepper_base - * 2 dense_output_explicit: - * 2 * 2 state_type - * - * Copying - * 1 copy process of explicit_euler: - * 1 deriv_type from explicit_stepper_base - * - * 1 process of copying - * 1 deriv_type from explicit_stepper_base - * 2 state_type from dense_output_explicit - */ -BOOST_AUTO_TEST_CASE( dense_output_euler_copy_construct ) -{ - reset_counter(); - { - dense_output_euler_type euler; - dense_output_euler_type euler2( euler ); - } - CHECK_COUNTERS( 2 * 2 , 3 * 1 , 2 * 2 , 3 * 1 , 2 , 1 + 1 ); -} - -/* - * Construct + Destruct - * 4 explicit_euler: - * 4 * 1 deriv_type in explicit_stepper_base - * 2 dense_output_explicit: - * 2 * 2 state_type - * - * Copying - * 2 copy process of explicit_euler: - * 2 * 1 deriv_type from explicit_stepper_base - * - * 1 process of copying dense_ouput_explicit - * 1 deriv_type from explicit_stepper_base - * 2 state_type from dense_output_explicit - */ -BOOST_AUTO_TEST_CASE( dense_output_euler_assign ) -{ - reset_counter(); - { - dense_output_euler_type euler; - dense_output_euler_type euler2; - euler2 = euler; - } - CHECK_COUNTERS( 2 * 2 , 4 * 1 , 2 * 2 , 4 * 1 , 2 , 2 * 1 + 1 ); -} - -/* - * Construct + Destruct - * 3 dense_output_dopri5: - * 3 * 1 deriv_type in explicit_error_stepper_base_fsal - * 3 * 6 deriv_type in explicit_error_dopri5 - * 3 * 1 state_type in explicit_error_dopri5 - * 2 controlled_error_stepper (fsal): - * 2 * 2 state_type - * 2 * 2 deriv_type - * 1 dense_output_controlled_explicit: - * 2 state_type - * 2 deriv_type - * - * Copying - * 2 copy process of explicit_error_dopri5: - * 2 * 1 deriv_type from explicit_erro_stepper_base_fsal - * 2 * 6 deriv_type in explicit_error_dopri5 - * 2 * 1 state_type in explicit_error_dopri5 - * 1 copy process of dense_output_controlled (fsal) - * 2 state_type - * 2 deriv_type - */ -BOOST_AUTO_TEST_CASE( dense_output_dopri5_construct ) -{ - reset_counter(); - { - dense_output_dopri5_type dopri5; - } - CHECK_COUNTERS( 3*1 + 2*2 + 2 , 3*(1+6) + 2*2 + 2 , 3*1 + 2*2 + 2 , 3*(1+6) + 2*2 + 2 , 2*1 + 2 , 2*(1+6) + 2 ); -} - -/* - * Construct + Destruct - * 4 dense_output_dopri5: - * 4 * 1 deriv_type in explicit_error_stepper_base_fsal - * 4 * 5 deriv_type in explicit_error_dopri5 - * 4 * 1 state_type in explicit_error_dopri5 - * 3 controlled_error_stepper (fsal): - * 3 * 2 state_type - * 3 * 2 deriv_type - * 2 dense_output_controlled_explicit: - * 2 * 2 state_type - * 2 * 2 deriv_type - * - * Copying - * 3 copy process of explicit_error_dopri5: - * 3 * 1 deriv_type from explicit_erro_stepper_base_fsal - * 3 * 6 deriv_type in explicit_error_dopri5 - * 3 * 1 state_type in explicit_error_dopri5 - * 2 copy process of controlled_error_stepper (fsal): - * 2 * 2 state_type - * 2 * 2 deriv_type - * 1 copy process of dense_output_controlled_explicit: - * 2 state_type - * 2 deriv_type - */ -BOOST_AUTO_TEST_CASE( dense_output_dopri5_copy_construct ) -{ - reset_counter(); - { - dense_output_dopri5_type dopri5; - dense_output_dopri5_type dopri5_2( dopri5 ); - } - CHECK_COUNTERS( 4*1 + 3*2 + 2*2 , 4*(1+6) + 3*2 + 2*2 , 4*1 + 3*2 + 2*2 , 4*(1+6) + 3*2 + 2*2 , 3*1 + 2*2 + 1*2 , 3*(6+1) + 2*2 + 2 ); -} - -/* - * Construct + Destruct - * 6 dense_output_dopri5: - * 6 * 1 deriv_type in explicit_error_stepper_base_fsal - * 6 * 6 deriv_type in explicit_error_dopri5 - * 6 * 1 state_type in explicit_error_dopri5 - * 4 controlled_error_stepper (fsal): - * 4 * 2 state_type - * 4 * 2 deriv_type - * 2 dense_output_controlled_explicit: - * 2 * 2 state_type - * 2 * 2 deriv_type - * - * Copying - * 5 copy process of explicit_error_dopri5: - * 5 * 1 deriv_type from explicit_erro_stepper_base_fsal - * 5 * 6 deriv_type in explicit_error_dopri5 - * 5 * 1 state_type in explicit_error_dopri5 - * 3 copy process of controlled_error_stepper (fsal): - * 3 * 2 state_type - * 3 * 2 deriv_type - * 1 copy process of dense_output_controlled_explicit: - * 2 state_type - * 2 deriv_type - */ -BOOST_AUTO_TEST_CASE( dense_output_dopri5_assign ) -{ - reset_counter(); - { - dense_output_dopri5_type dopri5; - dense_output_dopri5_type dopri5_2; - dopri5_2 = dopri5; - } - CHECK_COUNTERS( 6*1 + 4*2 + 2*2 , 6*(6+1) + 4*2 + 2*2 , 6*1 + 4*2 + 2*2 , 6*(6+1) + 4*2 + 2*2 , 5*1 + 3*2 + 2 , 5*(6+1) + 3*2 + 2 ); -} - - -BOOST_AUTO_TEST_SUITE_END() - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_ranges.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_ranges.cpp deleted file mode 100644 index 1027f71..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_ranges.cpp +++ /dev/null @@ -1,283 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/stepper_with_ranges.cpp - - [begin_description] - This file tests if the steppers play well with Boost.Range. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -// disable checked iterator warning for msvc -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE odeint_stepper_with_ranges - -#include - -#include -#include -#include - -#include -#include -#include - -#include -#include -#include -#include -#include -#include - -typedef std::vector< double > state_type; -typedef boost::array< double , 3 > state_type2; - - -/* - * The two systems are needed, since for steppers with more than - * one internal step it is difficult to calculate the exact result - * - * system1 is suited for euler - */ -struct system1 -{ - template< class State , class Deriv > - void operator()( const State &x_ , Deriv &dxdt_ , double t ) - { - typename boost::range_iterator< const State >::type x = boost::begin( x_ ); - typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ ); - - dxdt[0] = x[0]; - dxdt[1] = 2.0; - dxdt[2] = 3.0; - } - - template< class State , class Deriv > - void operator()( const State &x_ , const Deriv &dxdt_ , double t ) - { - typename boost::range_iterator< const State >::type x = boost::begin( x_ ); - typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ ); - - dxdt[0] = x[0]; - dxdt[1] = 2.0; - dxdt[2] = 3.0; - } -}; - -/* - * system2 is suited for all steppers, it allows you to calculate the result analytically. - */ -struct system2 -{ - template< class State , class Deriv > - void operator()( const State &x_ , Deriv &dxdt_ , double t ) - { - typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ ); - - dxdt[0] = 1.0; - dxdt[1] = 2.0; - dxdt[2] = 3.0; - } - - template< class State , class Deriv > - void operator()( const State &x_ , const Deriv &dxdt_ , double t ) - { - typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ ); - - dxdt[0] = 1.0; - dxdt[1] = 2.0; - dxdt[2] = 3.0; - } -}; - - -/* - * Useful for Hamiltonian systems - */ -struct ham_sys -{ - template< class State , class Deriv > - void operator()( const State &x_ , Deriv &dxdt_ ) - { - typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ ); - dxdt[0] = 1.0; - dxdt[1] = 2.0; - dxdt[2] = 3.0; - } - - template< class State , class Deriv > - void operator()( const State &x_ , const Deriv &dxdt_ ) - { - typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ ); - dxdt[0] = 1.0; - dxdt[1] = 2.0; - dxdt[2] = 3.0; - } -}; - - -struct vector_fixture -{ - const static size_t dim = 6; - boost::array< double , dim > in; - boost::array< double , dim > q; - boost::array< double , dim > p; - state_type err; - - vector_fixture( void ) - : in() , err( 3 ) - { - for( size_t i=0 ; i euler; - euler.do_step( system1() , std::make_pair( f.in.begin() + 1 , f.in.begin() + 4 ) , 0.1 , 0.1 ); - CHECK_VALUES( f.in , 0.0 , 1.1 , 2.2 , 3.3 , 4.0 , 5.0 ); -} - - - -BOOST_AUTO_TEST_CASE( explicit_error_k54_with_range_v1 ) -{ - vector_fixture f; - boost::numeric::odeint::runge_kutta_cash_karp54_classic< state_type > rk54; - rk54.do_step( system2() , std::make_pair( f.in.begin() + 1 , f.in.begin() + 4 ) , 0.1 , 0.1 ); - CHECK_VALUES( f.in , 0.0 , 1.1 , 2.2 , 3.3 , 4.0 , 5.0 ); -} - -BOOST_AUTO_TEST_CASE( explicit_error_k54_with_range_v5 ) -{ - vector_fixture f; - boost::numeric::odeint::runge_kutta_cash_karp54_classic< state_type > rk54; - rk54.do_step( system2() , std::make_pair( f.in.begin() + 1 , f.in.begin() + 4 ) , 0.1 , 0.1 , f.err ); - CHECK_VALUES( f.in , 0.0 , 1.1 , 2.2 , 3.3 , 4.0 , 5.0 ); -} - - -BOOST_AUTO_TEST_CASE( runge_kutta_dopri5_with_range_v1 ) -{ - vector_fixture f; - boost::numeric::odeint::runge_kutta_dopri5< state_type > dopri5; - dopri5.do_step( system2() , std::make_pair( f.in.begin() + 1 , f.in.begin() + 4 ) , 0.1 , 0.1 ); - CHECK_VALUES( f.in , 0.0 , 1.1 , 2.2 , 3.3 , 4.0 , 5.0 ); -} - - -BOOST_AUTO_TEST_CASE( runge_kutta_dopri5_with_range_v5 ) -{ - vector_fixture f; - boost::numeric::odeint::runge_kutta_dopri5< state_type > dopri5; - dopri5.do_step( system2() , std::make_pair( f.in.begin() + 1 , f.in.begin() + 4 ) , 0.1 , 0.1 , f.err ); - CHECK_VALUES( f.in , 0.0 , 1.1 , 2.2 , 3.3 , 4.0 , 5.0 ); -} - - -BOOST_AUTO_TEST_CASE( controlled_error_stepper_rk54 ) -{ - double t = 0.0 , dt = 0.1; - vector_fixture f; - boost::numeric::odeint::controlled_runge_kutta< boost::numeric::odeint::runge_kutta_cash_karp54_classic< state_type > > stepper; - stepper.try_step( system2() , std::make_pair( f.in.begin() + 1 , f.in.begin() + 4 ) , t , dt ); - CHECK_VALUES( f.in , 0.0 , 1.1 , 2.2 , 3.3 , 4.0 , 5.0 ); -} - -BOOST_AUTO_TEST_CASE( controlled_error_stepper_dopri5 ) -{ - double t = 0.0 , dt = 0.1; - vector_fixture f; - boost::numeric::odeint::controlled_runge_kutta< boost::numeric::odeint::runge_kutta_dopri5< state_type > > stepper; - stepper.try_step( system2() , std::make_pair( f.in.begin() + 1 , f.in.begin() + 4 ) , t , dt ); - CHECK_VALUES( f.in , 0.0 , 1.1 , 2.2 , 3.3 , 4.0 , 5.0 ); -} - - -BOOST_AUTO_TEST_CASE( symplectic_euler_coor_func ) -{ - vector_fixture f; - boost::numeric::odeint::symplectic_euler< state_type > euler; - euler.do_step( ham_sys() , - std::make_pair( f.q.begin() + 1 , f.q.begin() + 4 ) , - std::make_pair( f.p.begin() + 3 , f.p.begin() + 6 ) , - 0.0 , 0.1 ); - CHECK_VALUES( f.q , 0.0 , 1.3 , 2.4 , 3.5 , 4.0 , 5.0 ); - CHECK_VALUES( f.p , 0.0 , 1.0 , 2.0 , 3.1 , 4.2 , 5.3 ); -} - -BOOST_AUTO_TEST_CASE( symplectic_euler_coor_and_mom_func ) -{ - vector_fixture f; - boost::numeric::odeint::symplectic_euler< state_type > euler; - euler.do_step( std::make_pair( ham_sys() , ham_sys() ) , - std::make_pair( f.q.begin() + 1 , f.q.begin() + 4 ) , - std::make_pair( f.p.begin() + 3 , f.p.begin() + 6 ) , - 0.0 , 0.1 ); - CHECK_VALUES( f.q , 0.0 , 1.1 , 2.2 , 3.3 , 4.0 , 5.0 ); - CHECK_VALUES( f.p , 0.0 , 1.0 , 2.0 , 3.1 , 4.2 , 5.3 ); -} - - -BOOST_AUTO_TEST_CASE( dense_output_euler_with_ranges ) -{ - using namespace boost::numeric::odeint; - vector_fixture f; - dense_output_runge_kutta< euler< state_type > > stepper; - stepper.initialize( std::make_pair( f.in.begin() + 1, f.in.begin() + 4 ) , 0.0 , 0.1 ); - stepper.do_step( system1() ); - stepper.calc_state( 0.05 , std::make_pair( f.in.begin() + 1 ,f.in.begin() +4 ) ); - CHECK_VALUES( f.in , 0.0 , 1.05 , 2.1 , 3.15 , 4.0 , 5.0 ); -} - -BOOST_AUTO_TEST_CASE( dense_output_dopri5_with_ranges ) -{ - using namespace boost::numeric::odeint; - vector_fixture f; - dense_output_runge_kutta< - controlled_runge_kutta< - runge_kutta_dopri5< state_type > - > > stepper; - stepper.initialize( std::make_pair( f.in.begin() + 1, f.in.begin() + 4 ) , 0.0 , 0.1 ); - stepper.do_step( system2() ); - stepper.calc_state( 0.05 , std::make_pair( f.in.begin() + 1 ,f.in.begin() +4 ) ); - CHECK_VALUES( f.in , 0.0 , 1.05 , 2.1 , 3.15 , 4.0 , 5.0 ); -} - - - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_units.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_units.cpp deleted file mode 100644 index 9a45657..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_units.cpp +++ /dev/null @@ -1,327 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/stepper_with_units.cpp - - [begin_description] - This file tests if the steppers play well with Boost.Units. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#define BOOST_TEST_MODULE odeint_stepper_with_units - -// the runge-kutta 78 stepper invoked with boost units requires increased fusion macro variables! -// note that by default the rk78 + units test case is disabled as it requires enormous memory when compiling (5 GB) -#define BOOST_FUSION_INVOKE_MAX_ARITY 15 -#define BOOST_RESULT_OF_NUM_ARGS 15 - - -#include - -#include - -#include -#include -#include -#include -#include - -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - - -using namespace boost::numeric::odeint; -using namespace boost::unit_test; -namespace mpl = boost::mpl; -namespace fusion = boost::fusion; -namespace units = boost::units; -namespace si = boost::units::si; - -typedef double value_type; -typedef units::quantity< si::time , value_type > time_type; -typedef units::quantity< si::length , value_type > length_type; -typedef units::quantity< si::velocity , value_type > velocity_type; -typedef units::quantity< si::acceleration , value_type > acceleration_type; -typedef fusion::vector< length_type , velocity_type > state_type; -typedef fusion::vector< velocity_type , acceleration_type > deriv_type; - -void oscillator( const state_type &x , deriv_type &dxdt , time_type t ) -{ - const units::quantity< si::frequency , value_type > omega = 1.0 * si::hertz; - fusion::at_c< 0 >( dxdt ) = fusion::at_c< 1 >( x ); - fusion::at_c< 1 >( dxdt ) = - omega * omega * fusion::at_c< 0 >( x ); -} - -template< class Stepper > -void check_stepper( Stepper &stepper ) -{ - typedef Stepper stepper_type; - typedef typename stepper_type::state_type state_type; - typedef typename stepper_type::value_type value_type; - typedef typename stepper_type::deriv_type deriv_type; - typedef typename stepper_type::time_type time_type; - typedef typename stepper_type::order_type order_type; - typedef typename stepper_type::algebra_type algebra_type; - typedef typename stepper_type::operations_type operations_type; - - const time_type t( 0.0 * si::second ); - time_type dt( 0.1 * si::second ); - state_type x( 1.0 * si::meter , 0.0 * si::meter_per_second ); - - // test call method one - stepper.do_step( oscillator , x , t , dt ); - - // test call method two - stepper.do_step( oscillator , x , t , x , dt ); - - // test call method three - deriv_type dxdt; - oscillator( x , dxdt , t ); - stepper.do_step( oscillator , x , dxdt , t , dt ); - - // test call method four - oscillator( x , dxdt , t ); - stepper.do_step( oscillator , x , dxdt , t , x , dt ); -} - -template< class Stepper > -void check_fsal_stepper( Stepper &stepper ) -{ - typedef Stepper stepper_type; - typedef typename stepper_type::state_type state_type; - typedef typename stepper_type::value_type value_type; - typedef typename stepper_type::deriv_type deriv_type; - typedef typename stepper_type::time_type time_type; - typedef typename stepper_type::order_type order_type; - typedef typename stepper_type::algebra_type algebra_type; - typedef typename stepper_type::operations_type operations_type; - - const time_type t( 0.0 * si::second ); - time_type dt( 0.1 * si::second ); - state_type x( 1.0 * si::meter , 0.0 * si::meter_per_second ); - - // test call method one - stepper.do_step( oscillator , x , t , dt ); - - // test call method two - stepper.do_step( oscillator , x , t , x , dt ); - - // test call method three - deriv_type dxdt; - oscillator( x , dxdt , t ); - stepper.do_step( oscillator , x , dxdt , t , dt ); - - // test call method four - stepper.do_step( oscillator , x , dxdt , t , x , dxdt , dt ); -} - -template< class Stepper > -void check_error_stepper( Stepper &stepper ) -{ - typedef Stepper stepper_type; - typedef typename stepper_type::state_type state_type; - typedef typename stepper_type::value_type value_type; - typedef typename stepper_type::deriv_type deriv_type; - typedef typename stepper_type::time_type time_type; - typedef typename stepper_type::order_type order_type; - typedef typename stepper_type::algebra_type algebra_type; - typedef typename stepper_type::operations_type operations_type; - - const time_type t( 0.0 * si::second ); - time_type dt( 0.1 * si::second ); - state_type x( 1.0 * si::meter , 0.0 * si::meter_per_second ) , xerr; - - // test call method one - stepper.do_step( oscillator , x , t , dt , xerr ); - - // test call method two - stepper.do_step( oscillator , x , t , x , dt , xerr ); - - // test call method three - deriv_type dxdt; - oscillator( x , dxdt , t ); - stepper.do_step( oscillator , x , dxdt , t , dt , xerr ); - - // test call method four - stepper.do_step( oscillator , x , dxdt , t , x , dt , xerr ); -} - -template< class Stepper > -void check_fsal_error_stepper( Stepper &stepper ) -{ - typedef Stepper stepper_type; - typedef typename stepper_type::state_type state_type; - typedef typename stepper_type::value_type value_type; - typedef typename stepper_type::deriv_type deriv_type; - typedef typename stepper_type::time_type time_type; - typedef typename stepper_type::order_type order_type; - typedef typename stepper_type::algebra_type algebra_type; - typedef typename stepper_type::operations_type operations_type; - - const time_type t( 0.0 * si::second ); - time_type dt( 0.1 * si::second ); - state_type x( 1.0 * si::meter , 0.0 * si::meter_per_second ) , xerr; - - // test call method one - stepper.do_step( oscillator , x , t , dt , xerr ); - - // test call method two - stepper.do_step( oscillator , x , t , x , dt , xerr ); - - // test call method three - deriv_type dxdt; - oscillator( x , dxdt , t ); - stepper.do_step( oscillator , x , dxdt , t , dt , xerr ); - - // test call method four - stepper.do_step( oscillator , x , dxdt , t , x , dxdt , dt , xerr ); -} - -template< class Stepper > -void check_controlled_stepper( Stepper &stepper ) -{ - typedef Stepper stepper_type; - typedef typename stepper_type::state_type state_type; - typedef typename stepper_type::value_type value_type; - typedef typename stepper_type::deriv_type deriv_type; - typedef typename stepper_type::time_type time_type; - - time_type t( 0.0 * si::second ); - time_type dt( 0.1 * si::second ); - state_type x( 1.0 * si::meter , 0.0 * si::meter_per_second ); - - // test call method one - stepper.try_step( oscillator , x , t , dt ); -} - - -template< class Stepper > -void check_dense_output_stepper( Stepper &stepper ) -{ - typedef Stepper stepper_type; - typedef typename stepper_type::state_type state_type; - typedef typename stepper_type::value_type value_type; - typedef typename stepper_type::deriv_type deriv_type; - typedef typename stepper_type::time_type time_type; -// typedef typename stepper_type::order_type order_type; - - time_type t( 0.0 * si::second ); - time_type dt( 0.1 * si::second ); - state_type x( 1.0 * si::meter , 0.0 * si::meter_per_second ) , x2; - - stepper.initialize( x , t , dt ); - stepper.do_step( oscillator ); - stepper.calc_state( dt / 2.0 , x2 ); -} - - - - - - -class stepper_types : public mpl::vector -< - euler< state_type , value_type , deriv_type , time_type , fusion_algebra >, - runge_kutta4< state_type , value_type , deriv_type , time_type , fusion_algebra > , - runge_kutta4_classic< state_type , value_type , deriv_type , time_type , fusion_algebra > , - runge_kutta_cash_karp54< state_type , value_type , deriv_type , time_type , fusion_algebra >, - runge_kutta_cash_karp54_classic< state_type , value_type , deriv_type , time_type , fusion_algebra > - // don't run rk78 test - gcc requires > 5GB RAM to compile this - //, runge_kutta_fehlberg78< state_type , value_type , deriv_type , time_type , fusion_algebra > - > { }; - -class fsal_stepper_types : public mpl::vector -< - runge_kutta_dopri5< state_type , value_type , deriv_type , time_type , fusion_algebra > - > { }; - -class error_stepper_types : public mpl::vector -< - runge_kutta_cash_karp54_classic< state_type , value_type , deriv_type , time_type , fusion_algebra > - //, runge_kutta_fehlberg78< state_type , value_type , deriv_type , time_type , fusion_algebra > - > { }; - -class fsal_error_stepper_types : public mpl::vector -< - runge_kutta_dopri5< state_type , value_type , deriv_type , time_type , fusion_algebra > - > { }; - -class controlled_stepper_types : public mpl::vector -< - controlled_runge_kutta< runge_kutta_cash_karp54_classic< state_type , value_type , deriv_type , time_type , fusion_algebra > > , - controlled_runge_kutta< runge_kutta_dopri5< state_type , value_type , deriv_type , time_type , fusion_algebra > > - , bulirsch_stoer< state_type , value_type , deriv_type , time_type , fusion_algebra > - // rk78 with units needs up to 3GB memory to compile - disable testing... - //, controlled_runge_kutta< runge_kutta_fehlberg78< state_type , value_type , deriv_type , time_type , fusion_algebra > > - > { }; - -class dense_output_stepper_types : public mpl::vector -< - dense_output_runge_kutta< euler< state_type , value_type , deriv_type , time_type , fusion_algebra > > , - dense_output_runge_kutta< - controlled_runge_kutta< runge_kutta_dopri5< state_type , value_type , deriv_type , time_type , fusion_algebra > > > - //, bulirsch_stoer_dense_out< state_type , value_type , deriv_type , time_type , fusion_algebra > - > { }; - - - - -BOOST_AUTO_TEST_SUITE( stepper_with_units ) - -BOOST_AUTO_TEST_CASE_TEMPLATE( stepper_test , Stepper , stepper_types ) -{ - Stepper stepper; - check_stepper( stepper ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( fsl_stepper_test , Stepper , fsal_stepper_types ) -{ - Stepper stepper; - check_fsal_stepper( stepper ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( error_stepper_test , Stepper , error_stepper_types ) -{ - Stepper stepper; - check_error_stepper( stepper ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( fsal_error_stepper_test , Stepper , fsal_error_stepper_types ) -{ - Stepper stepper; - check_fsal_error_stepper( stepper ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( controlled_stepper_test , Stepper , controlled_stepper_types ) -{ - Stepper stepper; - check_controlled_stepper( stepper ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( dense_ouput_test , Stepper , dense_output_stepper_types ) -{ - Stepper stepper; - check_dense_output_stepper( stepper ); -} - - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/symplectic_steppers.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/symplectic_steppers.cpp deleted file mode 100644 index fa1af0e..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/symplectic_steppers.cpp +++ /dev/null @@ -1,392 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/symplectic_steppers.cpp - - [begin_description] - tba. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE odeint_symplectic_steppers - -#define BOOST_FUSION_INVOKE_MAX_ARITY 15 -#define BOOST_RESULT_OF_NUM_ARGS 15 -#define FUSION_MAX_VECTOR_SIZE 15 - - -#include - -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include -#include -#include -#include -#include - -#include "diagnostic_state_type.hpp" -#include "const_range.hpp" -#include "dummy_odes.hpp" -#include "vector_space_1d.hpp" -#include "boost_units_helpers.hpp" - - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; -namespace mpl = boost::mpl; -namespace fusion = boost::fusion; - -class custom_range_algebra : public range_algebra { }; -class custom_default_operations : public default_operations { }; - - -template< class Coor , class Mom , class Value , class CoorDeriv , class MomDeriv , class Time , - class Algebra , class Operations , class Resizer > -class complete_steppers : public mpl::vector< - symplectic_euler< Coor , Mom , Value , CoorDeriv , MomDeriv , Time , - Algebra , Operations , Resizer > - , symplectic_rkn_sb3a_mclachlan< Coor , Mom , Value , CoorDeriv , MomDeriv , Time , - Algebra , Operations , Resizer > - , symplectic_rkn_sb3a_m4_mclachlan< Coor , Mom , Value , CoorDeriv , MomDeriv , Time , - Algebra , Operations , Resizer > - > {}; - -template< class Resizer > -class vector_steppers : public complete_steppers< - diagnostic_state_type , diagnostic_state_type2 , double , - diagnostic_deriv_type , diagnostic_deriv_type2 , double , - custom_range_algebra , custom_default_operations , Resizer - > { }; - - -typedef mpl::vector< initially_resizer , always_resizer , never_resizer > resizers; -typedef mpl::vector_c< int , 1 , 3 , 0 > resizer_multiplicities ; - - -typedef mpl::copy< - resizers , - mpl::inserter< - mpl::vector0<> , - mpl::insert_range< - mpl::_1 , - mpl::end< mpl::_1 > , - vector_steppers< mpl::_2 > - > - > - >::type all_stepper_methods; - - -typedef mpl::size< vector_steppers< initially_resizer > >::type num_steppers; -typedef mpl::copy< - resizer_multiplicities , - mpl::inserter< - mpl::vector0<> , - mpl::insert_range< - mpl::_1 , - mpl::end< mpl::_1 > , - const_range< num_steppers , mpl::_2 > - > - > - >::type all_multiplicities; - - - - - - - -BOOST_AUTO_TEST_SUITE( symplectic_steppers_test ) - - -BOOST_AUTO_TEST_CASE_TEMPLATE( test_assoc_types , Stepper , vector_steppers< initially_resizer > ) -{ - BOOST_STATIC_ASSERT_MSG( - ( boost::is_same< typename Stepper::coor_type , diagnostic_state_type >::value ) , - "Coordinate type" ); - BOOST_STATIC_ASSERT_MSG( - ( boost::is_same< typename Stepper::momentum_type , diagnostic_state_type2 >::value ) , - "Momentum type" ); - BOOST_STATIC_ASSERT_MSG( - ( boost::is_same< typename Stepper::coor_deriv_type , diagnostic_deriv_type >::value ) , - "Coordinate deriv type" ); - BOOST_STATIC_ASSERT_MSG( - ( boost::is_same< typename Stepper::momentum_deriv_type , diagnostic_deriv_type2 >::value ) , - "Momentum deriv type" ); - - BOOST_STATIC_ASSERT_MSG( - ( boost::is_same< typename Stepper::state_type , std::pair< diagnostic_state_type , diagnostic_state_type2 > >::value ) , - "State type" ); - BOOST_STATIC_ASSERT_MSG( - ( boost::is_same< typename Stepper::deriv_type , std::pair< diagnostic_deriv_type , diagnostic_deriv_type2 > >::value ) , - "Deriv type" ); - - BOOST_STATIC_ASSERT_MSG( ( boost::is_same< typename Stepper::value_type , double >::value ) , "Value type" ); - BOOST_STATIC_ASSERT_MSG( ( boost::is_same< typename Stepper::time_type , double >::value ) , "Time type" ); - BOOST_STATIC_ASSERT_MSG( ( boost::is_same< typename Stepper::algebra_type , custom_range_algebra >::value ) , "Algebra type" ); - BOOST_STATIC_ASSERT_MSG( ( boost::is_same< typename Stepper::operations_type , custom_default_operations >::value ) , "Operations type" ); - - BOOST_STATIC_ASSERT_MSG( ( boost::is_same< typename Stepper::resizer_type , initially_resizer >::value ) , "Resizer type" ); - BOOST_STATIC_ASSERT_MSG( ( boost::is_same< typename Stepper::stepper_category , stepper_tag >::value ) , "Stepper category" ); -} - - -BOOST_AUTO_TEST_CASE_TEMPLATE( test_adjust_size , Stepper , vector_steppers< initially_resizer > ) -{ - counter_state::init_counter(); - counter_deriv::init_counter(); - counter_state2::init_counter(); - counter_deriv2::init_counter(); - - { - Stepper stepper; - diagnostic_state_type x; - stepper.adjust_size( x ); - } - - TEST_COUNTERS( counter_state , 0 , 0 , 0 , 0 ); - TEST_COUNTERS( counter_state2 , 0 , 0 , 0 , 0 ); - TEST_COUNTERS( counter_deriv , 1 , 1 , 0 , 1 ); - TEST_COUNTERS( counter_deriv2 , 1 , 1 , 0 , 1 ); -} - - -typedef mpl::zip_view< mpl::vector< all_stepper_methods , all_multiplicities > >::type zipped_steppers; -BOOST_AUTO_TEST_CASE_TEMPLATE( test_resizing , Stepper , zipped_steppers ) -{ - typedef typename mpl::at_c< Stepper , 0 >::type stepper_type; - const size_t multiplicity = mpl::at_c< Stepper , 1 >::type::value; - - counter_state::init_counter(); - counter_deriv::init_counter(); - counter_state2::init_counter(); - counter_deriv2::init_counter(); - - { - stepper_type stepper; - std::pair< diagnostic_state_type , diagnostic_state_type2 > x; - stepper.do_step( constant_mom_func() , x , 0.0 , 0.1 ); - stepper.do_step( constant_mom_func() , x , 0.0 , 0.1 ); - stepper.do_step( constant_mom_func() , x , 0.0 , 0.1 ); - } - - TEST_COUNTERS( counter_state , 0 , 0 , 0 , 0 ); - TEST_COUNTERS( counter_state2 , 0 , 0 , 0 , 0 ); - TEST_COUNTERS( counter_deriv , multiplicity , 1 , 0 , 1 ); - TEST_COUNTERS( counter_deriv2 , multiplicity , 1 , 0 , 1 ); -} - - -BOOST_AUTO_TEST_CASE_TEMPLATE( test_copying1 , Stepper , vector_steppers< initially_resizer > ) -{ - counter_state::init_counter(); - counter_deriv::init_counter(); - counter_state2::init_counter(); - counter_deriv2::init_counter(); - - { - Stepper stepper; - Stepper stepper2( stepper ); - } - - TEST_COUNTERS( counter_state , 0 , 0 , 0 , 0 ); - TEST_COUNTERS( counter_state2 , 0 , 0 , 0 , 0 ); - TEST_COUNTERS( counter_deriv , 0 , 2 , 1 , 2 ); - TEST_COUNTERS( counter_deriv2 , 0 , 2 , 1 , 2 ); -} - - -BOOST_AUTO_TEST_CASE_TEMPLATE( test_copying2 , Stepper , vector_steppers< initially_resizer > ) -{ - counter_state::init_counter(); - counter_deriv::init_counter(); - counter_state2::init_counter(); - counter_deriv2::init_counter(); - - { - Stepper stepper; - std::pair< diagnostic_state_type , diagnostic_state_type2 > x; - stepper.do_step( constant_mom_func() , x , 0.0 , 0.1 ); - Stepper stepper2( stepper ); - } - - TEST_COUNTERS( counter_state , 0 , 0 , 0 , 0 ); - TEST_COUNTERS( counter_state2 , 0 , 0 , 0 , 0 ); - TEST_COUNTERS( counter_deriv , 1 , 2 , 1 , 2 ); - TEST_COUNTERS( counter_deriv2 , 1 , 2 , 1 , 2 ); -} - - -BOOST_AUTO_TEST_CASE_TEMPLATE( test_do_step_v1 , Stepper , vector_steppers< initially_resizer > ) -{ - Stepper s; - std::pair< diagnostic_state_type , diagnostic_state_type2 > x1 , x2 , x3 , x4; - x1.first[0] = 1.0; - x1.second[0] = 2.0; - x2 = x3 = x4 = x1; - diagnostic_state_type x5_coor , x5_mom; - x5_coor[0] = x1.first[0]; - x5_mom[0] = x1.second[0]; - - s.do_step( constant_mom_func() , x1 , 0.0 , 0.1 ); - - s.do_step( std::make_pair( default_coor_func() , constant_mom_func() ) , x2 , 0.0 , 0.1 ); - - default_coor_func cf; - constant_mom_func mf; - s.do_step( std::make_pair( boost::ref( cf ) , boost::ref( mf ) ) , x3 , 0.0 , 0.1 ); - - std::pair< default_coor_func , constant_mom_func > pf; - s.do_step( boost::ref( pf ) , x4 , 0.0 , 0.1 ); - - s.do_step( constant_mom_func() , std::make_pair( boost::ref( x5_coor ) , boost::ref( x5_mom ) ) , 0.0 , 0.1 ); - - // checking for absolute values is not possible here, since the steppers are to different - BOOST_CHECK_CLOSE( x1.first[0] , x2.first[0] , 1.0e-14 ); - BOOST_CHECK_CLOSE( x2.first[0] , x3.first[0] , 1.0e-14 ); - BOOST_CHECK_CLOSE( x3.first[0] , x4.first[0] , 1.0e-14 ); - BOOST_CHECK_CLOSE( x4.first[0] , x5_coor[0] , 1.0e-14 ); - - BOOST_CHECK_CLOSE( x1.second[0] , x2.second[0] , 1.0e-14 ); - BOOST_CHECK_CLOSE( x2.second[0] , x3.second[0] , 1.0e-14 ); - BOOST_CHECK_CLOSE( x3.second[0] , x4.second[0] , 1.0e-14 ); - BOOST_CHECK_CLOSE( x4.second[0] , x5_mom[0] , 1.0e-14 ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( test_do_step_range , Stepper , vector_steppers< initially_resizer > ) -{ - Stepper s; - diagnostic_state_type q , p ; - q[0] = 1.0; - p[0] = 2.0; - - std::vector< double > x; - x.push_back( 1.0 ); - x.push_back( 2.0 ); - s.do_step( constant_mom_func() , - std::make_pair( x.begin() , x.begin() + 1 ) , - std::make_pair( x.begin() + 1 , x.begin() + 2 ) , - 0.0 , 0.1 ); - - s.do_step( constant_mom_func() , q , p , 0.0 , 0.1 ); - - BOOST_CHECK_CLOSE( q[0] , x[0] , 1.0e-14 ); - BOOST_CHECK_CLOSE( p[0] , x[1] , 1.0e-14 ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( test_do_step_v2 , Stepper , vector_steppers< initially_resizer > ) -{ - Stepper s; - diagnostic_state_type q , p ; - q[0] = 1.0; - p[0] = 2.0; - diagnostic_state_type q2 = q , p2 = p; - - - s.do_step( constant_mom_func() , q , p , 0.0 , 0.1 ); - s.do_step( constant_mom_func() , std::make_pair( boost::ref( q2 ) , boost::ref( p2 ) ) , 0.0 , 0.1 ); - - BOOST_CHECK_CLOSE( q[0] , q2[0] , 1.0e-14 ); - BOOST_CHECK_CLOSE( p[0] , p2[0] , 1.0e-14 ); -} - -BOOST_AUTO_TEST_CASE_TEMPLATE( test_do_step_v3 , Stepper , vector_steppers< initially_resizer > ) -{ - Stepper s; - std::pair< diagnostic_state_type , diagnostic_state_type2 > x_in , x_out; - x_in.first[0] = 1.0; - x_in.second[0] = 2.0; - diagnostic_state_type q2 , p2; - q2[0] = x_in.first[0]; - p2[0] = x_in.second[0]; - - - s.do_step( constant_mom_func() , x_in , 0.0 , x_out , 0.1 ); - s.do_step( constant_mom_func() , std::make_pair( boost::ref( q2 ) , boost::ref( p2 ) ) , 0.0 , 0.1 ); - - BOOST_CHECK_CLOSE( x_in.first[0] , 1.0 , 1.0e-14 ); - BOOST_CHECK_CLOSE( x_in.second[0] , 2.0 , 1.0e-14 ); - BOOST_CHECK_CLOSE( x_out.first[0] , q2[0] , 1.0e-14 ); - BOOST_CHECK_CLOSE( x_out.second[0] , p2[0] , 1.0e-14 ); -} - - -typedef vector_space_1d< double > vector_space; -typedef complete_steppers< vector_space , vector_space , double , - vector_space , vector_space , double , - vector_space_algebra , default_operations , initially_resizer > vector_space_steppers; -BOOST_AUTO_TEST_CASE_TEMPLATE( test_with_vector_space_algebra , Stepper , vector_space_steppers ) -{ - Stepper s; - std::pair< vector_space , vector_space > x; - s.do_step( constant_mom_func_vector_space_1d() , x , 0.0 , 0.1 ); - - s.do_step( std::make_pair( default_coor_func_vector_space_1d() , constant_mom_func_vector_space_1d() ) , x , 0.0 , 0.1 ); -} - - -typedef boost::fusion::vector< length_type > coor_type; -typedef boost::fusion::vector< velocity_type > mom_type; -typedef boost::fusion::vector< acceleration_type > acc_type; -typedef complete_steppers< coor_type , mom_type , double , - mom_type , acc_type , time_type, - fusion_algebra , default_operations , initially_resizer > boost_unit_steppers; -BOOST_AUTO_TEST_CASE_TEMPLATE( test_with_boost_units , Stepper , boost_unit_steppers ) -{ - namespace fusion = boost::fusion; - namespace si = boost::units::si; - Stepper s; - - coor_type q = fusion::make_vector( 1.0 * si::meter ); - mom_type p = fusion::make_vector( 2.0 * si::meter_per_second ); - time_type t = 0.0 * si::second; - time_type dt = 0.1 * si::second; - - coor_type q1 = q , q2 = q; - mom_type p1 = p , p2 = p; - - s.do_step( oscillator_mom_func_units() , std::make_pair( boost::ref( q ) , boost::ref( p ) ) , t , dt ); - - s.do_step( std::make_pair( oscillator_coor_func_units() , oscillator_mom_func_units() ) , - std::make_pair( boost::ref( q1 ) , boost::ref( p1 ) ) , t , dt ); - - s.do_step( oscillator_mom_func_units() , q2 , p2 , t , dt ); - - BOOST_CHECK_CLOSE( ( fusion::at_c< 0 >( q ).value() ) , ( fusion::at_c< 0 >( q1 ).value() ) , 1.0e-14 ); - BOOST_CHECK_CLOSE( ( fusion::at_c< 0 >( q1 ).value() ) , ( fusion::at_c< 0 >( q2 ).value() ) , 1.0e-14 ); - BOOST_CHECK_CLOSE( ( fusion::at_c< 0 >( p ).value() ) , ( fusion::at_c< 0 >( p1 ).value() ) , 1.0e-14 ); - BOOST_CHECK_CLOSE( ( fusion::at_c< 0 >( p1 ).value() ) , ( fusion::at_c< 0 >( p2 ).value() ) , 1.0e-14 ); -} - - - - - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/trivial_state.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/trivial_state.cpp deleted file mode 100644 index 44f47ea..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/trivial_state.cpp +++ /dev/null @@ -1,105 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/trivial_state.cpp - - [begin_description] - This file tests if the steppers can integrate the trivial state consisting of a single double. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -// disable checked iterator warning for msvc -#include -#ifdef BOOST_MSVC - #pragma warning(disable:4996) -#endif - -#define BOOST_TEST_MODULE odeint_trivial_state - -#include - -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - -namespace mpl = boost::mpl; - -typedef double state_type; -typedef double value_type; -typedef double deriv_type; -typedef double time_type; - -void constant_system( const state_type &x , state_type &dxdt , const time_type t ) { dxdt = 1.0; } - - -BOOST_AUTO_TEST_SUITE( trivial_state_test ) - -/* test different do_step methods of simple steppers */ - -typedef mpl::vector< - euler< state_type , value_type , deriv_type , time_type , - vector_space_algebra , default_operations , never_resizer > , - runge_kutta4< state_type , value_type , deriv_type , time_type , - vector_space_algebra , default_operations , never_resizer > - >::type stepper_types; - - -BOOST_AUTO_TEST_CASE_TEMPLATE( test_do_step , T, stepper_types ) -{ - typedef T stepper_type; - stepper_type stepper; - state_type x = 0.0; - time_type t = 0.0; - time_type dt = 0.1; - stepper.do_step( constant_system , x , t , dt ); - BOOST_CHECK_CLOSE( x , 0.1 , 1.0e-10 ); - - // this overload is not allowed if the types of dxdt and dt are the same - // deriv_type dxdt = 1.0; - // stepper.do_step( constant_system , x , dxdt , t , dt ); - - state_type x_out; - stepper.do_step( constant_system , x , t , x_out , dt ); - BOOST_CHECK_CLOSE( x , 0.1 , 1.0e-10 ); - BOOST_CHECK_CLOSE( x_out , 0.2 , 1.0e-10 ); -} - - -/* test integrate_adaptive with controlled steppers */ - -typedef mpl::vector< - runge_kutta_cash_karp54< state_type , value_type , deriv_type , time_type , - vector_space_algebra , default_operations , never_resizer > , - runge_kutta_dopri5< state_type , value_type , deriv_type , time_type , - vector_space_algebra , default_operations , never_resizer > - > error_stepper_types; - -BOOST_AUTO_TEST_CASE_TEMPLATE( test_integrate , T , error_stepper_types ) -{ - typedef T stepper_type; - state_type x = 0.0; - time_type t0 = 0.0; - time_type t1 = 1.0; - time_type dt = 0.1; - integrate_adaptive( make_controlled< stepper_type >( 1e-6 , 1e-6 ) , constant_system , x , t0 , t1 , dt ); - BOOST_CHECK_CLOSE( x , 1.0 , 1.0e-10 ); -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/vector_space_1d.hpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/vector_space_1d.hpp deleted file mode 100644 index 9d14d8b..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/vector_space_1d.hpp +++ /dev/null @@ -1,120 +0,0 @@ -/* - [auto_generated] - libs/numeric/odeint/test/trivial_state.cpp - - [begin_description] - This file defines a vector_space 1d class with the appropriate operators. - [end_description] - - Copyright 2009-2012 Karsten Ahnert - Copyright 2009-2012 Mario Mulansky - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) - */ - -#ifndef VECTOR_SPACE_1D_HPP_INCLUDED -#define VECTOR_SPACE_1D_HPP_INCLUDED - -#include -#include - -template< class T > -struct vector_space_1d : - boost::additive1< vector_space_1d< T > , - boost::additive2< vector_space_1d< T > , T , - boost::multiplicative1< vector_space_1d< T > , - boost::multiplicative2< vector_space_1d< T > , T - > > > > -{ - typedef T value_type; - - value_type m_x; - - vector_space_1d( void ) : m_x( 0.0 ) {} - - vector_space_1d& operator+=( const vector_space_1d& p ) - { - m_x += p.m_x; - return *this; - } - - vector_space_1d& operator-=( const vector_space_1d& p ) - { - m_x -= p.m_x; - return *this; - } - - vector_space_1d& operator*=( const vector_space_1d& p ) - { - m_x *= p.m_x; - return *this; - } - - vector_space_1d& operator/=( const vector_space_1d& p ) - { - m_x /= p.m_x; - return *this; - } - - vector_space_1d& operator+=( const value_type& val ) - { - m_x += val; - return *this; - } - - vector_space_1d& operator-=( const value_type& val ) - { - m_x -= val; - return *this; - } - - vector_space_1d& operator*=( const value_type &val ) - { - m_x *= val; - return *this; - } - - vector_space_1d& operator/=( const value_type &val ) - { - m_x /= val; - return *this; - } -}; - - -template< class T > -vector_space_1d< T > abs( const vector_space_1d< T > &v) -{ - vector_space_1d< T > tmp; - tmp.m_x = std::abs( v.m_x ); - return tmp; -} - - -template< class T > -T max BOOST_PREVENT_MACRO_SUBSTITUTION ( const vector_space_1d< T > &v ) -{ - return v.m_x; -} - -namespace boost { - namespace numeric { - namespace odeint { - - template< class T > - struct vector_space_reduce< vector_space_1d< T > > - { - template< class Op > - T operator()( const vector_space_1d< T > &v , Op op , T value ) - { - return v.m_x; - } - }; - -} // odeint -} // numeric -} // boost - -#endif // VECTOR_SPACE_1D_HPP_INCLUDED diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/Jamfile.v2 b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/Jamfile.v2 deleted file mode 100644 index 20d4060..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/Jamfile.v2 +++ /dev/null @@ -1,26 +0,0 @@ -# (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky -# Distributed under the Boost Software License, Version 1.0. -# (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) - -# bring in rules for testing - -import testing ; -use-project boost : $(BOOST_ROOT) ; - -project gmp - : requirements - /boost/test//boost_unit_test_framework - ../../../../.. - ; - - -lib libgmp : : gmp shared ; -lib libgmpxx : : gmpxx shared ; - -test-suite "gmp" - : - [ run check_gmp.cpp libgmpxx libgmp : : : shared:BOOST_TEST_DYN_LINK=1 ] - [ run gmp_integrate.cpp libgmpxx libgmp : : : shared:BOOST_TEST_DYN_LINK=1 ] - ; - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/check_gmp.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/check_gmp.cpp deleted file mode 100644 index ce469c7..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/check_gmp.cpp +++ /dev/null @@ -1,165 +0,0 @@ -/* Boost check_gmp.cpp test file - - Copyright 2009 Karsten Ahnert - Copyright 2009 Mario Mulansky - - This file tests the odeint library with the gmp arbitrary precision types - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - -#define BOOST_TEST_MODULE odeint_gmp - -#include - -#include - -#include -#include - -#include - -#include -//#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - -namespace mpl = boost::mpl; - -const int precision = 1024; - -typedef mpf_class value_type; -typedef mpf_class state_type; - -//provide min, max and pow functions for mpf types - required for controlled steppers -value_type min( const value_type a , const value_type b ) -{ - if( ab ) return a; - else return b; -} -value_type pow( const value_type a , const value_type b ) -{ - // do calculation in double precision - return value_type( std::pow( a.get_d() , b.get_d() ) ); -} - - -//provide vector_space reduce: - -namespace boost { namespace numeric { namespace odeint { - -template<> -struct vector_space_reduce< state_type > -{ - template< class Op > - state_type operator()( state_type x , Op op , state_type init ) const - { - init = op( init , x ); - return init; - } -}; - -} } } - - -void constant_system( const state_type &x , state_type &dxdt , value_type t ) -{ - dxdt = value_type( 1.0 , precision ); -} - - -/* check runge kutta stepers */ -typedef mpl::vector< - euler< state_type , value_type , state_type , value_type , vector_space_algebra > , - modified_midpoint< state_type , value_type , state_type , value_type , vector_space_algebra > , - runge_kutta4< state_type , value_type , state_type , value_type , vector_space_algebra > , - runge_kutta4_classic< state_type , value_type , state_type , value_type , vector_space_algebra > , - runge_kutta_cash_karp54_classic< state_type , value_type , state_type , value_type , vector_space_algebra > , - runge_kutta_cash_karp54< state_type , value_type , state_type , value_type , vector_space_algebra > , - runge_kutta_dopri5< state_type , value_type , state_type , value_type , vector_space_algebra > , - runge_kutta_fehlberg78< state_type , value_type , state_type , value_type , vector_space_algebra > - > stepper_types; - - -template< class Stepper > -struct perform_runge_kutta_test { - - void operator()( void ) - { - /* We have to specify the desired precision in advance! */ - mpf_set_default_prec( precision ); - - mpf_t eps_ , unity; - mpf_init( eps_ ); mpf_init( unity ); - mpf_set_d( unity , 1.0 ); - mpf_div_2exp( eps_ , unity , precision-1 ); // 2^(-precision+1) : smallest number that can be represented with used precision - value_type eps( eps_ ); - - Stepper stepper; - state_type x; - x = 0.0; - - stepper.do_step( constant_system , x , 0.0 , 0.1 ); - - BOOST_MESSAGE( eps ); - BOOST_CHECK_MESSAGE( abs( x - value_type( 0.1 , precision ) ) < eps , x - 0.1 ); - } -}; - - -BOOST_AUTO_TEST_CASE_TEMPLATE( runge_kutta_stepper_test , Stepper , stepper_types ) -{ - perform_runge_kutta_test< Stepper > tester; - tester(); -} - - -/* check controlled steppers */ -typedef mpl::vector< - controlled_runge_kutta< runge_kutta_cash_karp54_classic< state_type , value_type , state_type , value_type , vector_space_algebra > > , - controlled_runge_kutta< runge_kutta_dopri5< state_type , value_type , state_type , value_type , vector_space_algebra > > , - controlled_runge_kutta< runge_kutta_fehlberg78< state_type , value_type , state_type , value_type , vector_space_algebra > > , - bulirsch_stoer< state_type , value_type , state_type , value_type , vector_space_algebra > - > controlled_stepper_types; - - -template< class Stepper > -struct perform_controlled_test { - - void operator()( void ) - { - mpf_set_default_prec( precision ); - - mpf_t eps_ , unity; - mpf_init( eps_ ); mpf_init( unity ); - mpf_set_d( unity , 1.0 ); - mpf_div_2exp( eps_ , unity , precision-1 ); // 2^(-precision+1) : smallest number that can be represented with used precision - value_type eps( eps_ ); - - Stepper stepper; - state_type x; - x = 0.0; - - value_type t(0.0); - value_type dt(0.1); - - stepper.try_step( constant_system , x , t , dt ); - - BOOST_MESSAGE( eps ); - BOOST_CHECK_MESSAGE( abs( x - value_type( 0.1 , precision ) ) < eps , x - 0.1 ); - } -}; - -BOOST_AUTO_TEST_CASE_TEMPLATE( controlled_stepper_test , Stepper , controlled_stepper_types ) -{ - perform_controlled_test< Stepper > tester; - tester(); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/gmp_integrate.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/gmp_integrate.cpp deleted file mode 100644 index c12f0fc..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/gmp_integrate.cpp +++ /dev/null @@ -1,169 +0,0 @@ -/* Boost check_gmp.cpp test file - - Copyright 2009 Karsten Ahnert - Copyright 2009 Mario Mulansky - - This file tests the odeint library with the gmp arbitrary precision types - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - -#define BOOST_TEST_MODULE odeint_gmp - -#include - -#include -#include - -#include - -#include -//#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - -namespace mpl = boost::mpl; - -const int precision = 1024; - -typedef mpf_class value_type; -typedef mpf_class state_type; - -//provide min, max and pow functions for mpf types - required for controlled steppers -value_type min( const value_type a , const value_type b ) -{ - if( ab ) return a; - else return b; -} -value_type pow( const value_type a , const value_type b ) -{ - // do the calculation in double precision... - return value_type( std::pow( a.get_d() , b.get_d() ) ); -} - - -//provide vector_space reduce: - -namespace boost { namespace numeric { namespace odeint { - -template<> -struct vector_space_reduce< state_type > -{ - template< class Op > - state_type operator()( state_type x , Op op , state_type init ) const - { - init = op( init , x ); - return init; - } -}; - -} } } - - -void constant_system( const state_type &x , state_type &dxdt , value_type t ) -{ - dxdt = value_type( 1.0 , precision ); -} - -/* check runge kutta stepers */ -typedef mpl::vector< - euler< state_type , value_type , state_type , value_type , vector_space_algebra > , - modified_midpoint< state_type , value_type , state_type , value_type , vector_space_algebra > , - runge_kutta4< state_type , value_type , state_type , value_type , vector_space_algebra > , - runge_kutta4_classic< state_type , value_type , state_type , value_type , vector_space_algebra > , - runge_kutta_cash_karp54_classic< state_type , value_type , state_type , value_type , vector_space_algebra > , - runge_kutta_cash_karp54< state_type , value_type , state_type , value_type , vector_space_algebra > , - runge_kutta_dopri5< state_type , value_type , state_type , value_type , vector_space_algebra > , - runge_kutta_fehlberg78< state_type , value_type , state_type , value_type , vector_space_algebra > - > stepper_types; - - -template< class Stepper > -struct perform_integrate_const_test { - - void operator()( void ) - { - /* We have to specify the desired precision in advance! */ - mpf_set_default_prec( precision ); - - mpf_t eps_ , unity; - mpf_init( eps_ ); mpf_init( unity ); - mpf_set_d( unity , 1.0 ); - mpf_div_2exp( eps_ , unity , precision-1 ); // 2^(-precision+1) : smallest number that can be represented with used precision - value_type eps( eps_ ); - - Stepper stepper; - state_type x; - x = 0.0; - value_type t0( 0.0 ); - value_type tend( 1.0 ); - value_type dt(0.1); - - integrate_const( stepper , constant_system , x , t0 , tend , dt ); - - x = 0.0; - t0 = 0.0; - dt = 0.1; - size_t steps = 10; - - integrate_n_steps( stepper , constant_system , x , t0 , dt , steps ); - - BOOST_CHECK_MESSAGE( abs( x - 10*dt ) < eps , x ); - } -}; - - -BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_const_test , Stepper , stepper_types ) -{ - perform_integrate_const_test< Stepper > tester; - tester(); -} - - -typedef mpl::vector< - controlled_runge_kutta< runge_kutta_cash_karp54_classic< state_type , value_type , state_type , value_type , vector_space_algebra > > , - controlled_runge_kutta< runge_kutta_dopri5< state_type , value_type , state_type , value_type , vector_space_algebra > > , - controlled_runge_kutta< runge_kutta_fehlberg78< state_type , value_type , state_type , value_type , vector_space_algebra > > , - bulirsch_stoer< state_type , value_type , state_type , value_type , vector_space_algebra > - > controlled_stepper_types; - - -template< class Stepper > -struct perform_integrate_adaptive_test { - - void operator()( void ) - { - mpf_set_default_prec( precision ); - - mpf_t eps_ , unity; - mpf_init( eps_ ); mpf_init( unity ); - mpf_set_d( unity , 1.0 ); - mpf_div_2exp( eps_ , unity , precision-1 ); // 2^(-precision+1) : smallest number that can be represented with used precision - value_type eps( eps_ ); - - Stepper stepper; - state_type x; - x = 0.0; - value_type t0( 0.0 ); - value_type tend( 1.0 ); - value_type dt(0.1); - - integrate_adaptive( stepper , constant_system , x , t0 , tend , dt ); - - BOOST_CHECK_MESSAGE( abs( x - tend ) < eps , x - 0.1 ); - } -}; - -BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_adaptive__test , Stepper , controlled_stepper_types ) -{ - perform_integrate_adaptive_test< Stepper > tester; - tester(); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/Jamfile.v2 b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/Jamfile.v2 deleted file mode 100644 index c3d91dc..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/Jamfile.v2 +++ /dev/null @@ -1,28 +0,0 @@ -# (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky -# Distributed under the Boost Software License, Version 1.0. -# (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) - -# bring in rules for testing - -import testing ; -use-project boost : $(BOOST_ROOT) ; - -project - : requirements - /boost/test//boost_unit_test_framework - ../../../../.. - ; - - -lib libgsl : : gsl shared ; -lib libgslcblas : : gslcblas shared ; - -test-suite "gsl" - : - [ run check_gsl.cpp libgslcblas libgsl - : - : - : shared:BOOST_TEST_DYN_LINK=1 - ] - ; - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/check_gsl.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/check_gsl.cpp deleted file mode 100644 index 99956f5..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/check_gsl.cpp +++ /dev/null @@ -1,52 +0,0 @@ -/* Boost check_gmp.cpp test file - - Copyright 2009 Karsten Ahnert - Copyright 2009 Mario Mulansky - - This file tests the odeint library with the gmp arbitrary precision types - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - -#define BOOST_TEST_MODULE odeint_gsl - -#include -#include -#include - -#include - -using namespace boost::unit_test; -using namespace boost::numeric::odeint; - -typedef gsl_vector *state_type; - -const double sigma = 10.0; -const double R = 28.0; -const double b = 8.0 / 3.0; - -void lorenz( const state_type x , state_type dxdt , double t ) -{ - gsl_vector_set( dxdt , 0 , sigma * ( gsl_vector_get(x , 1 ) - gsl_vector_get( x , 0 ) ) ); - gsl_vector_set( dxdt , 1 , R * gsl_vector_get( x , 0 ) - gsl_vector_get( x , 1 ) - gsl_vector_get( x , 0 ) * gsl_vector_get( x , 2) ); - gsl_vector_set( dxdt , 2 , gsl_vector_get( x , 0 ) * gsl_vector_get( x , 1 ) - b * gsl_vector_get( x , 2) ); -} - -BOOST_AUTO_TEST_CASE( gsl ) -{ - euler< state_type > euler; - - state_type x = gsl_vector_alloc( 3 ); - gsl_vector_set( x , 0 , 1.0); - gsl_vector_set( x , 1 , 1.0); - gsl_vector_set( x , 2 , 2.0); - - euler.do_step( lorenz , x , 0.0 , 0.1 ); - - //cout << gsl_vector_get( x , 0 ) << " " << gsl_vector_get( x , 1 ) << " " << gsl_vector_get( x , 2 ) << endl; - - gsl_vector_free( x ); - -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/Jamfile.v2 b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/Jamfile.v2 deleted file mode 100644 index 637008f..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/Jamfile.v2 +++ /dev/null @@ -1,30 +0,0 @@ -# (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky -# Distributed under the Boost Software License, Version 1.0. -# (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) - -# bring in rules for testing - -import testing ; -use-project boost : $(BOOST_ROOT) ; - -project - : requirements - /boost/test//boost_unit_test_framework - ../../../../.. - ; - - -lib libmkl : : mkl_intel_lp64 shared ; -lib libmkl_core : : mkl_core shared ; -lib libmkl_intel_thread : : mkl_intel_thread ; -lib libiomp5 : : iomp5 ; -lib libpthread : : pthread ; - -test-suite "mkl" - : - [ run check_mkl.cpp libpthread libiomp5 libmkl_core libmkl_intel_thread libmkl - : - : - : shared:BOOST_TEST_DYN_LINK=1 - ] - ; diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/check_mkl.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/check_mkl.cpp deleted file mode 100644 index 786193d..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/check_mkl.cpp +++ /dev/null @@ -1,51 +0,0 @@ -/* Boost check_mkl.cpp test file - - Copyright 2009 Karsten Ahnert - Copyright 2009 Mario Mulansky - - This file tests the odeint library with the intel mkl blas1 routines - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - -#define BOOST_TEST_MODULE test_mkl - -#include - -#include -#include -#include -#include - -using namespace boost::numeric::odeint; - -typedef double value_type; -typedef boost::array< value_type , 1 > state_type; - - -void constant_system( state_type &x , state_type &dxdt , value_type t ) -{ - dxdt[0] = 1.0; -} - -const double eps = 1E-14; - - -BOOST_AUTO_TEST_CASE( test_mkl ) -{ - - //to use mkl routines we have to use the vector_space_algebra and the mkl_operations - runge_kutta4< state_type , value_type , state_type , value_type , vector_space_algebra , mkl_operations > stepper; - state_type x; - x[0] = 0.0; - - stepper.do_step( constant_system , x , 0.0 , 0.1 ); - - using std::abs; - - std::cout << x[0] << " ?= " << 0.1 << std::endl; - BOOST_CHECK_SMALL( abs( x[0] - 0.1 ) , eps ); - -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/Jamfile.v2 b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/Jamfile.v2 deleted file mode 100644 index f0d4793..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/Jamfile.v2 +++ /dev/null @@ -1,28 +0,0 @@ -# Copyright 2009 Karsten Ahnert and Mario Mulansky. -# Distributed under the Boost Software License, Version 1.0. (See -# accompanying file LICENSE_1_0.txt or copy at -# http://www.boost.org/LICENSE_1_0.txt) - -import testing ; -import boost ; - -boost.use-project ; - -MTL4_INCLUDE = /home/karsten/boost/MTL-4.0.8862-Linux/usr/include ; - -project - : requirements - /boost/test//boost_unit_test_framework - ../../../../.. - $(MTL4_INCLUDE) - BOOST_ALL_NO_LIB=1 - static - : - : default-build release - ; - -test-suite "odeint-mtl4" - : - [ run mtl4_resize.cpp ] - : valgrind - ; diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/mtl4_resize.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/mtl4_resize.cpp deleted file mode 100644 index 7c65d28..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/mtl4_resize.cpp +++ /dev/null @@ -1,89 +0,0 @@ -/* Boost mtl4_resize.cpp test file - - Copyright 2009 Karsten Ahnert - Copyright 2009 Mario Mulansky - - This file tests the odeint library with the mtl4 routines. - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - -#define BOOST_TEST_MODULE test_mtl4_resize - -#include - -#include -#include - -namespace odeint = boost::numeric::odeint; - - -BOOST_AUTO_TEST_CASE( test_dense_vector_resizeability ) -{ - BOOST_CHECK( odeint::is_resizeable< mtl::dense_vector< double > >::value ); -} - -BOOST_AUTO_TEST_CASE( test_dense2D_resizeability ) -{ - BOOST_CHECK( odeint::is_resizeable< mtl::dense2D< double > >::value ); -} - -BOOST_AUTO_TEST_CASE( test_compressed2D_resizeability ) -{ - BOOST_CHECK( odeint::is_resizeable< mtl::compressed2D< double > >::value ); -} - - - -BOOST_AUTO_TEST_CASE( test_dense_vector_vector_same_size ) -{ - mtl::dense_vector< double > v1( 10 ) , v2( 10 ); - BOOST_CHECK( odeint::same_size( v2 , v1 ) ); -} - -BOOST_AUTO_TEST_CASE( test_dense_vector_dense2D_same_size ) -{ - mtl::dense_vector< double > v( 10 ); - mtl::dense2D< double > m( 10 , 10 ); - BOOST_CHECK( odeint::same_size( m , v ) ); -} - -BOOST_AUTO_TEST_CASE( test_dense_vector_compressed2D_same_size ) -{ - mtl::dense_vector< double > v( 10 ); - mtl::compressed2D< double > m( 10 , 10 ); - BOOST_CHECK( odeint::same_size( m , v ) ); -} - - - - -BOOST_AUTO_TEST_CASE( test_dense_vector_vector_resize ) -{ - mtl::dense_vector< double > v1( 10 ); - mtl::dense_vector< double > v2; - odeint::resize( v2 , v1 ); - BOOST_CHECK( mtl::size( v2 ) == mtl::size( v1 ) ); -} - -BOOST_AUTO_TEST_CASE( test_dense_vector_dense2D_resize ) -{ - mtl::dense_vector< double > v( 10 ); - mtl::dense2D< double > m; - - odeint::resize( m , v ); - BOOST_CHECK( m.num_cols() == mtl::size( v ) ); - BOOST_CHECK( m.num_rows() == mtl::size( v ) ); -} - -BOOST_AUTO_TEST_CASE( test_dense_vector_compressed2D_resize ) -{ - mtl::dense_vector< double > v( 10 ); - mtl::compressed2D< double > m; - - odeint::resize( m , v ); - BOOST_CHECK( m.num_cols() == mtl::size( v ) ); - BOOST_CHECK( m.num_rows() == mtl::size( v ) ); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/Makefile b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/Makefile deleted file mode 100644 index 3fb4223..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/Makefile +++ /dev/null @@ -1,36 +0,0 @@ -# Copyright 2009-2012 Karsten Ahnert -# Copyright 2009-2012 Mario Mulansky -# -# Distributed under the Boost Software License, Version 1.0. -# (See accompanying file LICENSE_1_0.txt or -# copy at http://www.boost.org/LICENSE_1_0.txt) - - - -CUDA_ROOT = /usr/local/cuda - -CC = gcc-4.4 -CXX = gcc-4.4 -NVCC = $(CUDA_ROOT)/bin/nvcc - -INCLUDES += -I$(BOOST_ROOT) -I$(THRUST_ROOT) -I$(CUDA_ROOT)/include -I../../../../.. - -NVCCFLAGS = -O3 $(INCLUDES) --compiler-bindir=/usr/bin/g++-4.4 - -LDLIBS = -lcudart -LDFLAGS = -L$(CUDA_ROOT)/lib64 - -%.co : %.cu - $(NVCC) $(NVCCFLAGS) -o $@ -c $< - - -all : check_thrust - - -check_thrust : check_thrust.co - $(CC) -o check_thrust $(LDFLAGS) $(LDLIBS) check_thrust.co -check_thrust.co : check_thrust.cu - -clean : - -rm *~ *.o *.co check_thrust - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/check_thrust.cu b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/check_thrust.cu deleted file mode 100644 index d2d97df..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/check_thrust.cu +++ /dev/null @@ -1,74 +0,0 @@ -/* Boost check_thrust.cu test file - - Copyright 2009 Karsten Ahnert - Copyright 2009 Mario Mulansky - - This file tests the use of the euler stepper - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - -//#include - -#include -#include -#include -#include - -#include -#include - -using namespace boost::numeric::odeint; - -typedef float base_type; -// typedef thrust::device_vector< base_type > state_type; -typedef thrust::host_vector< base_type > state_type; - -void constant_system( const state_type &x , state_type &dxdt , base_type t ) -{ - thrust::fill( dxdt.begin() , dxdt.end() , static_cast(1.0) ); -} - -const base_type eps = 1.0e-7; - - -template< class Stepper , class System > -void check_stepper_concept( Stepper &stepper , System system , typename Stepper::state_type &x ) -{ - typedef Stepper stepper_type; - typedef typename stepper_type::state_type container_type; - typedef typename stepper_type::order_type order_type; - typedef typename stepper_type::time_type time_type; - - stepper.do_step( system , x , 0.0 , 0.1 ); - base_type xval = *boost::begin( x ); - if( fabs( xval - 0.1 ) < eps ) - std::clog << "TEST PASSED" << std::endl; - else - std::clog << "TEST FAILED" << std::endl; -} - -void test_euler_with_thrust( void ) -{ - state_type x(1); - thrust::fill( x.begin() , x.end() , static_cast(0.0) ); - euler< state_type , base_type , state_type , base_type , thrust_algebra , thrust_operations > euler; - check_stepper_concept( euler , constant_system , x ); - - -} - -/*test_suite* init_unit_test_suite( int argc, char* argv[] ) -{ - test_suite *test = BOOST_TEST_SUITE("check stepper with thrust"); - - test->add( BOOST_TEST_CASE( &test_euler_with_thrust ) ); - - return test; -}*/ - -int main() { - test_euler_with_thrust(); -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/Jamfile.v2 b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/Jamfile.v2 deleted file mode 100644 index da6c419..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/Jamfile.v2 +++ /dev/null @@ -1,33 +0,0 @@ -# (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky -# Distributed under the Boost Software License, Version 1.0. -# (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) - -# bring in rules for testing - - -import testing ; - -use-project boost : $(BOOST_ROOT) ; -VEXCL_INCLUDE = /home/karsten/boost/vexcl ; -CUDA_INCLUDE = /usr/local/cuda/include ; - - -project - : requirements - /boost/test//boost_unit_test_framework - BOOST_ALL_NO_LIB=1 - ../../../../.. - $(VEXCL_INCLUDE) - $(CUDA_INCLUDE) - -std=c++0x - ; - -lib OpenCL : : OpenCL shared ; - -test-suite "odeint" - : - [ run lorenz.cpp OpenCL ] - : valgrind - : - : shared:BOOST_TEST_DYN_LINK=1 - ; \ No newline at end of file diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/lorenz.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/lorenz.cpp deleted file mode 100644 index 3900b7e..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/lorenz.cpp +++ /dev/null @@ -1,86 +0,0 @@ -/* Boost lorenz.cpp test file - - Copyright 2009 Karsten Ahnert - Copyright 2009 Mario Mulansky - - This file tests the odeint library with the vexcl types - - Distributed under the Boost Software License, Version 1.0. - (See accompanying file LICENSE_1_0.txt or - copy at http://www.boost.org/LICENSE_1_0.txt) -*/ - -#define BOOST_TEST_MODULE odeint_vexcl - -#include -#include - -#include - -#include -#include -#include -#include - -#include - -using namespace boost::unit_test; -namespace odeint = boost::numeric::odeint; - - -typedef vex::vector< double > vector_type; -typedef vex::multivector< double, 3 > state_type; - - - -const double sigma = 10.0; -const double b = 8.0 / 3.0; - -struct sys_func -{ - const vector_type &R; - - sys_func( const vector_type &_R ) : R( _R ) { } - - void operator()( const state_type &x , state_type &dxdt , double t ) const - { - dxdt(0) = -sigma * ( x(0) - x(1) ); - dxdt(1) = R * x(0) - x(1) - x(0) * x(2); - dxdt(2) = - b * x(2) + x(0) * x(1); - } -}; - -const size_t n = 1024 ; -const double dt = 0.01; -const double t_max = 1.0; - - -BOOST_AUTO_TEST_CASE( gsl ) -{ - vex::Context ctx( vex::Filter::Type(CL_DEVICE_TYPE_GPU) ); - - double Rmin = 0.1 , Rmax = 50.0 , dR = ( Rmax - Rmin ) / double( n - 1 ); - std::vector x( n * 3 ) , r( n ); - for( size_t i=0 ; i stepper; - - odeint::integrate_const( stepper , sys_func( R ) , X , 0.0 , t_max , dt ); - - std::vector< double > res( 3 * n ); - vex::copy( X(0) , res ); - std::cout << res[0] << std::endl; - - - -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/quadrotor_simulator/Quadrotor.h b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/quadrotor_simulator/Quadrotor.h deleted file mode 100644 index d556d0c..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/include/quadrotor_simulator/Quadrotor.h +++ /dev/null @@ -1,111 +0,0 @@ -#ifndef __QUADROTOR_SIMULATOR_QUADROTOR_H__ -#define __QUADROTOR_SIMULATOR_QUADROTOR_H__ - -#include -#include - -namespace QuadrotorSimulator -{ - -class Quadrotor -{ -public: - struct State - { - Eigen::Vector3d x; - Eigen::Vector3d v; - Eigen::Matrix3d R; - Eigen::Vector3d omega; - Eigen::Array4d motor_rpm; - EIGEN_MAKE_ALIGNED_OPERATOR_NEW; - }; - - Quadrotor(); - - const Quadrotor::State& getState(void) const; - - void setState(const Quadrotor::State& state); - - void setStatePos(const Eigen::Vector3d& Pos); - - double getMass(void) const; - void setMass(double mass); - - double getGravity(void) const; - void setGravity(double g); - - const Eigen::Matrix3d& getInertia(void) const; - void setInertia(const Eigen::Matrix3d& inertia); - - double getArmLength(void) const; - void setArmLength(double d); - - double getPropRadius(void) const; - void setPropRadius(double r); - - double getPropellerThrustCoefficient(void) const; - void setPropellerThrustCoefficient(double kf); - - double getPropellerMomentCoefficient(void) const; - void setPropellerMomentCoefficient(double km); - - double getMotorTimeConstant(void) const; - void setMotorTimeConstant(double k); - - const Eigen::Vector3d& getExternalForce(void) const; - void setExternalForce(const Eigen::Vector3d& force); - - const Eigen::Vector3d& getExternalMoment(void) const; - void setExternalMoment(const Eigen::Vector3d& moment); - - double getMaxRPM(void) const; - void setMaxRPM(double max_rpm); - - double getMinRPM(void) const; - void setMinRPM(double min_rpm); - - // Inputs are desired RPM for the motors - // Rotor numbering is: - // *1* Front - // 3 4 - // 2 - // with 1 and 2 clockwise and 3 and 4 counter-clockwise (looking from top) - void setInput(double u1, double u2, double u3, double u4); - - // Runs the actual dynamics simulation with a time step of dt - void step(double dt); - - // For internal use, but needs to be public for odeint - typedef boost::array InternalState; - void operator()(const Quadrotor::InternalState& x, - Quadrotor::InternalState& dxdt, const double /* t */); - - Eigen::Vector3d getAcc() const; - -private: - void updateInternalState(void); - - double alpha0; // AOA - double g_; // gravity - double mass_; - Eigen::Matrix3d J_; // Inertia - double kf_; - double km_; - double prop_radius_; - double arm_length_; - double motor_time_constant_; // unit: sec - double max_rpm_; - double min_rpm_; - - Quadrotor::State state_; - - Eigen::Vector3d acc_; - - Eigen::Array4d input_; - Eigen::Vector3d external_force_; - Eigen::Vector3d external_moment_; - - InternalState internal_state_; -}; -} -#endif diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/launch/simulator_example.launch b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/launch/simulator_example.launch deleted file mode 100644 index 602fb67..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/launch/simulator_example.launch +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/package.xml b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/package.xml deleted file mode 100644 index 0d00f22..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/package.xml +++ /dev/null @@ -1,28 +0,0 @@ - - 0.0.0 - so3_quadrotor_simulator - - - quadrotor_simulator - - - - Kartik Mohta - BSD - http://ros.org/wiki/quadrotor_simulator - - catkin - - roscpp - quadrotor_msgs - uav_utils - cmake_utils - - roscpp - quadrotor_msgs - uav_utils - cmake_utils - - - - diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/src/dynamics/Quadrotor.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/src/dynamics/Quadrotor.cpp deleted file mode 100644 index 7eb75a0..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/src/dynamics/Quadrotor.cpp +++ /dev/null @@ -1,453 +0,0 @@ -#include "quadrotor_simulator/Quadrotor.h" -#include "ode/boost/numeric/odeint.hpp" -#include -#include -#include - -#include -namespace odeint = boost::numeric::odeint; - -namespace QuadrotorSimulator -{ - -Quadrotor::Quadrotor(void) -{ - alpha0 = 48; // degree - g_ = 9.81; - mass_ = 0.98; // 0.5; - double Ixx = 2.64e-3, Iyy = 2.64e-3, Izz = 4.96e-3; - prop_radius_ = 0.062; - J_ = Eigen::Vector3d(Ixx, Iyy, Izz).asDiagonal(); - - kf_ = 8.98132e-9; - // km_ = 2.5e-9; // from Nate - // km = (Cq/Ct)*Dia*kf - // Cq/Ct for 8 inch props from UIUC prop db ~ 0.07 - km_ = 0.07 * (3 * prop_radius_) * kf_; - - arm_length_ = 0.26; - motor_time_constant_ = 1.0 / 30; - min_rpm_ = 1200; - max_rpm_ = 35000; - - state_.x = Eigen::Vector3d::Zero(); - // state_.x << 40.0, -60.0, 10.0; - state_.v = Eigen::Vector3d::Zero(); - state_.R = Eigen::Matrix3d::Identity(); - state_.omega = Eigen::Vector3d::Zero(); - state_.motor_rpm = Eigen::Array4d::Zero(); - - external_force_.setZero(); - - updateInternalState(); - - input_ = Eigen::Array4d::Zero(); -} - -void -Quadrotor::step(double dt) -{ - auto save = internal_state_; - - odeint::integrate(boost::ref(*this), internal_state_, 0.0, dt, dt); - - for (int i = 0; i < 22; ++i) - { - if (std::isnan(internal_state_[i])) - { - std::cout << "dump " << i << " << pos "; - for (int j = 0; j < 22; ++j) - { - std::cout << save[j] << " "; - } - std::cout << std::endl; - internal_state_ = save; - break; - } - } - - for (int i = 0; i < 3; i++) - { - state_.x(i) = internal_state_[0 + i]; - state_.v(i) = internal_state_[3 + i]; - state_.R(i, 0) = internal_state_[6 + i]; - state_.R(i, 1) = internal_state_[9 + i]; - state_.R(i, 2) = internal_state_[12 + i]; - state_.omega(i) = internal_state_[15 + i]; - } - state_.motor_rpm(0) = internal_state_[18]; - state_.motor_rpm(1) = internal_state_[19]; - state_.motor_rpm(2) = internal_state_[20]; - state_.motor_rpm(3) = internal_state_[21]; - - // Re-orthonormalize R (polar decomposition) - Eigen::LLT llt(state_.R.transpose() * state_.R); - Eigen::Matrix3d P = llt.matrixL(); - Eigen::Matrix3d R = state_.R * P.inverse(); - state_.R = R; - - // Don't go below zero, simulate floor - if (state_.x(2) < 0.0 && state_.v(2) < 0) - { - state_.x(2) = 0; - state_.v(2) = 0; - } - updateInternalState(); -} - -void -Quadrotor::operator()(const Quadrotor::InternalState& x, - Quadrotor::InternalState& dxdt, const double /* t */) -{ - State cur_state; - for (int i = 0; i < 3; i++) - { - cur_state.x(i) = x[0 + i]; - cur_state.v(i) = x[3 + i]; - cur_state.R(i, 0) = x[6 + i]; - cur_state.R(i, 1) = x[9 + i]; - cur_state.R(i, 2) = x[12 + i]; - cur_state.omega(i) = x[15 + i]; - } - for (int i = 0; i < 4; i++) - { - cur_state.motor_rpm(i) = x[18 + i]; - } - - // std::cout << "Omega: " << cur_state.omega << std::endl; - // std::cout << "motor_rpm: " << cur_state.motor_rpm << std::endl; - - // Re-orthonormalize R (polar decomposition) - Eigen::LLT llt(cur_state.R.transpose() * cur_state.R); - Eigen::Matrix3d P = llt.matrixL(); - Eigen::Matrix3d R = cur_state.R * P.inverse(); - - Eigen::Vector3d x_dot, v_dot, omega_dot; - Eigen::Matrix3d R_dot; - Eigen::Array4d motor_rpm_dot; - Eigen::Vector3d vnorm; - Eigen::Array4d motor_rpm_sq; - Eigen::Matrix3d omega_vee(Eigen::Matrix3d::Zero()); - - omega_vee(2, 1) = cur_state.omega(0); - omega_vee(1, 2) = -cur_state.omega(0); - omega_vee(0, 2) = cur_state.omega(1); - omega_vee(2, 0) = -cur_state.omega(1); - omega_vee(1, 0) = cur_state.omega(2); - omega_vee(0, 1) = -cur_state.omega(2); - - motor_rpm_sq = cur_state.motor_rpm.array().square(); - - // //! @todo implement - // Eigen::Array4d blade_linear_velocity; - // Eigen::Array4d motor_linear_velocity; - // Eigen::Array4d AOA; - // blade_linear_velocity = 0.104719755 // rpm to rad/s - // * cur_state.motor_rpm.array() * prop_radius_; - // for (int i = 0; i < 4; ++i) - // AOA[i] = alpha0 - atan2(motor_linear_velocity[i], blade_linear_velocity[i]) * 180 / 3.14159265; - // //! @todo end - - // double totalF = kf_ * motor_rpm_sq.sum(); - double thrust = kf_ * motor_rpm_sq.sum(); - - Eigen::Vector3d moments; - moments(0) = kf_ * (motor_rpm_sq(2) - motor_rpm_sq(3)) * arm_length_; - moments(1) = kf_ * (motor_rpm_sq(1) - motor_rpm_sq(0)) * arm_length_; - moments(2) = km_ * (motor_rpm_sq(0) + motor_rpm_sq(1) - motor_rpm_sq(2) - - motor_rpm_sq(3)); - - double resistance = 0.1 * // C - 3.14159265 * (arm_length_) * (arm_length_) * // S - cur_state.v.norm() * cur_state.v.norm(); - - // ROS_INFO("resistance: %lf, Thrust: %lf%% ", resistance, - // motor_rpm_sq.sum() / (4 * max_rpm_ * max_rpm_) * 100.0); - - vnorm = cur_state.v; - if (vnorm.norm() != 0) - { - vnorm.normalize(); - } - x_dot = cur_state.v; - v_dot = -Eigen::Vector3d(0, 0, g_) + thrust * R.col(2) / mass_ + - external_force_ / mass_ /*; //*/ - resistance * vnorm / mass_; - - acc_ = v_dot; - // acc_[2] = -acc_[2]; // to NED - - R_dot = R * omega_vee; - omega_dot = - J_.inverse() * - (moments - cur_state.omega.cross(J_ * cur_state.omega) + external_moment_); - motor_rpm_dot = (input_ - cur_state.motor_rpm) / motor_time_constant_; - - for (int i = 0; i < 3; i++) - { - dxdt[0 + i] = x_dot(i); - dxdt[3 + i] = v_dot(i); - dxdt[6 + i] = R_dot(i, 0); - dxdt[9 + i] = R_dot(i, 1); - dxdt[12 + i] = R_dot(i, 2); - dxdt[15 + i] = omega_dot(i); - } - for (int i = 0; i < 4; i++) - { - dxdt[18 + i] = motor_rpm_dot(i); - } - for (int i = 0; i < 22; ++i) - { - if (std::isnan(dxdt[i])) - { - dxdt[i] = 0; - // std::cout << "nan apply to 0 for " << i << std::endl; - } - } -} - -void -Quadrotor::setInput(double u1, double u2, double u3, double u4) -{ - input_(0) = u1; - input_(1) = u2; - input_(2) = u3; - input_(3) = u4; - for (int i = 0; i < 4; i++) - { - if (std::isnan(input_(i))) - { - input_(i) = (max_rpm_ + min_rpm_) / 2; - std::cout << "NAN input "; - } - if (input_(i) > max_rpm_) - input_(i) = max_rpm_; - else if (input_(i) < min_rpm_) - input_(i) = min_rpm_; - } -} - -const Quadrotor::State& -Quadrotor::getState(void) const -{ - return state_; -} -void -Quadrotor::setState(const Quadrotor::State& state) -{ - state_.x = state.x; - state_.v = state.v; - state_.R = state.R; - state_.omega = state.omega; - state_.motor_rpm = state.motor_rpm; - - updateInternalState(); -} - -void -Quadrotor::setStatePos(const Eigen::Vector3d& Pos) -{ - state_.x = Pos; - - updateInternalState(); -} - -double -Quadrotor::getMass(void) const -{ - return mass_; -} -void -Quadrotor::setMass(double mass) -{ - mass_ = mass; -} - -double -Quadrotor::getGravity(void) const -{ - return g_; -} -void -Quadrotor::setGravity(double g) -{ - g_ = g; -} - -const Eigen::Matrix3d& -Quadrotor::getInertia(void) const -{ - return J_; -} -void -Quadrotor::setInertia(const Eigen::Matrix3d& inertia) -{ - if (inertia != inertia.transpose()) - { - std::cerr << "Inertia matrix not symmetric, not setting" << std::endl; - return; - } - J_ = inertia; -} - -double -Quadrotor::getArmLength(void) const -{ - return arm_length_; -} -void -Quadrotor::setArmLength(double d) -{ - if (d <= 0) - { - std::cerr << "Arm length <= 0, not setting" << std::endl; - return; - } - - arm_length_ = d; -} - -double -Quadrotor::getPropRadius(void) const -{ - return prop_radius_; -} -void -Quadrotor::setPropRadius(double r) -{ - if (r <= 0) - { - std::cerr << "Prop radius <= 0, not setting" << std::endl; - return; - } - prop_radius_ = r; -} - -double -Quadrotor::getPropellerThrustCoefficient(void) const -{ - return kf_; -} -void -Quadrotor::setPropellerThrustCoefficient(double kf) -{ - if (kf <= 0) - { - std::cerr << "Thrust coefficient <= 0, not setting" << std::endl; - return; - } - - kf_ = kf; -} - -double -Quadrotor::getPropellerMomentCoefficient(void) const -{ - return km_; -} -void -Quadrotor::setPropellerMomentCoefficient(double km) -{ - if (km <= 0) - { - std::cerr << "Moment coefficient <= 0, not setting" << std::endl; - return; - } - - km_ = km; -} - -double -Quadrotor::getMotorTimeConstant(void) const -{ - return motor_time_constant_; -} -void -Quadrotor::setMotorTimeConstant(double k) -{ - if (k <= 0) - { - std::cerr << "Motor time constant <= 0, not setting" << std::endl; - return; - } - - motor_time_constant_ = k; -} - -const Eigen::Vector3d& -Quadrotor::getExternalForce(void) const -{ - return external_force_; -} -void -Quadrotor::setExternalForce(const Eigen::Vector3d& force) -{ - external_force_ = force; -} - -const Eigen::Vector3d& -Quadrotor::getExternalMoment(void) const -{ - return external_moment_; -} -void -Quadrotor::setExternalMoment(const Eigen::Vector3d& moment) -{ - external_moment_ = moment; -} - -double -Quadrotor::getMaxRPM(void) const -{ - return max_rpm_; -} -void -Quadrotor::setMaxRPM(double max_rpm) -{ - if (max_rpm <= 0) - { - std::cerr << "Max rpm <= 0, not setting" << std::endl; - return; - } - max_rpm_ = max_rpm; -} - -double -Quadrotor::getMinRPM(void) const -{ - return min_rpm_; -} -void -Quadrotor::setMinRPM(double min_rpm) -{ - if (min_rpm < 0) - { - std::cerr << "Min rpm < 0, not setting" << std::endl; - return; - } - min_rpm_ = min_rpm; -} - -void -Quadrotor::updateInternalState(void) -{ - for (int i = 0; i < 3; i++) - { - internal_state_[0 + i] = state_.x(i); - internal_state_[3 + i] = state_.v(i); - internal_state_[6 + i] = state_.R(i, 0); - internal_state_[9 + i] = state_.R(i, 1); - internal_state_[12 + i] = state_.R(i, 2); - internal_state_[15 + i] = state_.omega(i); - } - internal_state_[18] = state_.motor_rpm(0); - internal_state_[19] = state_.motor_rpm(1); - internal_state_[20] = state_.motor_rpm(2); - internal_state_[21] = state_.motor_rpm(3); -} - -Eigen::Vector3d -Quadrotor::getAcc() const -{ - return acc_; -} -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/src/quadrotor_simulator_so3.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/src/quadrotor_simulator_so3.cpp deleted file mode 100644 index e55b09f..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/src/quadrotor_simulator_so3.cpp +++ /dev/null @@ -1,346 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include - -typedef struct _Control -{ - double rpm[4]; -} Control; - -typedef struct _Command -{ - float force[3]; - float qx, qy, qz, qw; - float kR[3]; - float kOm[3]; - float corrections[3]; - float current_yaw; - bool use_external_yaw; -} Command; - -typedef struct _Disturbance -{ - Eigen::Vector3d f; - Eigen::Vector3d m; -} Disturbance; - -static Command command; -static Disturbance disturbance; - -void stateToOdomMsg(const QuadrotorSimulator::Quadrotor::State& state, - nav_msgs::Odometry& odom); -void quadToImuMsg(const QuadrotorSimulator::Quadrotor& quad, - sensor_msgs::Imu& imu); - -static Control -getControl(const QuadrotorSimulator::Quadrotor& quad, const Command& cmd) -{ - const double _kf = quad.getPropellerThrustCoefficient(); - const double _km = quad.getPropellerMomentCoefficient(); - const double kf = _kf - cmd.corrections[0]; - const double km = _km / _kf * kf; - - const double d = quad.getArmLength(); - const Eigen::Matrix3f J = quad.getInertia().cast(); - const float I[3][3] = { { J(0, 0), J(0, 1), J(0, 2) }, - { J(1, 0), J(1, 1), J(1, 2) }, - { J(2, 0), J(2, 1), J(2, 2) } }; - const QuadrotorSimulator::Quadrotor::State state = quad.getState(); - - // Rotation, may use external yaw - Eigen::Vector3d _ypr = uav_utils::R_to_ypr(state.R); - Eigen::Vector3d ypr = _ypr; - if (cmd.use_external_yaw) - ypr[0] = cmd.current_yaw; - Eigen::Matrix3d R; - R = Eigen::AngleAxisd(ypr[0], Eigen::Vector3d::UnitZ()) * - Eigen::AngleAxisd(ypr[1], Eigen::Vector3d::UnitY()) * - Eigen::AngleAxisd(ypr[2], Eigen::Vector3d::UnitX()); - float R11 = R(0, 0); - float R12 = R(0, 1); - float R13 = R(0, 2); - float R21 = R(1, 0); - float R22 = R(1, 1); - float R23 = R(1, 2); - float R31 = R(2, 0); - float R32 = R(2, 1); - float R33 = R(2, 2); - /* - float R11 = state.R(0,0); - float R12 = state.R(0,1); - float R13 = state.R(0,2); - float R21 = state.R(1,0); - float R22 = state.R(1,1); - float R23 = state.R(1,2); - float R31 = state.R(2,0); - float R32 = state.R(2,1); - float R33 = state.R(2,2); - */ - float Om1 = state.omega(0); - float Om2 = state.omega(1); - float Om3 = state.omega(2); - - float Rd11 = - cmd.qw * cmd.qw + cmd.qx * cmd.qx - cmd.qy * cmd.qy - cmd.qz * cmd.qz; - float Rd12 = 2 * (cmd.qx * cmd.qy - cmd.qw * cmd.qz); - float Rd13 = 2 * (cmd.qx * cmd.qz + cmd.qw * cmd.qy); - float Rd21 = 2 * (cmd.qx * cmd.qy + cmd.qw * cmd.qz); - float Rd22 = - cmd.qw * cmd.qw - cmd.qx * cmd.qx + cmd.qy * cmd.qy - cmd.qz * cmd.qz; - float Rd23 = 2 * (cmd.qy * cmd.qz - cmd.qw * cmd.qx); - float Rd31 = 2 * (cmd.qx * cmd.qz - cmd.qw * cmd.qy); - float Rd32 = 2 * (cmd.qy * cmd.qz + cmd.qw * cmd.qx); - float Rd33 = - cmd.qw * cmd.qw - cmd.qx * cmd.qx - cmd.qy * cmd.qy + cmd.qz * cmd.qz; - - float Psi = 0.5f * (3.0f - (Rd11 * R11 + Rd21 * R21 + Rd31 * R31 + - Rd12 * R12 + Rd22 * R22 + Rd32 * R32 + - Rd13 * R13 + Rd23 * R23 + Rd33 * R33)); - - float force = 0; - if (Psi < 1.0f) // Position control stability guaranteed only when Psi < 1 - force = cmd.force[0] * R13 + cmd.force[1] * R23 + cmd.force[2] * R33; - - float eR1 = 0.5f * (R12 * Rd13 - R13 * Rd12 + R22 * Rd23 - R23 * Rd22 + - R32 * Rd33 - R33 * Rd32); - float eR2 = 0.5f * (R13 * Rd11 - R11 * Rd13 - R21 * Rd23 + R23 * Rd21 - - R31 * Rd33 + R33 * Rd31); - float eR3 = 0.5f * (R11 * Rd12 - R12 * Rd11 + R21 * Rd22 - R22 * Rd21 + - R31 * Rd32 - R32 * Rd31); - - float eOm1 = Om1; - float eOm2 = Om2; - float eOm3 = Om3; - - float in1 = Om2 * (I[2][0] * Om1 + I[2][1] * Om2 + I[2][2] * Om3) - - Om3 * (I[1][0] * Om1 + I[1][1] * Om2 + I[1][2] * Om3); - float in2 = Om3 * (I[0][0] * Om1 + I[0][1] * Om2 + I[0][2] * Om3) - - Om1 * (I[2][0] * Om1 + I[2][1] * Om2 + I[2][2] * Om3); - float in3 = Om1 * (I[1][0] * Om1 + I[1][1] * Om2 + I[1][2] * Om3) - - Om2 * (I[0][0] * Om1 + I[0][1] * Om2 + I[0][2] * Om3); - /* - // Robust Control -------------------------------------------- - float c2 = 0.6; - float epsilonR = 0.04; - float deltaR = 0.1; - float eA1 = eOm1 + c2 * 1.0/I[0][0] * eR1; - float eA2 = eOm2 + c2 * 1.0/I[1][1] * eR2; - float eA3 = eOm3 + c2 * 1.0/I[2][2] * eR3; - float neA = sqrt(eA1*eA1 + eA2*eA2 + eA3*eA3); - float muR1 = -deltaR*deltaR * eA1 / (deltaR * neA + epsilonR); - float muR2 = -deltaR*deltaR * eA2 / (deltaR * neA + epsilonR); - float muR3 = -deltaR*deltaR * eA3 / (deltaR * neA + epsilonR); - // Robust Control -------------------------------------------- - */ - float M1 = -cmd.kR[0] * eR1 - cmd.kOm[0] * eOm1 + in1; // - I[0][0]*muR1; - float M2 = -cmd.kR[1] * eR2 - cmd.kOm[1] * eOm2 + in2; // - I[1][1]*muR2; - float M3 = -cmd.kR[2] * eR3 - cmd.kOm[2] * eOm3 + in3; // - I[2][2]*muR3; - - float w_sq[4]; - w_sq[0] = force / (4 * kf) - M2 / (2 * d * kf) + M3 / (4 * km); - w_sq[1] = force / (4 * kf) + M2 / (2 * d * kf) + M3 / (4 * km); - w_sq[2] = force / (4 * kf) + M1 / (2 * d * kf) - M3 / (4 * km); - w_sq[3] = force / (4 * kf) - M1 / (2 * d * kf) - M3 / (4 * km); - - Control control; - for (int i = 0; i < 4; i++) - { - if (w_sq[i] < 0) - w_sq[i] = 0; - - control.rpm[i] = sqrtf(w_sq[i]); - } - return control; -} - -static void -cmd_callback(const quadrotor_msgs::SO3Command::ConstPtr& cmd) -{ - command.force[0] = cmd->force.x; - command.force[1] = cmd->force.y; - command.force[2] = cmd->force.z; - command.qx = cmd->orientation.x; - command.qy = cmd->orientation.y; - command.qz = cmd->orientation.z; - command.qw = cmd->orientation.w; - command.kR[0] = cmd->kR[0]; - command.kR[1] = cmd->kR[1]; - command.kR[2] = cmd->kR[2]; - command.kOm[0] = cmd->kOm[0]; - command.kOm[1] = cmd->kOm[1]; - command.kOm[2] = cmd->kOm[2]; - command.corrections[0] = cmd->aux.kf_correction; - command.corrections[1] = cmd->aux.angle_corrections[0]; - command.corrections[2] = cmd->aux.angle_corrections[1]; - command.current_yaw = cmd->aux.current_yaw; - command.use_external_yaw = cmd->aux.use_external_yaw; -} - -static void -force_disturbance_callback(const geometry_msgs::Vector3::ConstPtr& f) -{ - disturbance.f(0) = f->x; - disturbance.f(1) = f->y; - disturbance.f(2) = f->z; -} - -static void -moment_disturbance_callback(const geometry_msgs::Vector3::ConstPtr& m) -{ - disturbance.m(0) = m->x; - disturbance.m(1) = m->y; - disturbance.m(2) = m->z; -} - -int -main(int argc, char** argv) -{ - ros::init(argc, argv, "quadrotor_simulator_so3"); - - ros::NodeHandle n("~"); - - ros::Publisher odom_pub = n.advertise("odom", 100); - ros::Publisher imu_pub = n.advertise("imu", 10); - ros::Subscriber cmd_sub = - n.subscribe("cmd", 100, &cmd_callback, ros::TransportHints().tcpNoDelay()); - ros::Subscriber f_sub = - n.subscribe("force_disturbance", 100, &force_disturbance_callback, - ros::TransportHints().tcpNoDelay()); - ros::Subscriber m_sub = - n.subscribe("moment_disturbance", 100, &moment_disturbance_callback, - ros::TransportHints().tcpNoDelay()); - - QuadrotorSimulator::Quadrotor quad; - double _init_x, _init_y, _init_z; - n.param("simulator/init_state_x", _init_x, 0.0); - n.param("simulator/init_state_y", _init_y, 0.0); - n.param("simulator/init_state_z", _init_z, 1.0); - - Eigen::Vector3d position = Eigen::Vector3d(_init_x, _init_y, _init_z); - quad.setStatePos(position); - - double simulation_rate; - n.param("rate/simulation", simulation_rate, 1000.0); - ROS_ASSERT(simulation_rate > 0); - - double odom_rate; - n.param("rate/odom", odom_rate, 100.0); - const ros::Duration odom_pub_duration(1 / odom_rate); - - std::string quad_name; - n.param("quadrotor_name", quad_name, std::string("quadrotor")); - - QuadrotorSimulator::Quadrotor::State state = quad.getState(); - - ros::Rate r(simulation_rate); - const double dt = 1 / simulation_rate; - - Control control; - - nav_msgs::Odometry odom_msg; - odom_msg.header.frame_id = "/world"; - odom_msg.child_frame_id = "/" + quad_name; - - sensor_msgs::Imu imu; - imu.header.frame_id = "/simulator"; - - /* - command.force[0] = 0; - command.force[1] = 0; - command.force[2] = quad.getMass()*quad.getGravity() + 0.1; - command.qx = 0; - command.qy = 0; - command.qz = 0; - command.qw = 1; - command.kR[0] = 2; - command.kR[1] = 2; - command.kR[2] = 2; - command.kOm[0] = 0.15; - command.kOm[1] = 0.15; - command.kOm[2] = 0.15; - */ - - ros::Time next_odom_pub_time = ros::Time::now(); - while (n.ok()) - { - ros::spinOnce(); - - auto last = control; - control = getControl(quad, command); - for (int i = 0; i < 4; ++i) - { - //! @bug might have nan when the input is legal - if (std::isnan(control.rpm[i])) - control.rpm[i] = last.rpm[i]; - } - quad.setInput(control.rpm[0], control.rpm[1], control.rpm[2], - control.rpm[3]); - quad.setExternalForce(disturbance.f); - quad.setExternalMoment(disturbance.m); - quad.step(dt); - - ros::Time tnow = ros::Time::now(); - - if (tnow >= next_odom_pub_time) - { - next_odom_pub_time += odom_pub_duration; - odom_msg.header.stamp = tnow; - state = quad.getState(); - stateToOdomMsg(state, odom_msg); - quadToImuMsg(quad, imu); - odom_pub.publish(odom_msg); - imu_pub.publish(imu); - } - - r.sleep(); - } - - return 0; -} - -void -stateToOdomMsg(const QuadrotorSimulator::Quadrotor::State& state, - nav_msgs::Odometry& odom) -{ - odom.pose.pose.position.x = state.x(0); - odom.pose.pose.position.y = state.x(1); - odom.pose.pose.position.z = state.x(2); - - Eigen::Quaterniond q(state.R); - odom.pose.pose.orientation.x = q.x(); - odom.pose.pose.orientation.y = q.y(); - odom.pose.pose.orientation.z = q.z(); - odom.pose.pose.orientation.w = q.w(); - - odom.twist.twist.linear.x = state.v(0); - odom.twist.twist.linear.y = state.v(1); - odom.twist.twist.linear.z = state.v(2); - - odom.twist.twist.angular.x = state.omega(0); - odom.twist.twist.angular.y = state.omega(1); - odom.twist.twist.angular.z = state.omega(2); -} - -void -quadToImuMsg(const QuadrotorSimulator::Quadrotor& quad, sensor_msgs::Imu& imu) - -{ - QuadrotorSimulator::Quadrotor::State state = quad.getState(); - Eigen::Quaterniond q(state.R); - imu.orientation.x = q.x(); - imu.orientation.y = q.y(); - imu.orientation.z = q.z(); - imu.orientation.w = q.w(); - - imu.angular_velocity.x = state.omega(0); - imu.angular_velocity.y = state.omega(1); - imu.angular_velocity.z = state.omega(2); - - imu.linear_acceleration.x = quad.getAcc()[0]; - imu.linear_acceleration.y = quad.getAcc()[1]; - imu.linear_acceleration.z = quad.getAcc()[2]; -} diff --git a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/src/test_dynamics/test_dynamics.cpp b/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/src/test_dynamics/test_dynamics.cpp deleted file mode 100644 index 8d84530..0000000 --- a/src/UAV/Modules/ego_planner/ego-planner-swarm/src/uav_simulator/so3_quadrotor_simulator/src/test_dynamics/test_dynamics.cpp +++ /dev/null @@ -1,61 +0,0 @@ -#include "quadrotor_simulator/Quadrotor.h" -#include - -int main(int argc, char **argv) -{ - double dt = 0.001; - QuadrotorSimulator::Quadrotor quad; - QuadrotorSimulator::Quadrotor::State state = quad.getState(); - - const double m = quad.getMass(); - const double g = quad.getGravity(); - const double kf = quad.getPropellerThrustCoefficient(); - - const double hover_rpm = std::sqrt(m*g/(4*kf)); - std::cerr << "hover rpm: " << hover_rpm << std::endl; - state.motor_rpm = Eigen::Array4d(hover_rpm, hover_rpm, hover_rpm, hover_rpm); - quad.setState(state); - - double thrust = m*g; - double rpm = std::sqrt(thrust/(4*kf)); - quad.setInput(rpm, rpm, rpm, rpm); - - struct timespec ts_start, ts1, ts2, ts_sleep, ts_end; - clock_gettime(CLOCK_MONOTONIC, &ts1); - int64_t time_taken = 0; - - double KP = 8.0; - double KD = 2.5; - const double z_des = 0.5; - clock_gettime(CLOCK_MONOTONIC, &ts_start); - for(int i = 0; i < 6000; i++) - { - state = quad.getState(); - thrust = m*g + KP*(z_des - state.x(2)) + KD*(0 - state.v(2)); - rpm = std::sqrt(thrust/(4*kf)); - if( i < 3000) - quad.setExternalForce(Eigen::Vector3d(0, 0, -KP*z_des)); - else - quad.setExternalForce(Eigen::Vector3d(0, 0, 0)); - quad.setInput(rpm, rpm, rpm, rpm); - quad.step(dt); - Eigen::Vector3d euler = state.R.eulerAngles(2,1,0); - std::cout << i*dt << ", " << state.x(2) << ", " << euler(0) << ", " << euler(1) << ", " << euler(2) << ", " << - state.omega(0) << ", " << state.omega(1) << ", " << state.omega(2) << ", " << state.motor_rpm(0) << std::endl; - - clock_gettime(CLOCK_MONOTONIC, &ts2); - time_taken += ((ts2.tv_sec-ts1.tv_sec)*1000000000UL + (ts2.tv_nsec-ts1.tv_nsec)); - int64_t time_sleep = i*dt/2*1e9 - time_taken; - clock_gettime(CLOCK_MONOTONIC, &ts1); - if(time_sleep > 0) - { - ts_sleep.tv_sec = time_sleep/1000000000UL; - ts_sleep.tv_nsec = time_sleep - ts_sleep.tv_sec*1000000000UL; - //nanosleep(&ts_sleep, NULL); - } - } - clock_gettime(CLOCK_MONOTONIC, &ts_end); - std::cerr << "Time: " << (ts_end.tv_sec-ts_start.tv_sec)*1e6 + (ts_end.tv_nsec-ts_start.tv_nsec)/1e3 << " usec" < -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -using namespace std; - -#define NUM_POINT 2 - - - - -namespace prometheus_station_utils -{ - -// 五种状态机 -enum MISSION_TYPE -{ - CONTROL, - LAND, - PLAN, - TRACK, -}; - -// 打印上层控制指令 -void printf_command_control(const prometheus_msgs::ControlCommand& _ControlCommand) -{ - cout <<">>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<" <>>>>>>>>>>>>>>>>>>>>>>> Drone State <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<" <>>>>>>>>>>>>>>>>>>>>>> Ref Pose <<<<<<<<<<<<<<<<<<<<<<<<<<<<" <>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> 其 他 函 数 <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< - -// 【获取当前时间函数】 单位：秒 -float get_time_in_sec(const ros::Time& begin_time) -{ - ros::Time time_now = ros::Time::now(); - float currTimeSec = time_now.sec - begin_time.sec; - float currTimenSec = time_now.nsec / 1e9 - begin_time.nsec / 1e9; - return (currTimeSec + currTimenSec); -} -// 将四元数转换至(roll,pitch,yaw) by a 3-2-1 intrinsic Tait-Bryan rotation sequence -// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles -// q0 q1 q2 q3 -// w x y z -Eigen::Vector3d quaternion_to_euler(const Eigen::Quaterniond &q) -{ - float quat[4]; - quat[0] = q.w(); - quat[1] = q.x(); - quat[2] = q.y(); - quat[3] = q.z(); - - Eigen::Vector3d ans; - ans[0] = atan2(2.0 * (quat[3] * quat[2] + quat[0] * quat[1]), 1.0 - 2.0 * (quat[1] * quat[1] + quat[2] * quat[2])); - ans[1] = asin(2.0 * (quat[2] * quat[0] - quat[3] * quat[1])); - ans[2] = atan2(2.0 * (quat[3] * quat[0] + quat[1] * quat[2]), 1.0 - 2.0 * (quat[2] * quat[2] + quat[3] * quat[3])); - return ans; -} - - -} -#endif diff --git a/src/UAV/Modules/ground_station/package.xml b/src/UAV/Modules/ground_station/package.xml deleted file mode 100644 index a99a79b..0000000 --- a/src/UAV/Modules/ground_station/package.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - prometheus_station - 0.0.0 - The prometheus_station package - - Yuhua Qi - Yuhua Qi - TODO - - http://www.amovauto.com/ - https://github.com/potato77/prometheus_station.git - - message_generation - message_runtime - - catkin - std_msgs - std_msgs - std_msgs - - - - - - - - diff --git a/src/UAV/Modules/ground_station/src/ground_station.cpp b/src/UAV/Modules/ground_station/src/ground_station.cpp deleted file mode 100644 index 7b4f3b3..0000000 --- a/src/UAV/Modules/ground_station/src/ground_station.cpp +++ /dev/null @@ -1,249 +0,0 @@ -/*************************************************************************************************************************** -* ground_station_info.cpp -* -* Author: Qyp -* -* Update Time: 2020.12.15 -* -* Introduction: Prometheus 数据信息地面站 -* 1. 根据不同任务选择打印不同消息 -* 2. 一般配合SSH使用,本程序运行于地面电脑 -* 3. 带宽不足时,请降低本程序运行频率 -***************************************************************************************************************************/ -//头文件 -#include -#include -#include "control_common.h" -//msg 头文件 -#include -#include -#include -#include -#include -#include -#include -#include -#include - -using namespace std; -//---------------------------------------相关参数----------------------------------------------- -float refresh_time; -int mission_type; -int control_type; -bool gimbal_enable; - -prometheus_msgs::DroneState _DroneState; -prometheus_msgs::ControlCommand Command_Now; //无人机当前执行命令 -prometheus_msgs::AttitudeReference _AttitudeReference; - -prometheus_msgs::DetectionInfo detection_info; - -geometry_msgs::PoseStamped ref_pose; -Eigen::Quaterniond q_fcu_target; -Eigen::Vector3d euler_fcu_target; -Eigen::Vector3d bodyrate_fcu_target; -float Thrust_target; -//Target pos of the drone [from fcu] -Eigen::Vector3d pos_drone_fcu_target; -//Target vel of the drone [from fcu] -Eigen::Vector3d vel_drone_fcu_target; -//Target accel of the drone [from fcu] -Eigen::Vector3d accel_drone_fcu_target; - - -Eigen::Vector3d gimbal_att_deg; -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>函数声明<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -void printf_info(); //打印函数 -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>回调函数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -void att_target_cb(const mavros_msgs::AttitudeTarget::ConstPtr& msg) -{ - q_fcu_target = Eigen::Quaterniond(msg->orientation.w, msg->orientation.x, msg->orientation.y, msg->orientation.z); - - //Transform the Quaternion to euler Angles - euler_fcu_target = prometheus_station_utils::quaternion_to_euler(q_fcu_target); - - bodyrate_fcu_target = Eigen::Vector3d(msg->body_rate.x, msg->body_rate.y, msg->body_rate.z); - - Thrust_target = - msg->thrust; -} -void pos_target_cb(const mavros_msgs::PositionTarget::ConstPtr& msg) -{ - pos_drone_fcu_target = Eigen::Vector3d(msg->position.x, msg->position.y, msg->position.z); - - vel_drone_fcu_target = Eigen::Vector3d(msg->velocity.x, msg->velocity.y, msg->velocity.z); - - accel_drone_fcu_target = Eigen::Vector3d(msg->acceleration_or_force.x, msg->acceleration_or_force.y, msg->acceleration_or_force.z); -} -void log_control_cb(const prometheus_msgs::LogMessageControl::ConstPtr& msg) -{ - control_type = msg->control_type; - _DroneState = msg->Drone_State; - Command_Now = msg->Control_Command; - _AttitudeReference = msg->Attitude_Reference; - ref_pose = msg->ref_pose; -} -void landpad_det_cb(const prometheus_msgs::DetectionInfo::ConstPtr &msg) -{ - detection_info = *msg; - - // 识别算法发布的目标位置位于相机坐标系（从相机往前看，物体在相机右方x为正，下方y为正，前方z为正） - // 此处未考虑相机安装误差 - detection_info.position[0] = - msg->position[1]; - detection_info.position[1] = - msg->position[0]; - detection_info.position[2] = - msg->position[2]; - -} -void gimbal_att_cb(const geometry_msgs::Quaternion::ConstPtr& msg) -{ - Eigen::Quaterniond gimbal_att_quat; - - gimbal_att_quat = Eigen::Quaterniond(msg->w, msg->x, msg->y, msg->z); - - Eigen::Vector3d gimbal_att; - //Transform the Quaternion to euler Angles - gimbal_att = prometheus_station_utils::quaternion_to_euler(gimbal_att_quat); - - gimbal_att_deg = gimbal_att/M_PI*180; -} - -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>主 函 数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -int main(int argc, char **argv) -{ - ros::init(argc, argv, "ground_station"); - ros::NodeHandle nh("~"); - - // 参数读取 - nh.param("refresh_time", refresh_time, 1.0); - // 根据任务类型 订阅不同话题,打印不同话题 - // - nh.param("mission_type", mission_type, 0); - // 是否有云台 - nh.param("gimbal_enable", gimbal_enable, false); - - // 【订阅】prometheus_control模块回传的消息 - ros::Subscriber log_control_sub = nh.subscribe("/prometheus/log/control", 10, log_control_cb); - - // 【订阅】飞控回传 - ros::Subscriber attitude_target_sub = nh.subscribe("/mavros/setpoint_raw/target_attitude", 10, att_target_cb); - - // 【订阅】 本话题来自飞控(通过Mavros功能包 /plugins/setpoint_raw.cpp读取), 对应Mavlink消息为POSITION_TARGET_LOCAL_NED, 对应的飞控中的uORB消息为vehicle_local_position_setpoint.msg - ros::Subscriber position_target_sub = nh.subscribe("/mavros/setpoint_raw/target_local", 10, pos_target_cb); - - if(mission_type == 1) - { - ros::Subscriber landpad_det_sub = nh.subscribe("/prometheus/object_detection/ellipse_det", 10, landpad_det_cb); - } - - ros::Subscriber gimbal_att_sub = nh.subscribe("/mavros/mount_control/orientation", 10, gimbal_att_cb); - - // 频率 - float hz = 1.0 / refresh_time; - ros::Rate rate(hz); - - -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>Main Loop<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< - while(ros::ok()) - { - //回调一次 更新传感器状态 - ros::spinOnce(); - - //打印 - printf_info(); - rate.sleep(); - } - - return 0; - -} - -void printf_info() -{ - cout <<">>>>>>>>>>>>>>>>>>>>>>>> Ground Station <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<" <>>>>>>>>>>>>>>>>>>>>>>> Target Info FCU <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<" <>>>>>>>>>>>>>>>>>>>> Target Info from PX4 <<<<<<<<<<<<<<<<<<<<<<<<<<<<" <>>>>>>>>>>>>>>>>>>>>>>> Target Info FCU <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<" <>>>>>>>>>>>>>>>>>>>>>>> Tracking Error <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<" <>>>>>>>>>>>>>>>>>>>>>>>>>>>>Vision State<<<<<<<<<<<<<<<<<<<<<<<<<<" <>>>>>>>>>>>>>>>>>>>>>>>>>>>>Gimbal State<<<<<<<<<<<<<<<<<<<<<<<<<<" < -#include -#include "control_common.h" -//msg 头文件 -#include -#include - -using namespace std; -//---------------------------------------相关参数----------------------------------------------- -float refresh_time; -int mission_type; - -prometheus_msgs::ArucoInfo aruco_info; -prometheus_msgs::MultiArucoInfo multi_aruco_info; - -prometheus_msgs::DroneState _DroneState; // 无人机状态 -bool get_drone_pos = false; -Eigen::Vector3d mav_pos_; -Eigen::Vector3d aruco_pos_enu; -Eigen::Matrix3f R_Body_to_ENU,R_camera_to_body; // 无人机机体系至惯性系转换矩阵 -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>回调函数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -void aruco_cb(const prometheus_msgs::ArucoInfo::ConstPtr& msg) -{ - aruco_info = *msg; - - if(get_drone_pos) - { - // 暂不考虑无人机姿态的影响 - aruco_pos_enu[0] = mav_pos_[0] - aruco_info.position[1]; - aruco_pos_enu[1] = mav_pos_[1] - aruco_info.position[0]; - // 相机安装在无人机下方10cm处，需减去该偏差 - aruco_pos_enu[2] = mav_pos_[2] - aruco_info.position[2] - 0.1; - } -} -void multi_aruco_cb(const prometheus_msgs::MultiArucoInfo::ConstPtr& msg) -{ - multi_aruco_info = *msg; -} -void drone_state_cb(const prometheus_msgs::DroneState::ConstPtr& msg) -{ - _DroneState = *msg; - - get_drone_pos = true; - - mav_pos_ << _DroneState.position[0],_DroneState.position[1],_DroneState.position[2]; -} -void printf_info(); //打印函数 -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>主 函 数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -int main(int argc, char **argv) -{ - ros::init(argc, argv, "ground_station_aruco"); - ros::NodeHandle nh("~"); - - // 参数读取 - nh.param("refresh_time", refresh_time, 1.0); - // 根据任务类型 订阅不同话题,打印不同话题 - nh.param("mission_type", mission_type, 0); - - // 【订阅】 - ros::Subscriber aruco_sub = nh.subscribe("/prometheus/object_detection/aruco_det", 10, aruco_cb); - - // 【订阅】 - ros::Subscriber multi_aruco_sub = nh.subscribe("/prometheus/object_detection/multi_aruco_det", 10, multi_aruco_cb); - - //【订阅】无人机状态 - ros::Subscriber drone_state_sub = nh.subscribe("/prometheus/drone_state", 10, drone_state_cb); - // 频率 - float hz = 1.0 / refresh_time; - ros::Rate rate(hz); - - -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>Main Loop<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< - while(ros::ok()) - { - //回调一次 更新传感器状态 - ros::spinOnce(); - - //打印 - printf_info(); - rate.sleep(); - } - - return 0; - -} - -void printf_info() -{ - cout <<">>>>>>>>>>>>>>>>>>>>>>>> Ground Station Aruco <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<" <>>>>>>>>>>>>>>>>>>>>>>>>>>>>Aruco Info<<<<<<<<<<<<<<<<<<<<<<<<<<<" <>>>>>>>>>>>>>>>>>>>>>>>>Multi Aruco Info<<<<<<<<<<<<<<<<<<<<<<<<<" < - -//msg 头文件 -#include -#include -#include -#include -#include -#include -#include -#include -#include "message_utils.h" - -using namespace std; -//---------------------------------------相关参数----------------------------------------------- - -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>回调函数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -void msg_main_cb(const prometheus_msgs::Message::ConstPtr& msg) -{ - prometheus_msgs::Message message = *msg; - printf_message(message); -} -void msg_planning_cb(const prometheus_msgs::Message::ConstPtr& msg) -{ - prometheus_msgs::Message message = *msg; - printf_message(message); -} -void msg_det_cb(const prometheus_msgs::Message::ConstPtr& msg) -{ - prometheus_msgs::Message message = *msg; - printf_message(message); -} -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>主 函 数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -int main(int argc, char **argv) -{ - ros::init(argc, argv, "ground_station_msg"); - ros::NodeHandle nh("~"); - - // 【订阅】 各类消息 - ros::Subscriber message_main_sub = nh.subscribe("/prometheus/message/main", 10, msg_planning_cb); - ros::Subscriber message_local_planner_sub = nh.subscribe("/prometheus/message/local_planner", 10, msg_planning_cb); - ros::Subscriber message_global_planner_sub = nh.subscribe("/prometheus/message/global_planner", 10, msg_planning_cb); - ros::Subscriber message_fast_planner_sub = nh.subscribe("/prometheus/message/fast_planner", 10, msg_planning_cb); - - ros::Subscriber num_det_sub = nh.subscribe("/prometheus/message/num_det", 10, msg_det_cb); - ros::Subscriber circle_det_sub = nh.subscribe("/prometheus/message/circle_det", 10, msg_det_cb); - ros::Subscriber pad_det_sub = nh.subscribe("/prometheus/message/landpad_det", 10, msg_det_cb); - ros::Subscriber kcf_det_sub = nh.subscribe("/prometheus/message/kcf_det", 10, msg_det_cb); - - // 频率 - ros::Rate rate(1.0); - - -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>Main Loop<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< - while(ros::ok()) - { - //回调一次 更新传感器状态 - ros::spinOnce(); - - - rate.sleep(); - } - - return 0; - -} \ No newline at end of file diff --git a/src/UAV/Modules/mocap_ekf/CMakeLists.txt b/src/UAV/Modules/mocap_ekf/CMakeLists.txt deleted file mode 100644 index cba6905..0000000 --- a/src/UAV/Modules/mocap_ekf/CMakeLists.txt +++ /dev/null @@ -1,31 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(mocap_ekf) - -find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - nav_msgs - geometry_msgs - sensor_msgs - ) - -set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) -find_package(Eigen3 REQUIRED) -include_directories( - include - ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIR} - ) - -catkin_package( - ) - -# add_executable(ekf src/ekf_node.cpp src/conversion.cpp) # to time synchronization #oldest one, Euler transform is pnp the world in cam transforms to imu in world -# add_executable(ekf src/ekf_node_mocap.cpp src/conversion.cpp) # Euler transform is rigidbody in world transforms to imu in world -# add_executable(ekf src/ekf_node_vio.cpp src/conversion.cpp) # only use ekf_node_vio.cpp (ekf_node_mocap.cpp is just for mocap format, base on this one) -# add_executable(ekf src/ekf_node_vio_timesync.cpp src/conversion.cpp) -add_executable(mocap_ekf src/mocap_ekf_node.cpp src/conversion.cpp) -add_executable(imu_add_noise src/imu_add_noise.cpp src/conversion.cpp) -target_link_libraries(mocap_ekf ${catkin_LIBRARIES} ) -target_link_libraries(imu_add_noise ${catkin_LIBRARIES} ) - diff --git a/src/UAV/Modules/mocap_ekf/cmake/FindEigen3.cmake b/src/UAV/Modules/mocap_ekf/cmake/FindEigen3.cmake deleted file mode 100644 index 9c546a0..0000000 --- a/src/UAV/Modules/mocap_ekf/cmake/FindEigen3.cmake +++ /dev/null @@ -1,81 +0,0 @@ -# - Try to find Eigen3 lib -# -# This module supports requiring a minimum version, e.g. you can do -# find_package(Eigen3 3.1.2) -# to require version 3.1.2 or newer of Eigen3. -# -# Once done this will define -# -# EIGEN3_FOUND - system has eigen lib with correct version -# EIGEN3_INCLUDE_DIR - the eigen include directory -# EIGEN3_VERSION - eigen version - -# Copyright (c) 2006, 2007 Montel Laurent, -# Copyright (c) 2008, 2009 Gael Guennebaud, -# Copyright (c) 2009 Benoit Jacob -# Redistribution and use is allowed according to the terms of the 2-clause BSD license. - -if(NOT Eigen3_FIND_VERSION) - if(NOT Eigen3_FIND_VERSION_MAJOR) - set(Eigen3_FIND_VERSION_MAJOR 2) - endif(NOT Eigen3_FIND_VERSION_MAJOR) - if(NOT Eigen3_FIND_VERSION_MINOR) - set(Eigen3_FIND_VERSION_MINOR 91) - endif(NOT Eigen3_FIND_VERSION_MINOR) - if(NOT Eigen3_FIND_VERSION_PATCH) - set(Eigen3_FIND_VERSION_PATCH 0) - endif(NOT Eigen3_FIND_VERSION_PATCH) - - set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}") -endif(NOT Eigen3_FIND_VERSION) - -macro(_eigen3_check_version) - file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header) - - string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}") - set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}") - string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}") - set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}") - string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}") - set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}") - - set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION}) - if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) - set(EIGEN3_VERSION_OK FALSE) - else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) - set(EIGEN3_VERSION_OK TRUE) - endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) - - if(NOT EIGEN3_VERSION_OK) - - message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, " - "but at least version ${Eigen3_FIND_VERSION} is required") - endif(NOT EIGEN3_VERSION_OK) -endmacro(_eigen3_check_version) - -if (EIGEN3_INCLUDE_DIR) - - # in cache already - _eigen3_check_version() - set(EIGEN3_FOUND ${EIGEN3_VERSION_OK}) - -else (EIGEN3_INCLUDE_DIR) - - find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library - PATHS - ${CMAKE_INSTALL_PREFIX}/include - ${KDE4_INCLUDE_DIR} - PATH_SUFFIXES eigen3 eigen - ) - - if(EIGEN3_INCLUDE_DIR) - _eigen3_check_version() - endif(EIGEN3_INCLUDE_DIR) - - include(FindPackageHandleStandardArgs) - find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK) - - mark_as_advanced(EIGEN3_INCLUDE_DIR) - -endif(EIGEN3_INCLUDE_DIR) - diff --git a/src/UAV/Modules/mocap_ekf/cmake/FindGLIB2.cmake b/src/UAV/Modules/mocap_ekf/cmake/FindGLIB2.cmake deleted file mode 100644 index 6b3e5c2..0000000 --- a/src/UAV/Modules/mocap_ekf/cmake/FindGLIB2.cmake +++ /dev/null @@ -1,54 +0,0 @@ -# - Try to find the GLIB2 libraries -# Once done this will define -# -# GLIB2_FOUND - system has glib2 -# GLIB2_INCLUDE_DIR - the glib2 include directory -# GLIB2_LIBRARY - glib2 library - -# Copyright (c) 2008 Laurent Montel, -# -# Redistribution aqqqnd use is allowed according to the terms of the BSD license. -# For details see the accompanying COPYING-CMAKE-SCRIPTS file. - -# From the KDE source tree - - -if(GLIB2_INCLUDE_DIR AND GLIB2_LIBRARIES) - # Already in cache, be silent - set(GLIB2_FIND_QUIETLY TRUE) -endif(GLIB2_INCLUDE_DIR AND GLIB2_LIBRARIES) - -if (NOT WIN32) - include(UsePkgConfig) - pkgconfig(glib-2.0 _LibGLIB2IncDir _LibGLIB2LinkDir _LibGLIB2LinkFlags _LibGLIB2Cflags) -endif(NOT WIN32) - -find_path(GLIB2_MAIN_INCLUDE_DIR glib.h - PATH_SUFFIXES glib-2.0 - PATHS ${_LibGLIB2IncDir} ) - -# search the glibconfig.h include dir under the same root where the library is found - - find_library(GLIB2_LIBRARY - NAMES glib-2.0 - PATHS ${_LibGLIB2LinkDir} ) - - -get_filename_component(glib2LibDir "${GLIB2_LIBRARY}" PATH) - -find_path(GLIB2_INTERNAL_INCLUDE_DIR glibconfig.h - PATH_SUFFIXES glib-2.0/include - PATHS ${_LibGLIB2IncDir} "${glib2LibDir}" ${CMAKE_SYSTEM_LIBRARY_PATH}) - -set(GLIB2_INCLUDE_DIR "${GLIB2_MAIN_INCLUDE_DIR}") - -# not sure if this include dir is optional or required -# for now it is optional -if(GLIB2_INTERNAL_INCLUDE_DIR) - set(GLIB2_INCLUDE_DIR ${GLIB2_INCLUDE_DIR} "${GLIB2_INTERNAL_INCLUDE_DIR}") -endif(GLIB2_INTERNAL_INCLUDE_DIR) - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(GLIB2 DEFAULT_MSG GLIB2_LIBRARY GLIB2_MAIN_INCLUDE_DIR) - -mark_as_advanced(GLIB2_INCLUDE_DIR GLIB2_LIBRARY) \ No newline at end of file diff --git a/src/UAV/Modules/mocap_ekf/cmake/FindGTHREAD2.cmake b/src/UAV/Modules/mocap_ekf/cmake/FindGTHREAD2.cmake deleted file mode 100644 index 71d6bb9..0000000 --- a/src/UAV/Modules/mocap_ekf/cmake/FindGTHREAD2.cmake +++ /dev/null @@ -1,52 +0,0 @@ -# - Try to find the GTHREAD2 libraries -# Once done this will define -# -# GTHREAD2_FOUND - system has GTHREAD2 -# GTHREAD2_INCLUDE_DIR - the GTHREAD2 include directory -# GTHREAD2_LIBRARY - GTHREAD2 library - -# Copyright (c) 2008 Laurent Montel, -# -# Redistribution aqqqnd use is allowed according to the terms of the BSD license. -# For details see the accompanying COPYING-CMAKE-SCRIPTS file. - -# From the KDE source tree - - -if(GTHREAD2_INCLUDE_DIR AND GTHREAD2_LIBRARIES) - # Already in cache, be silent - set(GTHREAD2_FIND_QUIETLY TRUE) -endif(GTHREAD2_INCLUDE_DIR AND GTHREAD2_LIBRARIES) - -if (NOT WIN32) - include(UsePkgConfig) - pkgconfig(gthread-2.0 _LibGTHREAD2IncDir _LibGTHREAD2LinkDir _LibGTHREAD2LinkFlags _LibGTHREAD2Cflags) -endif(NOT WIN32) - -find_path(GTHREAD2_MAIN_INCLUDE_DIR glib.h - PATH_SUFFIXES glib-2.0 - PATHS ${_LibGTHREAD2IncDir} ) - -# search the glibconfig.h include dir under the same root where the library is found -find_library(GTHREAD2_LIBRARY - NAMES gthread-2.0 - PATHS ${_LibGTHREAD2LinkDir} ) - -get_filename_component(gthread2LibDir "${GTHREAD2_LIBRARY}" PATH) - -find_path(GTHREAD2_INTERNAL_INCLUDE_DIR glibconfig.h - PATH_SUFFIXES glib-2.0/include - PATHS ${_LibGTHREAD2IncDir} "${GTHREAD2LibDir}" ${CMAKE_SYSTEM_LIBRARY_PATH}) - -set(GTHREAD2_INCLUDE_DIR "${GTHREAD2_MAIN_INCLUDE_DIR}") - -# not sure if this include dir is optional or required -# for now it is optional -if(GTHREAD2_INTERNAL_INCLUDE_DIR) - set(GTHREAD2_INCLUDE_DIR ${GTHREAD2_INCLUDE_DIR} "${GTHREAD2_INTERNAL_INCLUDE_DIR}") -endif(GTHREAD2_INTERNAL_INCLUDE_DIR) - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(GTHREAD2 DEFAULT_MSG GTHREAD2_LIBRARY GTHREAD2_MAIN_INCLUDE_DIR) - -mark_as_advanced(GTHREAD2_INCLUDE_DIR GTHREAD2_LIBRARY) \ No newline at end of file diff --git a/src/UAV/Modules/mocap_ekf/include/conversion.h b/src/UAV/Modules/mocap_ekf/include/conversion.h deleted file mode 100644 index a5f5bdc..0000000 --- a/src/UAV/Modules/mocap_ekf/include/conversion.h +++ /dev/null @@ -1,15 +0,0 @@ -#include -#include -#include -using namespace std; -using namespace Eigen; - -Quaterniond euler2quaternion(Vector3d euler); -Matrix3d quaternion2mat(Quaterniond q); -Vector3d mat2euler(Matrix3d m); -Quaterniond mat2quaternion(Matrix3d m); -Matrix3d euler2mat(Vector3d euler); -Vector3d quaternion2euler(Quaterniond q); -double quaternion2yaw(Quaterniond q); -Matrix3d w_Euler2Body(Vector3d q); -Matrix3d w_Body2Euler(Vector3d q); diff --git a/src/UAV/Modules/mocap_ekf/include/ekf.h b/src/UAV/Modules/mocap_ekf/include/ekf.h deleted file mode 100644 index 88be1d8..0000000 --- a/src/UAV/Modules/mocap_ekf/include/ekf.h +++ /dev/null @@ -1,115 +0,0 @@ -#ifndef MotionEstimation_EKF_H -#define MotionEstimation_EKF_H - -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -using namespace std; -using namespace Eigen; -//! @brief Common variables -const double PI = 3.141592653589793; -const double TAU = 6.283185307179587; - -void system_pub(ros::Time stamp); -void cam_system_pub(ros::Time stamp); -void acc_f_pub(Vector3d acc, ros::Time stamp); - -//process model -void initsys(); -// void getState(Vector3d& p, Vector3d& q, Vector3d& v);//p q v -void getState(Vector3d& p, Vector3d& q, Vector3d& v, Vector3d& bg, Vector3d& ba); //p q v bias -VectorXd get_filtered_acc(Vector3d acc); -VectorXd F_model(Vector3d gyro, Vector3d acc); -VectorXd g_model(); -// MatrixXd diff_f_diff_x(Vector3d q_last, Vector3d gyro, Vector3d acc); // p q v -MatrixXd diff_f_diff_x(Vector3d q_last, Vector3d gyro, Vector3d acc, Vector3d bg_last, Vector3d ba_last); // p q v bias -MatrixXd diff_f_diff_n(Vector3d q_last); -MatrixXd diff_g_diff_x(); -MatrixXd diff_g_diff_v(); - -#define Jacobian_diff_f_diff_x 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0,0, 0, 1, 0, 0, 0, 0, 0, 0,0, 0, 0, 1, 0, 0, 0, (sp*(Wy*cr - Wz*sr))/cp, (Wz*cr + Wy*sr)/(cp*cp),0, 0, 0, 0, 0, 0, 0, - Wz*cr - Wy*sr, 0,0, 0, 0, 0,0, 0, 0, (Wy*cr - Wz*sr)/cp, (sp*(Wz*cr + Wy*sr))/(cp*cp),0, 0, 0, 0,0, 0, 0,Ay*(sr*sy + cr*cy*sp) + Az*(cr*sy - cy*sp*sr), Az*cp*cr*cy - Ax*cy*sp + Ay*cp*cy*sr, Az*(cy*sr - cr*sp*sy) - Ay*(cr*cy + sp*sr*sy) - Ax*cp*sy, 0, 0, 0, 0, 0, 0, - Ay*(cy*sr - cr*sp*sy) - Az*(cr*cy + sp*sr*sy), Az*cp*cr*sy - Ax*sp*sy + Ay*cp*sr*sy, Az*(sr*sy + cr*cy*sp) - Ay*(cr*sy - cy*sp*sr) + Ax*cp*cy, 0, 0, 0,0, 0, 0, Ay*cp*cr - Az*cp*sr, - Ax*cp - Az*cr*sp - Ay*sp*sr,0, 0, 0, 0 - -// state for kalman filter -// 0-2 Px Py Pz -// 3-5 euler -// 6-8 Vx Vy Vz - -class ekf_estimation -{ -public: - ekf_estimation(); - ~ekf_estimation(); - void predict(Vector3d gyro, Vector3d acc, double t); - void correct(Vector3d pos, Vector3d vel, Vector3d mag, double t); - void process(Vector3d gyro, Vector3d acc, VectorXd& xdot, MatrixXd& F, MatrixXd& G); - MatrixXd computeF(Vector3d gyro, Vector3d acc); - - VectorXd measurement(VectorXd x, Vector3d mag); - MatrixXd computeH(Vector3d mag); - - void measurement_fix(Vector2d& position, MatrixXd &H); - void measurement_fix_velocity(Vector3d& velocity, MatrixXd& H); - void measurement_sonar_height(VectorXd& sonar_height, MatrixXd& H); - void measurement_magnetic_field(Vector3d& magnetic_field, MatrixXd& H); - void measurement_gravity(Vector3d& acc, MatrixXd& H); - - void correct(VectorXd z, VectorXd zhat, MatrixXd H, MatrixXd R); - void correct_fix(Vector3d position, double t); - void correct_fix_velocity(Vector3d velocity, double t); - void correct_sonar_height(double sonar_height, double t);//todo, without considering the roll and pitch - void correct_magnetic_field(Vector3d mag, double t); - void correct_gravity(Vector3d acc, double t); - // void measurement_altimeter(double& altimeter_height, MatrixXd H); - void getState(Quaterniond& q, Vector3d& position, Vector3d& velocity, Vector3d & bw, Vector3d& ba); - double get_time() { return current_t;} -private: - VectorXd x;//state - MatrixXd P;//covariance - - - const Vector3d GRAVITY = Vector3d(0, 0, 9.8); - //covariance parameter - const double fix_cov = 2.0; - const double sonar_height_cov = 0.2; - const double fix_velocity_cov = 2.0; - - const double gyro_cov = 0.01; - const double acc_cov = 0.1; - - const double gravity_cov = 5.0; - const double mag_cov = 5.0; - - const int n_state = 16; - MatrixXd Q;//imu observation noise - const MatrixXd R_fix = Matrix2d::Identity()*fix_cov; - const MatrixXd R_fix_velocity = Matrix3d::Identity()*fix_velocity_cov; - const MatrixXd R_sonar_height = MatrixXd::Identity(1, 1)*sonar_height_cov; - const MatrixXd R_magnetic = Matrix3d::Identity()*mag_cov; - const MatrixXd R_gravity = Matrix3d::Identity()*gravity_cov; - - Vector3d acc; - Vector3d gyro; - - Vector3d referenceMagneticField_; - double current_t; - bool initialized; - - bool fix_initialized; - bool imu_initialized; - bool altimeter_initialized; - bool sonar_initialized; - bool magnetic_initialized; - -}; - - -#endif - diff --git a/src/UAV/Modules/mocap_ekf/launch/PX4_vicon.launch b/src/UAV/Modules/mocap_ekf/launch/PX4_vicon.launch deleted file mode 100644 index 45251d8..0000000 --- a/src/UAV/Modules/mocap_ekf/launch/PX4_vicon.launch +++ /dev/null @@ -1,27 +0,0 @@ - - - - - - - - - - - - > - - - - - - - - - - - - - - - diff --git a/src/UAV/Modules/mocap_ekf/launch/PX4_vio_drone.yaml b/src/UAV/Modules/mocap_ekf/launch/PX4_vio_drone.yaml deleted file mode 100644 index b4b89e2..0000000 --- a/src/UAV/Modules/mocap_ekf/launch/PX4_vio_drone.yaml +++ /dev/null @@ -1,2 +0,0 @@ -Rr_i: [1, 0, 0, 0] #ekf bag #[1, 0, 0, 0] #car #quaterniod(w,x,y,z) -tr_i: [0.00, 0.0, 0.01] #ekf bag #[0, 0, 0.] #car diff --git a/src/UAV/Modules/mocap_ekf/package.xml b/src/UAV/Modules/mocap_ekf/package.xml deleted file mode 100644 index ab54b93..0000000 --- a/src/UAV/Modules/mocap_ekf/package.xml +++ /dev/null @@ -1,53 +0,0 @@ - - - mocap_ekf - 0.0.0 - The mocap_ekf package - - - - - kunyue - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - nav_msgs - sensor_msgs - roscpp - - - - - - - - diff --git a/src/UAV/Modules/mocap_ekf/src/conversion.cpp b/src/UAV/Modules/mocap_ekf/src/conversion.cpp deleted file mode 100644 index 1f86f4b..0000000 --- a/src/UAV/Modules/mocap_ekf/src/conversion.cpp +++ /dev/null @@ -1,146 +0,0 @@ -#include -#include -#include -using namespace std; -using namespace Eigen; - -/** -Euler angle defination: zyx -Rotation matrix: C_body2ned -**/ -Quaterniond euler2quaternion(Vector3d euler) -{ - double cr = cos(euler(0)/2); - double sr = sin(euler(0)/2); - double cp = cos(euler(1)/2); - double sp = sin(euler(1)/2); - double cy = cos(euler(2)/2); - double sy = sin(euler(2)/2); - Quaterniond q; - q.w() = cr*cp*cy + sr*sp*sy; - q.x() = sr*cp*cy - cr*sp*sy; - q.y() = cr*sp*cy + sr*cp*sy; - q.z() = cr*cp*sy - sr*sp*cy; - return q; -} - - -Matrix3d quaternion2mat(Quaterniond q) -{ - Matrix3d m; - double a = q.w(), b = q.x(), c = q.y(), d = q.z(); - m << a*a + b*b - c*c - d*d, 2*(b*c - a*d), 2*(b*d+a*c), - 2*(b*c+a*d), a*a - b*b + c*c - d*d, 2*(c*d - a*b), - 2*(b*d - a*c), 2*(c*d+a*b), a*a-b*b - c*c + d*d; - return m; -} - -Vector3d mat2euler(Matrix3d m) -{ - double r = atan2(m(2, 1), m(2, 2)); - double p = asin(-m(2, 0)); - double y = atan2(m(1, 0), m(0, 0)); - Vector3d rpy(r, p, y); - return rpy; -} - -Quaterniond mat2quaternion(Matrix3d m) -{ - //return euler2quaternion(mat2euler(m)); - Quaterniond q; - double a, b, c, d; - a = sqrt(1 + m(0, 0) + m(1, 1) + m(2, 2))/2; - b = (m(2, 1) - m(1, 2))/(4*a); - c = (m(0, 2) - m(2, 0))/(4*a); - d = (m(1, 0) - m(0, 1))/(4*a); - q.w() = a; q.x() = b; q.y() = c; q.z() = d; - return q; -} - -//ZYX -Matrix3d euler2mat(Vector3d euler) -{ - double cr = cos(euler(0)); - double sr = sin(euler(0)); - double cp = cos(euler(1)); - double sp = sin(euler(1)); - double cy = cos(euler(2)); - double sy = sin(euler(2)); - Matrix3d m; - m << cp*cy, -cr*sy + sr*sp*cy, sr*sy + cr*sp*cy, - cp*sy, cr*cy + sr*sp*sy, -sr*cy + cr*sp*sy, - -sp, sr*cp, cr*cp; - return m; -} - -Vector3d quaternion2euler(Quaterniond q) -{ - return mat2euler(quaternion2mat(q)); -} - -double quaternion2yaw(Quaterniond q) -{ - double a = q.w(), b = q.x(), c = q.y(), d = q.z(); - double y = atan2(2*(b*c+a*d), (a*a + b*b - c*c - d*d)); - return y; -} - -//Euler motion equation -//ZYX Euler angles velocity to body frame wx wy wz w_phi, w_theta, w_psi q: roll pitch yaw (phi theta psi) -Matrix3d w_Euler2Body(Vector3d q) -{ - double cr = cos( q(0)); - double sr = sin( q(0)); - double cp = cos( q(1)); - double sp = sin( q(1)); - double cy = cos( q(2)); - double sy = sin( q(2)); - - Matrix3d G; - G << 1., 0., -sp, - 0., cr, cp * sr, - 0., -sr, cp * cr; - - // Vector3d w(0,0,0); - // w = G * qdot; - return G; -} -Matrix3d w_Body2Euler(Vector3d q) -{ - double cr = cos( q(0)); - double sr = sin( q(0)); - double cp = cos( q(1)) + 0.00000001; - double sp = sin( q(1)); - double cy = cos( q(2)); - double sy = sin( q(2)); - - Matrix3d G_inv; - G_inv << 1., sp*sr/cp, cr*sp/cp, - 0., cr, -sr, - 0., sr/cp, cr/cp; - - // Vector3d qdot(0,0,0); - // qdot = G_inv * w; - return G_inv; -} -//ZXY Euler angles velocity to body frame wx wy wz w_phi, w_theta, w_psi -// Vector3d Euler2Body(Vector3d q, Vector3d qdot) -// { -// Vector3d w(0,0,0); -// Matrix3d G; -// G << cos(q.y), 0., -cos(q.x)*sin(q.y), -// 0., 1., sin(q.x), -// sin(q.y), 0., cos(q.x)*cos(q.y); -// w = G * qdot; -// return w; -// } -// Vector3d Body2Euler(Vector3d q, Vector3d w) -// { -// Vector3d qdot(0,0,0); -// Matrix3d G_inv; -// G_inv << cos(q.y), 0., sin(q.y), -// (sin(q.x)*sin(q.y))/(cos(q.x)+0.00000001), 1., -(cos(q.y)*sin(q.x))/(cos(q.x)+0.00000001), -// -sin(q.y)/(cos(q.x)+0.00000001), 0., cos(q.y)/(cos(q.x)+0.00000001); -// qdot = G_inv * w; -// return qdot; -// } diff --git a/src/UAV/Modules/mocap_ekf/src/imu_add_noise.cpp b/src/UAV/Modules/mocap_ekf/src/imu_add_noise.cpp deleted file mode 100644 index 71e051a..0000000 --- a/src/UAV/Modules/mocap_ekf/src/imu_add_noise.cpp +++ /dev/null @@ -1,46 +0,0 @@ -#include "ekf.h" - -#include -#include -#include -#include -#include - -using namespace std; -using namespace Eigen; - -ros::Publisher imu_noise_pub; -//add imu noise -double imu_noise = 0.05; -Vector3d noise; -std::default_random_engine generator; -std::normal_distribution distribution_imu(0, imu_noise); - -void imu_callback(const sensor_msgs::Imu::ConstPtr &msg) -{ - // add imu noise - noise = Vector3d(distribution_imu(generator), distribution_imu(generator), distribution_imu(generator)); - - sensor_msgs::Imu imu_noise; - imu_noise = *msg; - - imu_noise.linear_acceleration.x += noise(0); - imu_noise.linear_acceleration.y += noise(1); - imu_noise.linear_acceleration.z += noise(2); - - imu_noise_pub.publish(imu_noise); -} - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "ekf"); - ros::NodeHandle n("~"); - ros::Subscriber s1 = n.subscribe("imu", 1000, imu_callback, ros::TransportHints().tcpNoDelay()); - imu_noise_pub = n.advertise("/djiros/imu_noise", 1000); - - n.getParam("imu_noise", imu_noise); - - cout << "imu_noise: " << imu_noise << endl; - - ros::spin(); -} diff --git a/src/UAV/Modules/mocap_ekf/src/mocap_ekf_node.cpp b/src/UAV/Modules/mocap_ekf/src/mocap_ekf_node.cpp deleted file mode 100644 index c57e00a..0000000 --- a/src/UAV/Modules/mocap_ekf/src/mocap_ekf_node.cpp +++ /dev/null @@ -1,522 +0,0 @@ -#include "ekf.h" - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "conversion.h" - -using namespace std; -using namespace Eigen; - -//X_state: p q v gb ab with time stamp aligned between imu and img -/* - EKF model - prediction: - xt~ = xt-1 + dt*f(xt-1, ut, 0) - sigmat~ = Ft*sigmat-1*Ft' + Vt*Qt*Vt' - Update: - Kt = sigmat~*Ct'*(Ct*sigmat~*Ct' + Wt*Rt*Wt')^-1 - xt = xt~ + Kt*(zt - g(xt~,0)) - sigmat = sigmat~ - Kt*Ct*sigmat~ -*/ -/* - -pi ~ pi crossing problem: - 1. the model prpagation: X_state should be limited to [-pi,pi] after predicting and updating - 2. inovation crossing: (measurement - g(X_state)) should also be limited to [-pi,pi] when getting the inovation. - z_measurement is normally in [-pi~pi] -*/ - -// imu frame is imu body frame - -//odom: pose px,py pz orientation qw qx qy qz -//imu: acc: x y z gyro: wx wy wz - -ros::Publisher odom_pub; -ros::Publisher cam_odom_pub; - -//state -geometry_msgs::Pose pose; -Vector3d position, orientation, velocity; - -// Now set up the relevant matrices -//states X [p q pdot] [px,py,pz, wx,wy,wz, vx,vy,vz] -size_t stateSize; // x = [p q pdot bg ba] -size_t stateSize_pqv; // x = [p q pdot] -size_t measurementSize; // z = [p q] -size_t inputSize; // u = [w a] -VectorXd X_state(stateSize); // x (in most literature) -VectorXd u_input; -VectorXd Z_measurement; // z -MatrixXd StateCovariance; // sigma -MatrixXd Kt_kalmanGain; // Kt -VectorXd X_state_correct(stateSize); // x (in most literature) -MatrixXd StateCovariance_correct; // sigma -MatrixXd Qt; -MatrixXd Rt; -Vector3d u_gyro; -Vector3d u_acc; -Vector3d gravity(0., 0., -9.8); //need to estimate the bias 9.8099 -Vector3d bg_0(0., 0., 0); //need to estimate the bias -Vector3d ba_0(0., 0., 0); //need to estimate the bias 0.1 -Vector3d ng(0., 0., 0.); -Vector3d na(0., 0., 0.); -Vector3d nbg(0., 0., 0.); -Vector3d nba(0., 0., 0.); - -Vector3d q_last; -Vector3d bg_last; -Vector3d ba_last; - -//Qt imu covariance matrix smaller believe system(imu) more -double gyro_cov = 0.01; -double acc_cov = 0.01; -//Rt visual odomtry covariance smaller believe measurement more -double position_cov = 0.1; -double q_rp_cov = 0.1; -double q_yaw_cov = 0.1; - -double dt = 0.005; //second -double t_last, t_now; -bool first_frame_imu = true; -bool first_frame_tag_odom = true; -bool test_odomtag_call = false; -bool odomtag_call = false; - -double time_now, time_last; -double time_odom_tag_now; -double diff_time; -//world frame points velocity -vector< pair > sys_seq; // keep a sequence of sys imu and X_state(before imu system prediction) -vector cov_seq; - -//Rotation from the camera frame to the IMU frame -Matrix3d Rc_i; -Vector3d tc_i; // cam in imu frame -int cnt = 0; -Vector3d INNOVATION_; -Matrix3d Rr_i; -Vector3d tr_i; // rigid body in imu frame - -void imu_callback(const sensor_msgs::Imu::ConstPtr &msg) -{ - // first_frame_tag_odom 初始为true，收到vicon后设置为false - if(!first_frame_tag_odom) - { - // 第一次回调：发布初始值 - if(first_frame_imu) - { - first_frame_imu = false; - time_now = msg->header.stamp.toSec(); - time_last = time_now; - // 发布初始值 - system_pub(msg->header.stamp); - } - else - { - time_now = msg->header.stamp.toSec(); - // 时间差 - dt = time_now - time_last; - - if(odomtag_call) - { - odomtag_call = false; - diff_time = time_now - time_odom_tag_now; - if(diff_time<0) - { - cout << "diff time: " << diff_time << endl; //???!!! exist !!!??? - cout << "timeimu: " << time_now - 1.60889e9 << " time_odom: " << time_odom_tag_now - 1.60889e9 << endl; - // cout << "diff time: " << diff_time << endl; //about 30ms - } - } - MatrixXd Ft; - MatrixXd Vt; - - // 将imu存为输入值 - u_gyro(0) = msg->angular_velocity.x; - u_gyro(1) = msg->angular_velocity.y; - u_gyro(2) = msg->angular_velocity.z; - u_acc(0) = msg->linear_acceleration.x; - u_acc(1) = msg->linear_acceleration.y; - u_acc(2) = msg->linear_acceleration.z; - - // 上一时刻姿态 - q_last = X_state.segment<3>(3); // last X2 - bg_last = X_state.segment<3>(9); //last X4 - ba_last = X_state.segment<3>(12); //last X5 - Ft = MatrixXd::Identity(stateSize, stateSize) + dt*diff_f_diff_x(q_last, u_gyro, u_acc, bg_last, ba_last); - - Vt = dt*diff_f_diff_n(q_last); - - // 使用输入更新状态 - X_state += dt*F_model(u_gyro, u_acc); - // 欧拉角限制幅度 - if(X_state(3) > PI) X_state(3) -= 2*PI; - if(X_state(3) < -PI) X_state(3) += 2*PI; - if(X_state(4) > PI) X_state(4) -= 2*PI; - if(X_state(4) < -PI) X_state(4) += 2*PI; - if(X_state(5) > PI) X_state(5) -= 2*PI; - if(X_state(5) < -PI) X_state(5) += 2*PI; - // 更新COV - StateCovariance = Ft*StateCovariance*Ft.transpose() + Vt*Qt*Vt.transpose(); - - time_last = time_now; - - system_pub(msg->header.stamp); - } - } - -} - -VectorXd get_pose_from_mocap(const geometry_msgs::PoseStamped::ConstPtr &msg) -{ - Matrix3d Rr_w; //rigid body in world - Vector3d tr_w; - Matrix3d Ri_w; - Vector3d ti_w; - Vector3d p_temp; - // 位置 - p_temp(0) = msg->pose.position.x; - p_temp(1) = msg->pose.position.y; - p_temp(2) = msg->pose.position.z; - //quaternion2euler: ZYX roll pitch yaw - Quaterniond q; - // 姿态 - q.w() = msg->pose.orientation.w; - q.x() = msg->pose.orientation.x; - q.y() = msg->pose.orientation.y; - q.z() = msg->pose.orientation.z; - - // 刚体的位置和姿态 - Rr_w = q.toRotationMatrix(); - tr_w = p_temp; - // imu的位置和姿态 - Ri_w = Rr_w * Rr_i.inverse(); - ti_w = tr_w - Ri_w*tr_i; - Vector3d euler = mat2euler(Ri_w); - - VectorXd pose = VectorXd::Random(6); - // imu的位置和姿态 - pose.segment<3>(0) = ti_w; - pose.segment<3>(3) = euler; - - return pose; -} - -void mocap_callback(const geometry_msgs::PoseStamped::ConstPtr &msg) -{ - // 第一次回调 - if(first_frame_tag_odom) - { - first_frame_tag_odom = false; - time_odom_tag_now = msg->header.stamp.toSec(); - - VectorXd odom_pose = get_pose_from_mocap(msg); - X_state.segment<3>(0) = odom_pose.segment<3>(0); - X_state.segment<3>(3) = odom_pose.segment<3>(3); - } - else - { - time_odom_tag_now = msg->header.stamp.toSec(); - MatrixXd Ct; - MatrixXd Wt; - - // 获取得到imu的位置姿态（imu和质心存在偏差） - VectorXd odom_pose = get_pose_from_mocap(msg); - // 更新测量值 - Z_measurement.segment<3>(0) = odom_pose.segment<3>(0); - Z_measurement.segment<3>(3) = odom_pose.segment<3>(3); - // 发布测量值（即mocap的原始值） - cam_system_pub(msg->header.stamp); - - Ct = diff_g_diff_x(); - Wt = diff_g_diff_v(); - - // 更新kalman增益 - Kt_kalmanGain = StateCovariance*Ct.transpose() * (Ct*StateCovariance*Ct.transpose() + Wt*Rt*Wt.transpose()).inverse(); - VectorXd gg = g_model(); - VectorXd innovation = Z_measurement - gg; - - //Prevent innovation changing suddenly when euler from -Pi to Pi - if(innovation(3) > 6) innovation(3) -= 2*PI; - if(innovation(3) < -6) innovation(3) += 2*PI; - if(innovation(4) > 6) innovation(4) -= 2*PI; - if(innovation(4) < -6) innovation(4) += 2*PI; - if(innovation(5) > 6) innovation(5) -= 2*PI; - if(innovation(5) < -6) innovation(5) += 2*PI; - INNOVATION_ = innovation.segment<3>(3); - // 使用测量值更新状态 - X_state += Kt_kalmanGain*(innovation); - if(X_state(3) > PI) X_state(3) -= 2*PI; - if(X_state(3) < -PI) X_state(3) += 2*PI; - if(X_state(4) > PI) X_state(4) -= 2*PI; - if(X_state(4) < -PI) X_state(4) += 2*PI; - if(X_state(5) > PI) X_state(5) -= 2*PI; - if(X_state(5) < -PI) X_state(5) += 2*PI; - StateCovariance = StateCovariance - Kt_kalmanGain*Ct*StateCovariance; - - test_odomtag_call = true; - odomtag_call = true; - - if(cnt == 10||cnt==50||cnt==90) - { - // cout << "Ct: \n" << Ct << "\nWt:\n" << Wt << endl; - // cout << "Kt_kalmanGain: \n" << Kt_kalmanGain << endl; - // cout << "\ninnovation: \n" << Kt_kalmanGain*innovation << "\ndt:\n" << dt << endl; - // cout << "\ninnovation: \n" << Kt_kalmanGain*innovation << endl; - // cout << "\ninnovation: \n" << INNOVATION_ << endl; - } - cnt++; - if(cnt>100) cnt=101; - } - -} - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "mocap_ekf_node"); - ros::NodeHandle n("~"); - // 【订阅】 IMU数据，来自PX4 - ros::Subscriber s1 = n.subscribe("imu", 100, imu_callback, ros::TransportHints().tcpNoDelay()); - // 【订阅】 VICON数据 - ros::Subscriber s2 = n.subscribe("pose", 100, mocap_callback, ros::TransportHints().tcpNoDelay()); - // 【发布】 融合后的odom(发布频率为imu的频率) - odom_pub = n.advertise("ekf_odom", 100); - // 【发布】 相机odom？ - cam_odom_pub = n.advertise("cam_ekf_odom", 100); - - n.getParam("gyro_cov", gyro_cov); - n.getParam("acc_cov", acc_cov); - n.getParam("position_cov", position_cov); - n.getParam("q_rp_cov", q_rp_cov); - n.getParam("q_yaw_cov", q_yaw_cov); - - cout << "Q:" << gyro_cov << " " << acc_cov << " R: " << position_cov << " " << q_rp_cov << " " << q_yaw_cov << endl; - - // 初始化 - initsys(); - cout << "initsys" << endl; - - cout << "======================" << endl; - double r = atan2(1,-100); - double p = asin(-0.707); - double y = atan2(-1, -100); - cout << "r: " << r << " p: " << p << " y: " << y << endl; - cout << "======================" << endl; - - ros::spin(); -} - -void system_pub(ros::Time stamp) -{ - nav_msgs::Odometry odom_fusion; - odom_fusion.header.stamp = stamp; - odom_fusion.header.frame_id = "world"; - // odom_fusion.header.frame_id = "imu"; - odom_fusion.pose.pose.position.x = X_state(0); - odom_fusion.pose.pose.position.y = X_state(1); - odom_fusion.pose.pose.position.z = X_state(2); - Quaterniond q; - q = euler2quaternion(X_state.segment<3>(3)); - odom_fusion.pose.pose.orientation.w = q.w(); - odom_fusion.pose.pose.orientation.x = q.x(); - odom_fusion.pose.pose.orientation.y = q.y(); - odom_fusion.pose.pose.orientation.z = q.z(); - odom_fusion.twist.twist.linear.x = X_state(6); - odom_fusion.twist.twist.linear.y = X_state(7); - odom_fusion.twist.twist.linear.z = X_state(8); - odom_pub.publish(odom_fusion); -} - -void cam_system_pub(ros::Time stamp) -{ - // 测量值 - nav_msgs::Odometry odom_fusion; - odom_fusion.header.stamp = stamp; - odom_fusion.header.frame_id = "world"; - - odom_fusion.pose.pose.position.x = Z_measurement(0); - odom_fusion.pose.pose.position.y = Z_measurement(1); - odom_fusion.pose.pose.position.z = Z_measurement(2); - Quaterniond q; - q = euler2quaternion(Z_measurement.segment<3>(3)); - odom_fusion.pose.pose.orientation.w = q.w(); - odom_fusion.pose.pose.orientation.x = q.x(); - odom_fusion.pose.pose.orientation.y = q.y(); - odom_fusion.pose.pose.orientation.z = q.z(); - - odom_fusion.twist.twist.angular.x = diff_time; - odom_fusion.twist.twist.angular.y = dt; - cam_odom_pub.publish(odom_fusion); -} - -//process model -void initsys() -{ - // camera position in the IMU frame = (0.05, 0.05, 0) - // camera orientaion in the IMU frame = Quaternion(0, 1, 0, 0); w x y z, respectively - // RotationMatrix << 1, 0, 0, - // 0, -1, 0, - // 0, 0, -1; - //set the cam2imu params - Rc_i = Quaterniond(0, 1, 0, 0).toRotationMatrix(); - // cout << "R_cam" << endl << Rc_i << endl; - tc_i << 0.05, 0.05, 0; - - Rr_i = Quaterniond(1, 0, 0, 0).toRotationMatrix(); - tr_i << 0, 0, 0.055; - cout << "Rr_i: " << endl << Rr_i << endl; - cout << "tr_i: " << endl << tr_i << endl; - // rigid body position in the IMU frame = (0, 0, 0.04) - // rigid body orientaion in the IMU frame = Quaternion(1, 0, 0, 0); w x y z, respectively - // RotationMatrix << 1, 0, 0, - // 0, 1, 0, - // 0, 0, 1; - - //states X - // 状态维度 [p q pdot bg ba] [px,py,pz, wx,wy,wz（欧拉角）, vx,vy,vz bgx,bgy,bgz bax,bay,baz] - stateSize = 15; // x = [p q pdot bg ba] - stateSize_pqv = 9; // x = [p q pdot] - // 测量维度 位置+姿态 - measurementSize = 6; // z = [p q] - // 输入维度 w是角速度 a是加速度 - inputSize = 6; // u = [w a] - X_state = VectorXd::Zero(stateSize); // x - //velocity - X_state(6) = 0; - X_state(7) = 0; - X_state(8) = 0; - // bias - X_state.segment<3>(9) = bg_0; - X_state.segment<3>(12) = ba_0; - // 输入 - u_input = VectorXd::Zero(inputSize); - // 测量 - Z_measurement = VectorXd::Zero(measurementSize); // z - // 状态cov - StateCovariance = MatrixXd::Identity(stateSize, stateSize); // sigma - // kalman增益 - Kt_kalmanGain = MatrixXd::Identity(stateSize, measurementSize); // Kt - // Ct_stateToMeasurement = MatrixXd::Identity(stateSize, measurementSize); // Ct - // ？ - X_state_correct = X_state; - // ？ - StateCovariance_correct = StateCovariance; - - Qt = MatrixXd::Identity(inputSize, inputSize); //6x6 input [gyro acc]covariance - Rt = MatrixXd::Identity(measurementSize, measurementSize); //6x6 measurement [p q]covariance - - // You should also tune these parameters - // Q imu covariance matrix; Rt visual odomtry covariance matrix - // //Rt visual odomtry covariance smaller believe measurement more - Qt.topLeftCorner(3, 3) = gyro_cov * Qt.topLeftCorner(3, 3); - Qt.bottomRightCorner(3, 3) = acc_cov * Qt.bottomRightCorner(3, 3); - Rt.topLeftCorner(3, 3) = position_cov * Rt.topLeftCorner(3, 3); - Rt.bottomRightCorner(3, 3) = q_rp_cov * Rt.bottomRightCorner(3, 3); - Rt.bottomRightCorner(1, 1) = q_yaw_cov * Rt.bottomRightCorner(1, 1); -} - -void getState(Vector3d& p, Vector3d& q, Vector3d& v, Vector3d& bg, Vector3d& ba) -{ - p = X_state.segment<3>(0); - q = X_state.segment<3>(3); - v = X_state.segment<3>(6); - bg = X_state.segment<3>(9); - ba = X_state.segment<3>(12); -} - -VectorXd F_model(Vector3d gyro, Vector3d acc) -{ - // IMU is in FLU frame - // Transform IMU frame into "world" frame whose original point is FLU's original point and the XOY plain is parallel with the ground and z axis is up - VectorXd f(VectorXd::Zero(stateSize)); - Vector3d p, q, v, bg, ba; - getState(p, q, v, bg, ba); - f.segment<3>(0) = v; - f.segment<3>(3) = w_Body2Euler(q)*(gyro-bg-ng); - f.segment<3>(6) = gravity + euler2mat(q)*(acc-ba-na); - f.segment<3>(9) = nbg; - f.segment<3>(12) = nba; - return f; -} - -VectorXd g_model() -{ - VectorXd g(VectorXd::Zero(measurementSize)); - - g.segment<6>(0) = X_state.segment<6>(0); - - return g; -} - -//F_model G_model Jocobian -//diff_f()/diff_x (x_t-1 ut noise=0) At Ft = I+dt*At -MatrixXd diff_f_diff_x(Vector3d q_last, Vector3d gyro, Vector3d acc, Vector3d bg_last, Vector3d ba_last) -{ - double cr = cos( q_last(0)); - double sr = sin( q_last(0)); - double cp = cos( q_last(1)); - double sp = sin( q_last(1)); - double cy = cos( q_last(2)); - double sy = sin( q_last(2)); - - // ng na = 0 nbg nba = 0 - double Ax = acc(0) - ba_last(0); - double Ay = acc(1) - ba_last(1); - double Az = acc(2) - ba_last(2); - // double Wx = gyro(0) - bg_last(0); - double Wy = gyro(1) - bg_last(1); - double Wz = gyro(2) - bg_last(2); - - MatrixXd diff_f_diff_x_jacobian(MatrixXd::Zero(stateSize, stateSize)); - MatrixXd diff_f_diff_x_jacobian_pqv(MatrixXd::Zero(stateSize_pqv, stateSize_pqv)); - - diff_f_diff_x_jacobian_pqv << 0, 0, 0, 0, 0, 0, 1, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 1, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 1, - 0, 0, 0, (sp*(Wy*cr - Wz*sr))/cp, (Wz*cr + Wy*sr)/(cp*cp), 0, 0, 0, 0, - 0, 0, 0, (- Wz*cr - Wy*sr), 0, 0, 0, 0, 0, - 0, 0, 0, (Wy*cr - Wz*sr)/cp, (sp*(Wz*cr + Wy*sr))/(cp*cp), 0, 0, 0, 0, - 0, 0, 0, (Ay*(sr*sy + cr*cy*sp) + Az*(cr*sy - cy*sp*sr)), (Az*cp*cr*cy - Ax*cy*sp + Ay*cp*cy*sr), (Az*(cy*sr - cr*sp*sy) - Ay*(cr*cy + sp*sr*sy) - Ax*cp*sy), 0, 0, 0, - 0, 0, 0, (- Ay*(cy*sr - cr*sp*sy) - Az*(cr*cy + sp*sr*sy)), (Az*cp*cr*sy - Ax*sp*sy + Ay*cp*sr*sy), (Az*(sr*sy + cr*cy*sp) - Ay*(cr*sy - cy*sp*sr) + Ax*cp*cy), 0, 0, 0, - 0, 0, 0, (Ay*cp*cr - Az*cp*sr), (- Ax*cp - Az*cr*sp - Ay*sp*sr), 0, 0, 0, 0 ; - - diff_f_diff_x_jacobian.block<9, 9>(0, 0) = diff_f_diff_x_jacobian_pqv; - diff_f_diff_x_jacobian.block<3, 3>(3, 9) = -w_Body2Euler(q_last); - diff_f_diff_x_jacobian.block<3, 3>(6, 12) = -euler2mat(q_last); - - return diff_f_diff_x_jacobian; - - // cp != 0 pitch != 90° !!!!!!!!! -} -//diff_f()/diff_n (x_t-1 ut noise=0) Ut Vt = dt*Ut -MatrixXd diff_f_diff_n(Vector3d q_last) -{ - MatrixXd diff_f_diff_n_jacobian(MatrixXd::Zero(stateSize, inputSize)); - diff_f_diff_n_jacobian.block<3,3>(3,0) = -w_Body2Euler(q_last); - diff_f_diff_n_jacobian.block<3,3>(6,3) = -euler2mat(q_last); - - return diff_f_diff_n_jacobian; -} -//diff_g()/diff_x (xt~ noise=0) Ct -MatrixXd diff_g_diff_x() -{ - MatrixXd diff_g_diff_x_jacobian(MatrixXd::Zero(measurementSize, stateSize)); - diff_g_diff_x_jacobian.block<3,3>(0,0) = MatrixXd::Identity(3,3); - diff_g_diff_x_jacobian.block<3,3>(3,3) = MatrixXd::Identity(3,3); - - return diff_g_diff_x_jacobian; -} -//diff_g()/diff_v (xt~ noise=0) Wt -MatrixXd diff_g_diff_v() -{ - MatrixXd diff_g_diff_v_jacobian(MatrixXd::Identity(measurementSize, measurementSize)); - - return diff_g_diff_v_jacobian; -} diff --git a/src/UAV/Modules/swarm_control/CMakeLists.txt b/src/UAV/Modules/swarm_control/CMakeLists.txt deleted file mode 100644 index b4bfeac..0000000 --- a/src/UAV/Modules/swarm_control/CMakeLists.txt +++ /dev/null @@ -1,143 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(prometheus_swarm_control) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - message_generation - roscpp - geometry_msgs - nav_msgs - sensor_msgs - mavros - std_msgs - std_srvs - tf - tf2_ros - tf2_eigen - mavros_msgs - prometheus_msgs -) - -## System dependencies are found with CMake's conventions -find_package(Boost REQUIRED COMPONENTS system) - - - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## Generate added messages and services with any dependencies listed here -generate_messages( - DEPENDENCIES - geometry_msgs - nav_msgs - sensor_msgs - std_msgs -) - -catkin_package( - INCLUDE_DIRS include - CATKIN_DEPENDS message_runtime -) - - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( - include - ${catkin_INCLUDE_DIRS} - ../common/include - ../ego_planner/ego-planner-swarm/src/uav_simulator/Utils/uav_utils/include -) - - -############################### -## 声明可执行cpp文件 ## -############################### - - -## -add_executable(swarm_estimator src/swarm_estimator.cpp) -add_dependencies(swarm_estimator prometheus_swarm_control_gencpp) -target_link_libraries(swarm_estimator ${catkin_LIBRARIES}) - -add_executable(swarm_controller src/swarm_controller.cpp) -add_dependencies(swarm_controller prometheus_swarm_control_gencpp) -target_link_libraries(swarm_controller ${catkin_LIBRARIES}) - -add_executable(swarm_ground_station src/swarm_ground_station.cpp) -add_dependencies(swarm_ground_station prometheus_swarm_control_gencpp) -target_link_libraries(swarm_ground_station ${catkin_LIBRARIES}) - -add_executable(swarm_formation_control src/swarm_formation_control.cpp) -add_dependencies(swarm_formation_control prometheus_swarm_control_gencpp) -target_link_libraries(swarm_formation_control ${catkin_LIBRARIES}) - -add_executable(swarm_terminal_control src/swarm_terminal_control.cpp) -add_dependencies(swarm_terminal_control prometheus_swarm_control_gencpp) -target_link_libraries(swarm_terminal_control ${catkin_LIBRARIES}) - -add_executable(ego_traj_to_cmd src/ego_traj_to_cmd.cpp) -add_dependencies(ego_traj_to_cmd prometheus_swarm_control_gencpp) -target_link_libraries(ego_traj_to_cmd ${catkin_LIBRARIES}) -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark cpp header files for installation -install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.h" -) - -## Mark other files for installation (e.g. launch and bag files, etc.) -install(DIRECTORY launch/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch -) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_prometheus_swarm_control.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/src/UAV/Modules/swarm_control/include/formation_utils.h b/src/UAV/Modules/swarm_control/include/formation_utils.h deleted file mode 100644 index 46480f8..0000000 --- a/src/UAV/Modules/swarm_control/include/formation_utils.h +++ /dev/null @@ -1,120 +0,0 @@ -#ifndef FORMATION_UTILS_H -#define FORMATION_UTILS_H - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -using namespace Eigen; - -float one_column_shape_for_4uav[16] = { - 1.5,0.0,0.0,0.0, 0.5,0.0,0.0,0.0, -0.5,0.0,0.0,0.0, -1.5,0.0,0.0,0.0}; - -float triangle_shape_for_4uav[16] = { - 1.5,0.0,0.0,0.0, 0.5,1.3,0.0,0.0, -0.5,1.3,0.0,0.0, -1.5,0.0,0.0,0.0}; - -float square_shape_for_4uav[16] = { - 1.5,-1.5,0.0,0.0, 1.5,1.5,0.0,0.0, -1.5,1.5,0.0,0.0, -1.5,-1.5,0.0,0.0}; - -float circular_shape_for_4uav[16] = { - 1.5,0.0,0.0,0.0, 0.0,1.5,0.0,0.0, 0.0,-1.5,0.0,0.0, -1.5,0.0,0.0,0.0}; - -float one_column_shape_for_8uav[32] = { - 3.5,0.0,0.0,0.0, 2.5,0.0,0.0,0.0, 1.5,0.0,0.0,0.0, 0.5,0.0,0.0,0.0, - -0.5,0.0,0.0,0.0, -1.5,0.0,0.0,0.0, -2.5,0.0,0.0,0.0, -3.5,0.0,0.0,0.0}; - -float triangle_shape_for_8uav[32] = { - 3.5,0.0,0.0,0.0, 2.5,1.0,0.0,0.0, 1.5,2.0,0.0,0.0, 0.5,3.0,0.0,0.0, - -0.5,3.0,0.0,0.0, -1.5,2.0,0.0,0.0, -2.5,1.0,0.0,0.0, -3.5,0.0,0.0,0.0}; - -float square_shape_for_8uav[32] = { - 3.5,0.0,0.0,0.0, 3.5,3.5,0.0,0.0, 3.5,-3.5,0.0,0.0, 0.0,3.5,0.0,0.0, - 0.0,-3.5,0.0,0.0, -3.5,-3.5,0.0,0.0, -3.5,3.5,0.0,0.0, -3.5,0.0,0.0,0.0}; - -float circular_shape_for_8uav[32] = { - 3.5,0.0,0.0,0.0, 2.47,2.47,0.0,0.0, 2.47,-2.47,0.0,0.0, 0.0,3.5,0.0,0.0, - 0.0,-3.5,0.0,0.0, -2.47,-2.47,0.0,0.0, -2.47,2.47,0.0,0.0, -3.5,0.0,0.0,0.0}; - -namespace formation_utils -{ -// 输入参数：　阵型，阵型基本尺寸，集群数量 -// 所有的阵型和数量必须提前预设!! -Eigen::MatrixXf get_formation_separation(int swarm_shape, float swarm_size, int swarm_num) -{ - //矩阵大小为　swarm_num＊4 , 对应x,y,z,yaw四个自由度的分离量 - Eigen::MatrixXf seperation(swarm_num,4); - // cxy 默认swarm_size为１米 - // 横向一字型，虚拟领机位置为中心位置，其余飞机根据数量向左右增加 - if(swarm_shape == prometheus_msgs::SwarmCommand::One_column) - { - if(swarm_num == 8) - { - seperation = Map>(one_column_shape_for_8uav); - } - else if(swarm_num == 4) - { - seperation = Map>(one_column_shape_for_4uav); - } - } - - // 三角型，虚拟领机位置为中心位置 - if(swarm_shape == prometheus_msgs::SwarmCommand::Triangle) - { - if(swarm_num == 8) - { - seperation = Map>(triangle_shape_for_8uav); - } - else if(swarm_num == 4) - { - seperation = Map>(triangle_shape_for_4uav); - } - } - - // 方型，虚拟领机位置为中心位置 - if(swarm_shape == prometheus_msgs::SwarmCommand::Square) - { - if(swarm_num == 8) - { - seperation = Map>(square_shape_for_8uav); - } - else if(swarm_num == 4) - { - seperation = Map>(square_shape_for_4uav); - } - } - - // 圆形，虚拟领机位置为中心位置 - if(swarm_shape == prometheus_msgs::SwarmCommand::Circular) - { - if(swarm_num == 8) - { - seperation = Map>(circular_shape_for_8uav); - } - else if(swarm_num == 4) - { - seperation = Map>(circular_shape_for_4uav); - } - } - - for(int i = 0 ; i < swarm_num ; i++) - { - for(int j = 0 ; j < 4; j++) - { - seperation(i,j) *= swarm_size; - } - } - - return seperation; -} -} -#endif \ No newline at end of file diff --git a/src/UAV/Modules/swarm_control/include/math_utils.h b/src/UAV/Modules/swarm_control/include/math_utils.h deleted file mode 100644 index 606b0a1..0000000 --- a/src/UAV/Modules/swarm_control/include/math_utils.h +++ /dev/null @@ -1,138 +0,0 @@ -/*************************************************************************************************************************** -* math_utils.h -* -* Author: Qyp -* -* Update Time: 2019.3.16 -* -* Introduction: math utils functions 数学工具函数 -* -* 1、转换 ref to https://github.com/PX4/Matrix/blob/56b069956da141da244926ed7000e89b2ba6c731/matrix/Euler.hpp -***************************************************************************************************************************/ -#ifndef MATH_UTILS_H -#define MATH_UTILS_H - -#include -#include - -using namespace std; - -// 四元数转欧拉角 -Eigen::Vector3d quaternion_to_rpy2(const Eigen::Quaterniond &q) -{ - // YPR - ZYX - return q.toRotationMatrix().eulerAngles(2, 1, 0).reverse(); -} - -// 从(roll,pitch,yaw)创建四元数 by a 3-2-1 intrinsic Tait-Bryan rotation sequence -Eigen::Quaterniond quaternion_from_rpy(const Eigen::Vector3d &rpy) -{ - // YPR - ZYX - return Eigen::Quaterniond( - Eigen::AngleAxisd(rpy.z(), Eigen::Vector3d::UnitZ()) * - Eigen::AngleAxisd(rpy.y(), Eigen::Vector3d::UnitY()) * - Eigen::AngleAxisd(rpy.x(), Eigen::Vector3d::UnitX()) - ); -} - -// 将四元数转换至(roll,pitch,yaw) by a 3-2-1 intrinsic Tait-Bryan rotation sequence -// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles -// q0 q1 q2 q3 -// w x y z -Eigen::Vector3d quaternion_to_euler(const Eigen::Quaterniond &q) -{ - float quat[4]; - quat[0] = q.w(); - quat[1] = q.x(); - quat[2] = q.y(); - quat[3] = q.z(); - - Eigen::Vector3d ans; - ans[0] = atan2(2.0 * (quat[3] * quat[2] + quat[0] * quat[1]), 1.0 - 2.0 * (quat[1] * quat[1] + quat[2] * quat[2])); - ans[1] = asin(2.0 * (quat[2] * quat[0] - quat[3] * quat[1])); - ans[2] = atan2(2.0 * (quat[3] * quat[0] + quat[1] * quat[2]), 1.0 - 2.0 * (quat[2] * quat[2] + quat[3] * quat[3])); - return ans; -} - -//旋转矩阵转欧拉角 -void rotation_to_euler(const Eigen::Matrix3d& dcm, Eigen::Vector3d& euler_angle) -{ - double phi_val = atan2(dcm(2, 1), dcm(2, 2)); - double theta_val = asin(-dcm(2, 0)); - double psi_val = atan2(dcm(1, 0), dcm(0, 0)); - double pi = M_PI; - - if (fabs(theta_val - pi / 2.0) < 1.0e-3) { - phi_val = 0.0; - psi_val = atan2(dcm(1, 2), dcm(0, 2)); - - } else if (fabs(theta_val + pi / 2.0) < 1.0e-3) { - phi_val = 0.0; - psi_val = atan2(-dcm(1, 2), -dcm(0, 2)); - } - - euler_angle(0) = phi_val; - euler_angle(1) = theta_val; - euler_angle(2) = psi_val; -} - -//constrain_function -float constrain_function(float data, float Max) -{ - if(abs(data)>Max) - { - return (data > 0) ? Max : -Max; - } - else - { - return data; - } -} - -//constrain_function2 -float constrain_function2(float data, float Min,float Max) -{ - if(data > Max) - { - return Max; - } - else if (data < Min) - { - return Min; - }else - { - return data; - } -} - -//sign_function -float sign_function(float data) -{ - if(data>0) - { - return 1.0; - } - else if(data<0) - { - return -1.0; - } - else if(data == 0) - { - return 0.0; - } -} - -// min function -float min(float data1,float data2) -{ - if(data1>=data2) - { - return data2; - } - else - { - return data1; - } -} - -#endif \ No newline at end of file diff --git a/src/UAV/Modules/swarm_control/include/swarm_controller.h b/src/UAV/Modules/swarm_control/include/swarm_controller.h deleted file mode 100644 index cd02536..0000000 --- a/src/UAV/Modules/swarm_control/include/swarm_controller.h +++ /dev/null @@ -1,666 +0,0 @@ -#ifndef SWARM_CONTROLLER_H -#define SWARM_CONTROLLER_H - -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "formation_utils.h" -#include "message_utils.h" -#include "uav_utils/geometry_utils.h" -#include "math_utils.h" -#include "printf_utils.h" - -using namespace std; - -// 宏定义 -#define NODE_NAME "swarm_controller" // 节点名字 -#define NUM_POINT 2 // 打印小数点 -#define MAX_UAV_NUM 50 - -// 变量 -int swarm_num_uav; // 集群数量 -string uav_name; // 无人机名字 -int uav_id; // 无人机编号 -int num_neighbour = 2; // 邻居数量,目前默认为2 -int neighbour_id1,neighbour_id2; // 邻居ID -string neighbour_name1,neighbour_name2; // 邻居名字 -int collision_flag; -int controller_flag; -int controller_hz; -string msg_name; -Eigen::Vector2f geo_fence_x,geo_fence_y,geo_fence_z; //Geigraphical fence 地理围栏 -prometheus_msgs::SwarmCommand Command_Now; // 无人机当前执行命令 -prometheus_msgs::SwarmCommand Command_Last; // 无人机上一条执行命令 - - -float Takeoff_height; // 默认起飞高度 -Eigen::Vector3d Takeoff_position; // 起飞位置 -float Disarm_height; // 自动上锁高度 -float Land_speed; // 降落速度 -bool flag_printf; // 是否打印 -int Land_mode; //降落模式 -Eigen::Vector3f gazebo_offset; // 偏移量 -prometheus_msgs::Message message; // 待打印消息 - -// 订阅 -ros::Subscriber command_sub; -ros::Subscriber drone_state_sub; -ros::Subscriber position_target_sub; -ros::Subscriber nei_state_sub[MAX_UAV_NUM+1]; - -// 发布 -ros::Publisher setpoint_raw_local_pub; -ros::Publisher setpoint_raw_attitude_pub; -ros::Publisher message_pub; - -// 服务 -ros::ServiceClient arming_client; -ros::ServiceClient set_mode_client; -mavros_msgs::SetMode mode_cmd; -mavros_msgs::CommandBool arm_cmd; - -// 邻居状态量 -prometheus_msgs::DroneState state_nei[MAX_UAV_NUM+1]; -Eigen::Vector3d pos_nei[MAX_UAV_NUM+1]; // 邻居位置 -Eigen::Vector3d vel_nei[MAX_UAV_NUM+1]; // 邻居速度 -Eigen::Vector3d dv; -float R = 4.0; -float r = 0.5; -// 无人机状态量 -Eigen::Vector3d pos_drone; // 无人机位置 -Eigen::Vector3d vel_drone; // 无人机速度 -Eigen::Quaterniond q_drone; // 无人机四元数 -double yaw_drone; - -// 目标设定值 -prometheus_msgs::DroneState _DroneState; // 无人机状态 -Eigen::Vector3d pos_des(0,0,0); -Eigen::Vector3d vel_des(0,0,0); -Eigen::Vector3d acc_des(0,0,0); -Eigen::Vector3d throttle_sp(0,0,0); -double yaw_des; - -float int_start_error; -Eigen::Vector3d int_e_v; // 积分 -Eigen::Quaterniond u_q_des; // 期望姿态角（四元数） -Eigen::Vector4d u_att; // 期望姿态角（rad）+期望油门（0-1） - -// 控制参数 -Eigen::Matrix3d Kp_hover; -Eigen::Matrix3d Kv_hover; -Eigen::Matrix3d Kvi_hover; -Eigen::Matrix3d Ka_hover; -float tilt_angle_max_hover; -Eigen::Matrix3d Kp_track; -Eigen::Matrix3d Kv_track; -Eigen::Matrix3d Kvi_track; -Eigen::Matrix3d Ka_track; -float tilt_angle_max_track; -Eigen::Matrix3d Kp; -Eigen::Matrix3d Kv; -Eigen::Matrix3d Kvi; -Eigen::Matrix3d Ka; -float tilt_angle_max; -Eigen::Vector3d g_; -float quad_mass; -float hov_percent; // 0-1 -Eigen::Vector3f int_max; - -// 编队控制相关 -Eigen::MatrixXf formation_separation; // 阵型偏移量 -float k_p; // 速度控制参数 -float k_aij; // 速度控制参数 -float k_gamma; // 速度控制参数 -float yita; // 速度控制参数 - -void init(ros::NodeHandle &nh) -{ - // 集群数量 - nh.param("swarm_num_uav", swarm_num_uav, 1); - // 无人机编号 1号无人机则为1 - nh.param("uav_id", uav_id, 0); - uav_name = "/uav" + std::to_string(uav_id); - // 控制器标志位: 0代表姿态（使用本程序的位置环控制算法），1代表位置、速度（使用PX4的位置环控制算法） - nh.param("controller_flag", controller_flag, 1); - nh.param("controller_hz", controller_hz, 50); - nh.param("collision_flag", collision_flag, 1); - - // 起飞高度,上锁高度,降落速度,降落模式 - nh.param("Takeoff_height", Takeoff_height, 1.0); - nh.param("Disarm_height", Disarm_height, 0.2); - nh.param("Land_speed", Land_speed, 0.2); - nh.param("Land_mode", Land_mode, 0); - // 是否打印消息 - nh.param("flag_printf", flag_printf, false); - // 地理围栏 - nh.param("geo_fence/x_min", geo_fence_x[0], -100.0); - nh.param("geo_fence/x_max", geo_fence_x[1], 100.0); - nh.param("geo_fence/y_min", geo_fence_y[0], -100.0); - nh.param("geo_fence/y_max", geo_fence_y[1], 100.0); - nh.param("geo_fence/z_min", geo_fence_z[0], -100.0); - nh.param("geo_fence/z_max", geo_fence_z[1], 100.0); - // 如果是使用的ekf2_gps则需要设置，如果使用的是ekf2_vision则不需要 - nh.param("gazebo_offset_x", gazebo_offset[0], 0); - nh.param("gazebo_offset_y", gazebo_offset[1], 0); - nh.param("gazebo_offset_z", gazebo_offset[2], 0); - - nh.param("quad_mass" , quad_mass, 1.5f); - nh.param("hov_percent" , hov_percent, 0.47f); - nh.param("Limit/pxy_int_max" , int_max[0], 5.0); - nh.param("Limit/pxy_int_max" , int_max[1], 5.0); - nh.param("Limit/pz_int_max" , int_max[2], 10.0); - nh.param("hover_gain/Kp_xy", Kp_hover(0,0), 2.0f); - nh.param("hover_gain/Kp_xy", Kp_hover(1,1), 2.0f); - nh.param("hover_gain/Kp_z" , Kp_hover(2,2), 2.0f); - nh.param("hover_gain/Kv_xy", Kv_hover(0,0), 2.0f); - nh.param("hover_gain/Kv_xy", Kv_hover(1,1), 2.0f); - nh.param("hover_gain/Kv_z" , Kv_hover(2,2), 2.0f); - nh.param("hover_gain/Kvi_xy", Kvi_hover(0,0), 0.3f); - nh.param("hover_gain/Kvi_xy", Kvi_hover(1,1), 0.3f); - nh.param("hover_gain/Kvi_z" , Kvi_hover(2,2), 0.3f); - nh.param("hover_gain/Ka_xy", Ka_hover(0,0), 1.0f); - nh.param("hover_gain/Ka_xy", Ka_hover(1,1), 1.0f); - nh.param("hover_gain/Ka_z" , Ka_hover(2,2), 1.0f); - nh.param("hover_gain/tilt_angle_max" , tilt_angle_max_hover, 10.0f); - - nh.param("track_gain/Kp_xy", Kp_track(0,0), 3.0f); - nh.param("track_gain/Kp_xy", Kp_track(1,1), 3.0f); - nh.param("track_gain/Kp_z" , Kp_track(2,2), 3.0f); - nh.param("track_gain/Kv_xy", Kv_track(0,0), 3.0f); - nh.param("track_gain/Kv_xy", Kv_track(1,1), 3.0f); - nh.param("track_gain/Kv_z" , Kv_track(2,2), 3.0f); - nh.param("track_gain/Kvi_xy", Kvi_track(0,0), 0.1f); - nh.param("track_gain/Kvi_xy", Kvi_track(1,1), 0.1f); - nh.param("track_gain/Kvi_z" , Kvi_track(2,2), 0.1f); - nh.param("track_gain/Ka_xy", Ka_track(0,0), 1.0f); - nh.param("track_gain/Ka_xy", Ka_track(1,1), 1.0f); - nh.param("track_gain/Ka_z" , Ka_track(2,2), 1.0f); - nh.param("track_gain/tilt_angle_max" , tilt_angle_max_track, 20.0f); - - // 编队控制参数 - nh.param("k_p", k_p, 1.2); - nh.param("k_aij", k_aij, 0.1); - nh.param("k_gamma", k_gamma, 1.2); - - msg_name = uav_name + "/control"; - // 初始化命令 - Command_Now.Mode = prometheus_msgs::SwarmCommand::Idle; - Command_Now.Command_ID = 0; - Command_Now.position_ref[0] = 0; - Command_Now.position_ref[1] = 0; - Command_Now.position_ref[2] = 0; - Command_Now.yaw_ref = 0; - - // 初始化阵型偏移量 - formation_separation = Eigen::MatrixXf::Zero(swarm_num_uav,4); - - int_start_error = 2.0; - int_e_v.setZero(); - u_att.setZero(); - g_ << 0.0, 0.0, 9.8; -} - -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>回调函数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -void swarm_command_cb(const prometheus_msgs::SwarmCommand::ConstPtr& msg) -{ - // CommandID必须递增才会被记录 - Command_Now = *msg; - - // 无人机一旦接受到Disarm指令，则会屏蔽其他指令 - if(Command_Last.Mode == prometheus_msgs::SwarmCommand::Disarm) - { - Command_Now = Command_Last; - } - - if(Command_Now.Mode == prometheus_msgs::SwarmCommand::Position_Control || - Command_Now.Mode == prometheus_msgs::SwarmCommand::Velocity_Control || - Command_Now.Mode == prometheus_msgs::SwarmCommand::Accel_Control ) - { - if (swarm_num_uav == 1) - { - // swarm_num_uav 为1时,即无人机无法变换阵型,并只能接收位置控制指令 - Command_Now.Mode = prometheus_msgs::SwarmCommand::Position_Control; - formation_separation << 0,0,0,0; - }else if(swarm_num_uav == 4 || swarm_num_uav == 8 || swarm_num_uav == 40) - { - formation_separation = formation_utils::get_formation_separation(Command_Now.swarm_shape, Command_Now.swarm_size, swarm_num_uav); - }else - { - // 未指定阵型,如若想6机按照8机编队飞行,则设置swarm_num_uav为8即可 - Command_Now.Mode = prometheus_msgs::SwarmCommand::Position_Control; - formation_separation = Eigen::MatrixXf::Zero(swarm_num_uav,4); - pub_message(message_pub, prometheus_msgs::Message::ERROR, msg_name, "Wrong swarm_num_uav"); - } - } - // 切换参数 - if(Command_Now.Mode == prometheus_msgs::SwarmCommand::Move && - Command_Now.Move_mode == prometheus_msgs::SwarmCommand::TRAJECTORY) - { - Kp = Kp_track; - Kv = Kv_track; - Kvi = Kvi_track; - Ka = Ka_track; - tilt_angle_max = tilt_angle_max_track; - }else - { - Kp = Kp_hover; - Kv = Kv_hover; - Kvi = Kvi_hover; - Ka = Ka_hover; - tilt_angle_max = tilt_angle_max_hover; - } -} - -void drone_state_cb(const prometheus_msgs::DroneState::ConstPtr& msg) -{ - _DroneState = *msg; - - pos_drone = Eigen::Vector3d(msg->position[0], msg->position[1], msg->position[2]); - vel_drone = Eigen::Vector3d(msg->velocity[0], msg->velocity[1], msg->velocity[2]); - - q_drone.w() = msg->attitude_q.w; - q_drone.x() = msg->attitude_q.x; - q_drone.y() = msg->attitude_q.y; - q_drone.z() = msg->attitude_q.z; - - yaw_drone = uav_utils::get_yaw_from_quaternion(q_drone); -} - -void nei_state_cb(const prometheus_msgs::DroneState::ConstPtr& msg, int nei_id) -{ - state_nei[nei_id] = *msg; - - pos_nei[nei_id] = Eigen::Vector3d(msg->position[0], msg->position[1], msg->position[2]); - vel_nei[nei_id] = Eigen::Vector3d(msg->velocity[0], msg->velocity[1], msg->velocity[2]); -} - -int check_failsafe() -{ - if (_DroneState.position[0] < geo_fence_x[0] || _DroneState.position[0] > geo_fence_x[1] || - _DroneState.position[1] < geo_fence_y[0] || _DroneState.position[1] > geo_fence_y[1] || - _DroneState.position[2] < geo_fence_z[0] || _DroneState.position[2] > geo_fence_z[1]) - { - cout << RED << "----> Out of the geo fence, the drone is landing..."<< TAIL << endl; - return 1; - } - else{ - return 0; - } -} - -void idle() -{ - mavros_msgs::PositionTarget pos_setpoint; - - //飞控如何接收该信号请见mavlink_receiver.cpp - //飞控如何执行该指令请见FlightTaskOffboard.cpp - pos_setpoint.type_mask = 0x4000; - setpoint_raw_local_pub.publish(pos_setpoint); -} - -//发送位置期望值至飞控（输入：期望xyz,期望yaw） -void send_pos_setpoint(const Eigen::Vector3d& pos_sp, float yaw_sp) -{ - mavros_msgs::PositionTarget pos_setpoint; - //Bitmask toindicate which dimensions should be ignored (1 means ignore,0 means not ignore; Bit 10 must set to 0) - //Bit 1:x, bit 2:y, bit 3:z, bit 4:vx, bit 5:vy, bit 6:vz, bit 7:ax, bit 8:ay, bit 9:az, bit 10:is_force_sp, bit 11:yaw, bit 12:yaw_rate - //Bit 10 should set to 0, means is not force sp - pos_setpoint.type_mask = 0b100111111000; // 100 111 111 000 xyz + yaw - - pos_setpoint.coordinate_frame = 1; - - pos_setpoint.position.x = pos_sp[0]; - pos_setpoint.position.y = pos_sp[1]; - pos_setpoint.position.z = pos_sp[2]; - - pos_setpoint.yaw = yaw_sp; - - setpoint_raw_local_pub.publish(pos_setpoint); -} - -//发送速度期望值至飞控（输入：期望vxvyvz,期望yaw） -void send_vel_setpoint(const Eigen::Vector3d& vel_sp, float yaw_sp) -{ - mavros_msgs::PositionTarget pos_setpoint; - - pos_setpoint.type_mask = 0b100111000111; - - pos_setpoint.coordinate_frame = 1; - - pos_setpoint.velocity.x = vel_sp[0]; - pos_setpoint.velocity.y = vel_sp[1]; - pos_setpoint.velocity.z = vel_sp[2]; - - pos_setpoint.yaw = yaw_sp; - - setpoint_raw_local_pub.publish(pos_setpoint); -} - -void send_vel_xy_pos_z_setpoint(const Eigen::Vector3d& pos_sp, const Eigen::Vector3d& vel_sp, float yaw_sp) -{ - mavros_msgs::PositionTarget pos_setpoint; - - // 此处由于飞控暂不支持位置－速度追踪的复合模式，因此type_mask设定如下 - pos_setpoint.type_mask = 0b100111000011; // 100 111 000 011 vx vy vz z + yaw - - pos_setpoint.coordinate_frame = 1; - - pos_setpoint.velocity.x = vel_sp[0]; - pos_setpoint.velocity.y = vel_sp[1]; - pos_setpoint.velocity.z = 0.0; - pos_setpoint.position.z = pos_sp[2]; - - pos_setpoint.yaw = yaw_sp; - - setpoint_raw_local_pub.publish(pos_setpoint); - - // 检查飞控是否收到控制量 - // cout <<">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>command_to_mavros<<<<<<<<<<<<<<<<<<<<<<<<<<<" <>>>>>>>>>>>>>>>>>>>>>>>>>>>>>command_to_mavros<<<<<<<<<<<<<<<<<<<<<<<<<<<" < int_max[i]) - { - cout << YELLOW << "----> int_e_v saturation [ "<< i << " ]"<<" [int_max]: "< 0) ? int_max[i] : -int_max[i]; - } - }else - { - int_e_v[i] = 0; - } - - // If not in OFFBOARD mode, set all intergral to zero. - if(_DroneState.mode != "OFFBOARD") - { - int_e_v[i] = 0; - } - } - - Eigen::Vector3d u_v = u_vel + u_int; - - // 期望力 = 质量*控制量 + 重力抵消 + 期望加速度*质量*Ka - Eigen::Vector3d F_des; - F_des = u_v * quad_mass + quad_mass * g_ + Ka * quad_mass * acc_des; - - // 如果向上推力小于重力的一半 - // 或者向上推力大于重力的两倍 - if (F_des(2) < 0.5 * quad_mass * g_(2)) - { - ROS_INFO("thrust too low"); - F_des = F_des / F_des(2) * (0.5 * quad_mass * g_(2)); - } - else if (F_des(2) > 2 * quad_mass * g_(2)) - { - ROS_INFO("thrust too high"); - F_des = F_des / F_des(2) * (2 * quad_mass * g_(2)); - } - - // 角度限制幅度 - if (std::fabs(F_des(0)/F_des(2)) > std::tan(uav_utils::toRad(tilt_angle_max))) - { - // ROS_INFO("pitch too tilt"); - F_des(0) = F_des(0)/std::fabs(F_des(0)) * F_des(2) * std::tan(uav_utils::toRad(tilt_angle_max)); - } - - // 角度限制幅度 - if (std::fabs(F_des(1)/F_des(2)) > std::tan(uav_utils::toRad(tilt_angle_max))) - { - // ROS_INFO("roll too tilt"); - F_des(1) = F_des(1)/std::fabs(F_des(1)) * F_des(2) * std::tan(uav_utils::toRad(tilt_angle_max)); - } - - // F_des是位于ENU坐标系的,F_c是FLU - Eigen::Matrix3d wRc = uav_utils::rotz(yaw_drone); - Eigen::Vector3d F_c = wRc.transpose() * F_des; - double fx = F_c(0); - double fy = F_c(1); - double fz = F_c(2); - - // 期望roll, pitch - u_att(0) = std::atan2(-fy, fz); - u_att(1) = std::atan2( fx, fz); - u_att(2) = yaw_des; - - // 无人机姿态的矩阵形式 - Eigen::Matrix3d wRb_odom = q_drone.toRotationMatrix(); - // 第三列 - Eigen::Vector3d z_b_curr = wRb_odom.col(2); - // 机体系下的推力合力 相当于Rb * F_enu 惯性系到机体系 - double u1 = F_des.dot(z_b_curr); - // 悬停油门与电机参数有关系,也取决于质量 - double full_thrust = quad_mass * g_(2) / hov_percent; - - // 油门 = 期望推力/最大推力 - // 这里相当于认为油门是线性的,满足某种比例关系,即认为某个重量 = 悬停油门 - u_att(3) = u1 / full_thrust; - - if(u_att(3) < 0.1) - { - u_att(3) = 0.1; - ROS_INFO("throttle too low"); - } - - if(u_att(3) > 1.0) - { - u_att(3) = 1.0; - ROS_INFO("throttle too high"); - } -} - - -// 【坐标系旋转函数】- 机体系到enu系 -// body_frame是机体系,enu_frame是惯性系，yaw_angle是当前偏航角[rad] -void rotation_yaw(float yaw_angle, float body_frame[2], float enu_frame[2]) -{ - enu_frame[0] = body_frame[0] * cos(yaw_angle) - body_frame[1] * sin(yaw_angle); - enu_frame[1] = body_frame[0] * sin(yaw_angle) + body_frame[1] * cos(yaw_angle); -} - - -void debug_cb(const ros::TimerEvent &e) -{ - if(!flag_printf) - { - return; - } - - cout <<">>>>>>>>>>>>>>>>>>>>>>>> Swarm Controller <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<" < In attitude control mode. " << TAIL << endl; - cout << GREEN << "----> Debug Info: " << TAIL << endl; - cout << GREEN << "----> pos_drone : " << pos_drone(0) << " [ m ] " << pos_drone(1) << " [ m ] " << pos_drone(2) << " [ m ] "<< TAIL << endl; - cout << GREEN << "----> pos_des : " << pos_des(0) << " [m/s] " << pos_des(1) << " [m/s] " << pos_des(2) << " [m/s] "<< TAIL << endl; - cout << GREEN << "----> u_attitude: " << u_att(0)*180/3.14 << " [deg] "<< u_att(1)*180/3.14 << " [deg] "<< u_att(2)*180/3.14 << " [deg] "<< TAIL << endl; - cout << GREEN << "----> u_throttle: " << u_att(3) << " [0-1] "<< TAIL << endl; - }else - { - cout << GREEN << "----> In pos/vel control mode. " << TAIL << endl; - cout << GREEN << "----> Debug Info: " << TAIL << endl; - cout << GREEN << "----> dv : " << dv(0) << " [ m ] " << dv(1) << " [ m ] " << dv(2) << " [ m ] "<< TAIL << endl; - } -} -void printf_param() -{ - cout <<">>>>>>>>>>>>>>>>>>>>>>>> swarm controller Parameter <<<<<<<<<<<<<<<<<<<<<<" < -#include -#include - -#include -#include -#include -#include -#include - -#include -#include - -#include "control_utils.h" -#include "uav_utils/geometry_utils.h" -#include "printf_utils.h" - -using namespace std; -int swarm_num; // 集群数量 -string uav_name; // 无人机名字 -int uav_id; // 无人机编号 - -ros::Subscriber drone_state_sub; -ros::Subscriber odom_sub; -ros::Subscriber cmd_sub; - -ros::Publisher setpoint_raw_local_pub, setpoint_raw_attitude_pub; -ros::ServiceClient arming_client; -ros::ServiceClient set_mode_client; - -prometheus_msgs::SwarmCommand Command_Now; //无人机当前执行命令 -prometheus_msgs::SwarmCommand Command_Last; //无人机上一条执行命令 -Eigen::Vector3d Takeoff_position; // 起飞位置 - -mavros_msgs::SetMode mode_cmd; -mavros_msgs::CommandBool arm_cmd; - -prometheus_msgs::DroneState _DroneState; //无人机状态量 -nav_msgs::Odometry drone_odom; -Eigen::Vector3d pos_drone; // 无人机位置 -Eigen::Vector3d vel_drone; // 无人机速度 -Eigen::Quaterniond q_drone; // 无人机四元数 -double yaw_drone; - -Eigen::Vector3d pos_des; -Eigen::Vector3d vel_des; -Eigen::Vector3d acc_des; -double yaw_des; -float int_start_error; -Eigen::Vector3d int_e_v; // 积分 -Eigen::Quaterniond u_q_des; // 期望姿态角（四元数） -Eigen::Vector4d u_att; // 期望姿态角（rad）+期望油门（0-1） - -// 控制参数 -Eigen::Matrix3d Kp_hover; -Eigen::Matrix3d Kv_hover; -Eigen::Matrix3d Kvi_hover; -Eigen::Matrix3d Ka_hover; -float tilt_angle_max_hover; -Eigen::Matrix3d Kp_track; -Eigen::Matrix3d Kv_track; -Eigen::Matrix3d Kvi_track; -Eigen::Matrix3d Ka_track; -float tilt_angle_max_track; -Eigen::Matrix3d Kp; -Eigen::Matrix3d Kv; -Eigen::Matrix3d Kvi; -Eigen::Matrix3d Ka; -float tilt_angle_max; -Eigen::Vector3d g_; -float quad_mass; -float hov_percent; // 0-1 -Eigen::Vector3f int_max; - -void init() -{ - // 初始化命令- - // 默认设置：Idle模式 电机怠速旋转 等待来自上层的控制指令 - Command_Now.Mode = prometheus_msgs::SwarmCommand::Idle; - Command_Now.Command_ID = 0; - Command_Now.Move_mode = prometheus_msgs::SwarmCommand::XYZ_POS; - Command_Now.position_ref[0] = 0; - Command_Now.position_ref[1] = 0; - Command_Now.position_ref[2] = 0; - Command_Now.velocity_ref[0] = 0; - Command_Now.velocity_ref[1] = 0; - Command_Now.velocity_ref[2] = 0; - Command_Now.acceleration_ref[0] = 0; - Command_Now.acceleration_ref[1] = 0; - Command_Now.acceleration_ref[2] = 0; - Command_Now.yaw_ref = 0; - - int_start_error = 2.0; - int_e_v.setZero(); - u_att.setZero(); - g_ << 0.0, 0.0, 9.8; -} - -void debug_cb(const ros::TimerEvent &e) -{ - //固定的浮点显示 - cout.setf(ios::fixed); - //setprecision(n) 设显示小数精度为n位 - cout< Debug Info: " << TAIL << endl; - cout << GREEN << "----> pos_drone : " << pos_drone(0) << " [ m ] " << pos_drone(1) << " [ m ] " << pos_drone(2) << " [ m ] "<< TAIL << endl; - cout << GREEN << "----> pos_des : " << pos_des(0) << " [m/s] " << pos_des(1) << " [m/s] " << pos_des(2) << " [m/s] "<< TAIL << endl; - cout << GREEN << "----> u_attitude: " << u_att(0)*180/3.14 << " [deg] "<< u_att(1)*180/3.14 << " [deg] "<< u_att(2)*180/3.14 << " [deg] "<< TAIL << endl; - cout << GREEN << "----> u_throttle: " << u_att(3) << " [0-1] "<< TAIL << endl; -} - -void drone_state_cb(const prometheus_msgs::DroneState::ConstPtr& msg) -{ - _DroneState = *msg; -} - -void drone_odom_cb(const nav_msgs::Odometry::ConstPtr& msg) -{ - drone_odom = *msg; - - pos_drone(0) = drone_odom.pose.pose.position.x; - pos_drone(1) = drone_odom.pose.pose.position.y; - pos_drone(2) = drone_odom.pose.pose.position.z; - - vel_drone(0) = drone_odom.twist.twist.linear.x; - vel_drone(1) = drone_odom.twist.twist.linear.y; - vel_drone(2) = drone_odom.twist.twist.linear.z; - - q_drone.w() = msg->pose.pose.orientation.w; - q_drone.x() = msg->pose.pose.orientation.x; - q_drone.y() = msg->pose.pose.orientation.y; - q_drone.z() = msg->pose.pose.orientation.z; - - yaw_drone = uav_utils::get_yaw_from_quaternion(q_drone); -} - -void cmd_cb(const prometheus_msgs::SwarmCommand::ConstPtr& msg) -{ - Command_Now = *msg; - - if(Command_Now.Mode == prometheus_msgs::SwarmCommand::Move && - Command_Now.Move_mode == prometheus_msgs::SwarmCommand::TRAJECTORY) - { - Kp = Kp_track; - Kv = Kv_track; - Kvi = Kvi_track; - Ka = Ka_track; - tilt_angle_max = tilt_angle_max_track; - }else - { - Kp = Kp_hover; - Kv = Kv_hover; - Kvi = Kvi_hover; - Ka = Ka_hover; - tilt_angle_max = tilt_angle_max_hover; - } -} - -void idle() -{ - mavros_msgs::PositionTarget pos_setpoint; - pos_setpoint.type_mask = 0x4000; - setpoint_raw_local_pub.publish(pos_setpoint); -} - -// 发送角度期望值至飞控（输入：期望角度-四元数,期望推力） -void send_attitude_setpoint(Eigen::Vector4d& u_att) -{ - mavros_msgs::AttitudeTarget att_setpoint; - //geometry_msgs/Quaternion - - //Mappings: If any of these bits are set, the corresponding input should be ignored: - //bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 6: reserved, bit 7: throttle, bit 8: attitude - - att_setpoint.type_mask = 0b00000111; - - Eigen::Vector3d att_des; - att_des << u_att(0), u_att(1), u_att(2); - - Eigen::Quaterniond q_des = quaternion_from_rpy(att_des); - - att_setpoint.orientation.x = q_des.x(); - att_setpoint.orientation.y = q_des.y(); - att_setpoint.orientation.z = q_des.z(); - att_setpoint.orientation.w = q_des.w(); - att_setpoint.thrust = u_att(3); - - setpoint_raw_attitude_pub.publish(att_setpoint); -} - -// 输入： -// 无人机位置、速度、偏航角 -// 期望位置、速度、加速度、偏航角 -// 输出： -void pos_controller() -{ - // 定点的时候才积分 - if (vel_des(0) != 0.0 || vel_des(1) != 0.0 || vel_des(2) != 0.0) - { - //ROS_INFO("Reset integration"); - int_e_v.setZero(); - } - - Eigen::Vector3d pos_error = pos_des - pos_drone; - - Eigen::Vector3d u_pos = Kp * pos_error; - - Eigen::Vector3d vel_error = u_pos + vel_des - vel_drone; - - Eigen::Vector3d u_vel = Kv * vel_error; - - Eigen::Vector3d u_int = Kvi* int_e_v; - - for (int i=0; i<3; i++) - { - // 只有在pos_error比较小时，才会启动积分 - if(abs(pos_error[i]) < int_start_error) - { - int_e_v[i] += pos_error[i] * 0.01; - - if(abs(int_e_v[i]) > int_max[i]) - { - cout << YELLOW << "----> int_e_v saturation [ "<< i << " ]"<<" [int_max]: "< 0) ? int_max[i] : -int_max[i]; - } - }else - { - int_e_v[i] = 0; - } - - // If not in OFFBOARD mode, set all intergral to zero. - if(_DroneState.mode != "OFFBOARD") - { - int_e_v[i] = 0; - } - } - - Eigen::Vector3d u_v = u_vel + u_int; - - // 期望力 = 质量*控制量 + 重力抵消 + 期望加速度*质量*Ka - Eigen::Vector3d F_des; - F_des = u_v * quad_mass + quad_mass * g_ + Ka * quad_mass * acc_des; - - // 如果向上推力小于重力的一半 - // 或者向上推力大于重力的两倍 - if (F_des(2) < 0.5 * quad_mass * g_(2)) - { - ROS_INFO("thrust too low"); - F_des = F_des / F_des(2) * (0.5 * quad_mass * g_(2)); - } - else if (F_des(2) > 2 * quad_mass * g_(2)) - { - ROS_INFO("thrust too high"); - F_des = F_des / F_des(2) * (2 * quad_mass * g_(2)); - } - - // 角度限制幅度 - if (std::fabs(F_des(0)/F_des(2)) > std::tan(uav_utils::toRad(tilt_angle_max))) - { - // ROS_INFO("pitch too tilt"); - F_des(0) = F_des(0)/std::fabs(F_des(0)) * F_des(2) * std::tan(uav_utils::toRad(tilt_angle_max)); - } - - // 角度限制幅度 - if (std::fabs(F_des(1)/F_des(2)) > std::tan(uav_utils::toRad(tilt_angle_max))) - { - // ROS_INFO("roll too tilt"); - F_des(1) = F_des(1)/std::fabs(F_des(1)) * F_des(2) * std::tan(uav_utils::toRad(tilt_angle_max)); - } - - // F_des是位于ENU坐标系的,F_c是FLU - Eigen::Matrix3d wRc = uav_utils::rotz(yaw_drone); - Eigen::Vector3d F_c = wRc.transpose() * F_des; - double fx = F_c(0); - double fy = F_c(1); - double fz = F_c(2); - - // 期望roll, pitch - u_att(0) = std::atan2(-fy, fz); - u_att(1) = std::atan2( fx, fz); - u_att(2) = yaw_des; - - // 无人机姿态的矩阵形式 - Eigen::Matrix3d wRb_odom = q_drone.toRotationMatrix(); - // 第三列 - Eigen::Vector3d z_b_curr = wRb_odom.col(2); - // 机体系下的推力合力 相当于Rb * F_enu 惯性系到机体系 - double u1 = F_des.dot(z_b_curr); - // 悬停油门与电机参数有关系,也取决于质量 - double full_thrust = quad_mass * g_(2) / hov_percent; - - // 油门 = 期望推力/最大推力 - // 这里相当于认为油门是线性的,满足某种比例关系,即认为某个重量 = 悬停油门 - u_att(3) = u1 / full_thrust; - - if(u_att(3) < 0.1) - { - u_att(3) = 0.1; - ROS_INFO("throttle too low"); - } - - if(u_att(3) > 1.0) - { - u_att(3) = 1.0; - ROS_INFO("throttle too high"); - } -} - - - - -#endif diff --git a/src/UAV/Modules/swarm_control/include/swarm_estimator.h b/src/UAV/Modules/swarm_control/include/swarm_estimator.h deleted file mode 100644 index a21798a..0000000 --- a/src/UAV/Modules/swarm_control/include/swarm_estimator.h +++ /dev/null @@ -1,270 +0,0 @@ -#ifndef SWARM_ESTIMATOR_H -#define SWARM_ESTIMATOR_H - -// 头文件 -#include -#include -#include -#include - -#include - -#include -#include - -#include -#include - -#include -#include -#include -#include - -#include "math_utils.h" -#include "message_utils.h" - -// 宏定义 -#define NODE_NAME "swarm_estimator" // 节点名称 -#define TRA_WINDOW 10 // 发布轨迹长度 -#define TIMEOUT_MAX 0.1 // MOCAP超时阈值 -// 变量 -int uav_id; -string uav_name; // 无人机名字(话题前缀) -string object_name; // 动作捕捉软件中设定的刚体名字 -string msg_name; -int input_source; // 0:使用mocap数据作为定位数据 1:使用laser数据作为定位数据 -Eigen::Vector3f pos_offset; // 定位设备偏移量 -float yaw_offset; // 定位设备偏移量 -prometheus_msgs::DroneState _DroneState; // 无人机状态 -Eigen::Vector3d pos_drone_mocap; // 无人机当前位置 (mocap) -Eigen::Quaterniond q_mocap; // 无人机当前姿态 - 四元数 (mocap) -Eigen::Vector3d Euler_mocap; // 无人机当前姿态 - 欧拉角 (mocap) -ros::Time mocap_timestamp; // mocap时间戳 -Eigen::Vector3d pos_drone_gazebo; // 无人机当前位置 (gazebo) -Eigen::Quaterniond q_gazebo; // 无人机当前姿态 - 四元数 (gazebo) -Eigen::Vector3d Euler_gazebo; // 无人机当前姿态 - 欧拉角 (gazebo) -prometheus_msgs::Message message; // 待打印的文字消息 -nav_msgs::Odometry Drone_odom; // 无人机里程计,用于rviz显示 -std::vector posehistory_vector_; // 无人机轨迹容器,用于rviz显示 -// 订阅话题 -ros::Subscriber state_sub; -ros::Subscriber extended_state_sub; -ros::Subscriber position_sub; -ros::Subscriber velocity_sub; -ros::Subscriber attitude_sub; -ros::Subscriber alt_sub; -ros::Subscriber mocap_sub; -ros::Subscriber gazebo_sub; -// 发布话题 -ros::Publisher drone_state_pub; -ros::Publisher vision_pub; -ros::Publisher message_pub; -ros::Publisher odom_pub; -ros::Publisher trajectory_pub; - -void init() -{ - _DroneState.connected = false; - _DroneState.armed = false; - _DroneState.mode = ""; - _DroneState.position[0] = 0.0; - _DroneState.position[1] = 0.0; - _DroneState.position[2] = 0.0; - _DroneState.velocity[0] = 0.0; - _DroneState.velocity[1] = 0.0; - _DroneState.velocity[2] = 0.0; - _DroneState.attitude_q.w = 0.0; - _DroneState.attitude_q.x = 0.0; - _DroneState.attitude_q.y = 0.0; - _DroneState.attitude_q.z = 0.0; - _DroneState.attitude[0] = 0.0; - _DroneState.attitude[1] = 0.0; - _DroneState.attitude[2] = 0.0; - _DroneState.attitude_rate[0] = 0.0; - _DroneState.attitude_rate[1] = 0.0; - _DroneState.attitude_rate[2] = 0.0; - _DroneState.rel_alt = 0.0; - // - pos_drone_mocap = Eigen::Vector3d(0.0, 0.0, 0.0); - q_mocap = Eigen::Quaterniond(0.0, 0.0, 0.0, 0.0); - Euler_mocap = Eigen::Vector3d(0.0, 0.0, 0.0); - - pos_drone_gazebo = Eigen::Vector3d(0.0, 0.0, 0.0); - q_gazebo = Eigen::Quaterniond(0.0, 0.0, 0.0, 0.0); - Euler_gazebo = Eigen::Vector3d(0.0, 0.0, 0.0); -} - -void state_cb(const mavros_msgs::State::ConstPtr &msg) -{ - _DroneState.connected = msg->connected; - _DroneState.armed = msg->armed; - _DroneState.mode = msg->mode; -} - -void pos_cb(const geometry_msgs::PoseStamped::ConstPtr &msg) -{ - _DroneState.position[0] = msg->pose.position.x; - _DroneState.position[1] = msg->pose.position.y; - _DroneState.position[2] = msg->pose.position.z; -} - -void vel_cb(const geometry_msgs::TwistStamped::ConstPtr &msg) -{ - _DroneState.velocity[0] = msg->twist.linear.x; - _DroneState.velocity[1] = msg->twist.linear.y; - _DroneState.velocity[2] = msg->twist.linear.z; -} - -void att_cb(const sensor_msgs::Imu::ConstPtr& msg) -{ - Eigen::Quaterniond q_fcu = Eigen::Quaterniond(msg->orientation.w, msg->orientation.x, msg->orientation.y, msg->orientation.z); - //Transform the Quaternion to euler Angles - Eigen::Vector3d euler_fcu = quaternion_to_euler(q_fcu); - - _DroneState.attitude_q.w = q_fcu.w(); - _DroneState.attitude_q.x = q_fcu.x(); - _DroneState.attitude_q.y = q_fcu.y(); - _DroneState.attitude_q.z = q_fcu.z(); - - _DroneState.attitude[0] = euler_fcu[0]; - _DroneState.attitude[1] = euler_fcu[1]; - _DroneState.attitude[2] = euler_fcu[2]; - - _DroneState.attitude_rate[0] = msg->angular_velocity.x; - _DroneState.attitude_rate[1] = msg->angular_velocity.x; - _DroneState.attitude_rate[2] = msg->angular_velocity.x; -} - -void alt_cb(const std_msgs::Float64::ConstPtr &msg) -{ - _DroneState.rel_alt = msg->data; -} - -// 【获取当前时间函数】 单位：秒 -float get_time_in_sec(const ros::Time& begin_time) -{ - ros::Time time_now = ros::Time::now(); - float currTimeSec = time_now.sec - begin_time.sec; - float currTimenSec = time_now.nsec / 1e9 - begin_time.nsec / 1e9; - return (currTimeSec + currTimenSec); -} - -void mocap_cb(const geometry_msgs::PoseStamped::ConstPtr &msg) -{ - pos_drone_mocap = Eigen::Vector3d(msg->pose.position.x, msg->pose.position.y, msg->pose.position.z); - q_mocap = Eigen::Quaterniond(msg->pose.orientation.w, msg->pose.orientation.x, msg->pose.orientation.y, msg->pose.orientation.z); - Euler_mocap = quaternion_to_euler(q_mocap); - // 记录收到mocap的时间戳 - mocap_timestamp = ros::Time::now(); -} -void gazebo_cb(const nav_msgs::Odometry::ConstPtr &msg) -{ - if (msg->header.frame_id == "world") - { - pos_drone_gazebo = Eigen::Vector3d(msg->pose.pose.position.x, msg->pose.pose.position.y, msg->pose.pose.position.z); - q_gazebo = Eigen::Quaterniond(msg->pose.pose.orientation.w, msg->pose.pose.orientation.x, msg->pose.pose.orientation.y, msg->pose.pose.orientation.z); - Euler_gazebo = quaternion_to_euler(q_gazebo); - } - else - { - pub_message(message_pub, prometheus_msgs::Message::NORMAL, msg_name, "wrong gazebo ground truth frame id."); - } -} - -void timercb_vision(const ros::TimerEvent &e) -{ - geometry_msgs::PoseStamped vision; - - //mocap - if (input_source == 0) - { - vision.pose.position.x = pos_drone_mocap[0]; - vision.pose.position.y = pos_drone_mocap[1]; - vision.pose.position.z = pos_drone_mocap[2]; - - vision.pose.orientation.x = q_mocap.x(); - vision.pose.orientation.y = q_mocap.y(); - vision.pose.orientation.z = q_mocap.z(); - vision.pose.orientation.w = q_mocap.w(); - // 如果长时间未收到mocap数据，则一直给飞控发送旧数据，此处显示timeout - if( get_time_in_sec(mocap_timestamp) > TIMEOUT_MAX) - { - pub_message(message_pub, prometheus_msgs::Message::ERROR, msg_name, "Mocap Timeout."); - } - - } - else if (input_source == 2) - { - vision.pose.position.x = pos_drone_gazebo[0]; - vision.pose.position.y = pos_drone_gazebo[1]; - vision.pose.position.z = pos_drone_gazebo[2]; - - vision.pose.orientation.x = q_gazebo.x(); - vision.pose.orientation.y = q_gazebo.y(); - vision.pose.orientation.z = q_gazebo.z(); - vision.pose.orientation.w = q_gazebo.w(); - } - else - { - pub_message(message_pub, prometheus_msgs::Message::NORMAL, msg_name, "Wrong input_source."); - } - - vision.header.stamp = ros::Time::now(); - vision_pub.publish(vision); -} - -void timercb_drone_state(const ros::TimerEvent &e) -{ - _DroneState.header.stamp = ros::Time::now(); - drone_state_pub.publish(_DroneState); -} - -void timercb_rviz(const ros::TimerEvent &e) -{ - // 发布无人机当前odometry,用于导航及rviz显示 - nav_msgs::Odometry Drone_odom; - Drone_odom.header.stamp = ros::Time::now(); - Drone_odom.header.frame_id = "world"; - Drone_odom.child_frame_id = "base_link"; - - Drone_odom.pose.pose.position.x = _DroneState.position[0]; - Drone_odom.pose.pose.position.y = _DroneState.position[1]; - Drone_odom.pose.pose.position.z = _DroneState.position[2]; - - // 导航算法规定 高度不能小于0 - if (Drone_odom.pose.pose.position.z <= 0) - { - Drone_odom.pose.pose.position.z = 0.01; - } - - Drone_odom.pose.pose.orientation = _DroneState.attitude_q; - Drone_odom.twist.twist.linear.x = _DroneState.velocity[0]; - Drone_odom.twist.twist.linear.y = _DroneState.velocity[1]; - Drone_odom.twist.twist.linear.z = _DroneState.velocity[2]; - odom_pub.publish(Drone_odom); - - // 发布无人机运动轨迹，用于rviz显示 - geometry_msgs::PoseStamped drone_pos; - drone_pos.header.stamp = ros::Time::now(); - drone_pos.header.frame_id = "world"; - drone_pos.pose.position.x = _DroneState.position[0]; - drone_pos.pose.position.y = _DroneState.position[1]; - drone_pos.pose.position.z = _DroneState.position[2]; - - drone_pos.pose.orientation = _DroneState.attitude_q; - - //发布无人机的位姿 和 轨迹 用作rviz中显示 - posehistory_vector_.insert(posehistory_vector_.begin(), drone_pos); - if (posehistory_vector_.size() > TRA_WINDOW) - { - posehistory_vector_.pop_back(); - } - - nav_msgs::Path drone_trajectory; - drone_trajectory.header.stamp = ros::Time::now(); - drone_trajectory.header.frame_id = "world"; - drone_trajectory.poses = posehistory_vector_; - trajectory_pub.publish(drone_trajectory); -} - -#endif \ No newline at end of file diff --git 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b/src/UAV/Modules/swarm_control/src/ego_traj_to_cmd.cpp deleted file mode 100644 index 594d092..0000000 --- a/src/UAV/Modules/swarm_control/src/ego_traj_to_cmd.cpp +++ /dev/null @@ -1,110 +0,0 @@ -#include -#include - -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include - -#include "prometheus_msgs/Message.h" -#include "prometheus_msgs/DroneState.h" -#include "prometheus_msgs/SwarmCommand.h" -//#include "prometheus_msgs/Case3Result.h" -//#include "prometheus_msgs/StationCommandCase3.h" -#include "quadrotor_msgs/PositionCommand.h" -#include "std_msgs/Empty.h" -#include "uav_utils/geometry_utils.h" -#include "printf_utils.h" - -// 集群数量 -int swarm_num; -// 无人机名字 -string uav_name; -// 无人机编号 -int uav_id; -int control_flag; -// ego输出 -quadrotor_msgs::PositionCommand ego_traj_cmd; -bool get_ego_traj; -// 发布的控制指令 -prometheus_msgs::SwarmCommand Command_Now; - -ros::Subscriber ego_ouput_sub; -ros::Publisher command_pub; - -void ego_ouput_cb(const quadrotor_msgs::PositionCommand::ConstPtr& msg) -{ - ego_traj_cmd = *msg; - get_ego_traj = true; - - if(ego_traj_cmd.velocity.x == 0) - { - get_ego_traj = false; - // cout << YELLOW << " Arrive the goal " << TAIL <>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>主 函 数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -int main(int argc, char **argv) -{ - ros::init(argc, argv, "ego_traj_to_cmd"); - ros::NodeHandle nh("~"); - ros::Rate rate(100.0); - - // 集群数量 - nh.param("swarm_num", swarm_num, 1); - // 无人机编号 1号无人机则为1 - nh.param("uav_id", uav_id, 0); - nh.param("control_flag", control_flag, 0); - - uav_name = "/uav" + std::to_string(uav_id); - - // 【订阅】EGO的轨迹输出(traj_server的输出) - ego_ouput_sub = nh.subscribe(uav_name + "/prometheus/ego/traj_cmd", 1, ego_ouput_cb); - - // 【发布】 路径指令 （发送至swarm_controller.cpp） - command_pub = nh.advertise(uav_name + "/prometheus/swarm_command", 1); - - while(ros::ok()) - { - ros::spinOnce(); - rate.sleep(); - } -} - diff --git a/src/UAV/Modules/swarm_control/src/swarm_controller.cpp b/src/UAV/Modules/swarm_control/src/swarm_controller.cpp deleted file mode 100644 index afb4db8..0000000 --- a/src/UAV/Modules/swarm_control/src/swarm_controller.cpp +++ /dev/null @@ -1,376 +0,0 @@ -#include "swarm_controller.h" - -using namespace std; -void mainloop_cb(const ros::TimerEvent &e); -void control_cb(const ros::TimerEvent &e); -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>主 函 数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -int main(int argc, char **argv) -{ - ros::init(argc, argv, NODE_NAME); - ros::NodeHandle nh("~"); - - // 读取参数，变量初始化 - init(nh); - - // 建议控制频率 ： 10 - 50Hz, 控制频率取决于控制形式，若控制方式为速度或加速度应适当提高频率 - ros::Rate rate(controller_hz); - - if(flag_printf) - { - printf_param(); - } - - //【订阅】集群控制指令 - command_sub = nh.subscribe(uav_name + "/prometheus/swarm_command", 10, swarm_command_cb); - - //【订阅】本机状态信息 - drone_state_sub = nh.subscribe(uav_name + "/prometheus/drone_state", 10, drone_state_cb); - - //【订阅】邻居飞机的状态信息 - for(int i = 1; i <= swarm_num_uav; i++) - { - if(i == uav_id) - { - continue; - } - - nei_state_sub[i] = nh.subscribe("/uav"+std::to_string(i)+ "/prometheus/drone_state", 10, boost::bind(nei_state_cb,_1,i)); - } - - // 【发布】位置/速度/加速度期望值 坐标系 ENU系 - // 本话题要发送至飞控(通过Mavros功能包 /plugins/setpoint_raw.cpp发送), 对应Mavlink消息为SET_POSITION_TARGET_LOCAL_NED (#84), 对应的飞控中的uORB消息为position_setpoint_triplet.msg - setpoint_raw_local_pub = nh.advertise(uav_name + "/mavros/setpoint_raw/local", 10); - - // 【发布】姿态期望值 - setpoint_raw_attitude_pub = nh.advertise(uav_name + "/mavros/setpoint_raw/attitude", 10); - - // 【发布】用于地面站显示的提示消息 - message_pub = nh.advertise(uav_name + "/prometheus/message/main", 10); - - // 【服务】解锁/上锁 - // 本服务通过Mavros功能包 /plugins/command.cpp 实现 - arming_client = nh.serviceClient(uav_name + "/mavros/cmd/arming"); - - // 【服务】修改系统模式 - // 本服务通过Mavros功能包 /plugins/command.cpp 实现 - set_mode_client = nh.serviceClient(uav_name + "/mavros/set_mode"); - - ros::Timer debug_timer = nh.createTimer(ros::Duration(10.0), debug_cb); - ros::Timer mainloop_timer = nh.createTimer(ros::Duration(0.1), mainloop_cb); - ros::Timer control_timer = nh.createTimer(ros::Duration(1.0/controller_hz), control_cb); - - ros::spin(); - - return 0; -} - -void mainloop_cb(const ros::TimerEvent &e) -{ - // Check for geo fence: If drone is out of the geo fence, it will land now. - if(check_failsafe() == 1) - { - Command_Now.Mode = prometheus_msgs::SwarmCommand::Land; - } - - switch (Command_Now.Mode) - { - // 【Idle】 怠速旋转，此时可以切入offboard模式，但不会起飞。 - case prometheus_msgs::SwarmCommand::Idle: - - idle(); - - // 设定yaw_ref=999时，切换offboard模式，并解锁 - if(Command_Now.yaw_ref == 999) - { - if(_DroneState.mode != "OFFBOARD") - { - mode_cmd.request.custom_mode = "OFFBOARD"; - set_mode_client.call(mode_cmd); - pub_message(message_pub, prometheus_msgs::Message::NORMAL, msg_name, "Setting to OFFBOARD Mode..."); - } - - if(!_DroneState.armed) - { - arm_cmd.request.value = true; - arming_client.call(arm_cmd); - pub_message(message_pub, prometheus_msgs::Message::NORMAL, msg_name, "Arming..."); - } - } - break; - - // 【Takeoff】 从摆放初始位置原地起飞至指定高度，偏航角也保持当前角度 - case prometheus_msgs::SwarmCommand::Takeoff: - - // 设定起飞点 - if (Command_Last.Mode != prometheus_msgs::SwarmCommand::Takeoff) - { - // 设定起飞位置 - Takeoff_position = pos_drone; - pos_des[0] = pos_drone[0]; - pos_des[1] = pos_drone[1]; - pos_des[2] = pos_drone[2] + Takeoff_height; - vel_des << 0.0, 0.0, 0.0; - acc_des << 0.0, 0.0, 0.0; - yaw_des = yaw_drone; - } - break; - - // 【Hold】 悬停。当前位置悬停 - case prometheus_msgs::SwarmCommand::Hold: - - if (Command_Last.Mode != prometheus_msgs::SwarmCommand::Hold) - { - pos_des = pos_drone; - vel_des << 0.0, 0.0, 0.0; - acc_des << 0.0, 0.0, 0.0; - yaw_des = yaw_drone; - } - break; - - // 【Land】 降落。两种降落方式： 只有加载了参数Land_mode为1时，启用第二种降落方式；默认启用第一种降落方式。 - // 第一种：当前位置原地降落，降落后会自动上锁，且切换为mannual模式 - // 第二种：当前位置原地降落，降落中到达Disarm_height后，切换为飞控中land模式 - case prometheus_msgs::SwarmCommand::Land: - if(Land_mode == 1) - { - mode_cmd.request.custom_mode = "AUTO.LAND"; - set_mode_client.call(mode_cmd); - } - else - { - if (Command_Last.Mode != prometheus_msgs::SwarmCommand::Land) - { - // 设定起飞位置 - pos_des[0] = pos_drone[0]; - pos_des[1] = pos_drone[1]; - pos_des[2] = 0.0; - vel_des << 0.0, 0.0, -Land_speed; - acc_des << 0.0, 0.0, 0.0; - yaw_des = yaw_drone; - } - - if(_DroneState.position[2] < Disarm_height) - { - //此处切换会manual模式是因为:PX4默认在offboard模式且有控制的情况下没法上锁,直接使用飞控中的land模式 - mode_cmd.request.custom_mode = "MANUAL"; - set_mode_client.call(mode_cmd); - - arm_cmd.request.value = false; - arming_client.call(arm_cmd); - ROS_INFO_STREAM_ONCE ("---->Landed...."); - } - } - - break; - - case prometheus_msgs::SwarmCommand::Disarm: - ROS_INFO_STREAM_ONCE ("---->Disarm...."); - if(_DroneState.mode == "OFFBOARD") - { - mode_cmd.request.custom_mode = "MANUAL"; - set_mode_client.call(mode_cmd); - } - - if(_DroneState.armed) - { - arm_cmd.request.value = false; - arming_client.call(arm_cmd); - } - break; - - case prometheus_msgs::SwarmCommand::Position_Control: - - //　此控制方式即为　集中式控制，　直接由地面站指定期望位置点 - pos_des[0] = Command_Now.position_ref[0] + formation_separation(uav_id-1,0) - gazebo_offset[0]; - pos_des[1] = Command_Now.position_ref[1] + formation_separation(uav_id-1,1) - gazebo_offset[1]; - pos_des[2] = Command_Now.position_ref[2] + formation_separation(uav_id-1,2) - gazebo_offset[2]; - yaw_des = Command_Now.yaw_ref; - break; - - case prometheus_msgs::SwarmCommand::Velocity_Control: - - //　平面阵型，xy控制速度，z轴高度定高 - //　一阶积分器分布式编队控制算法，可追踪时变轨迹，此处采用双向环的拓扑结构，且仅部分无人机可收到地面站发来的虚拟领队消息 - //　参考文献：Multi-Vehicle consensus with a time-varying reference state 公式(11) - (12) - //　目前该算法有一定控制偏差，可能是由于参数选取不是最佳导致的 - - yita = 1/ ((float)swarm_num_uav * k_aij + k_p); - - pos_des[0] = 0.0; - pos_des[1] = 0.0; - pos_des[2] = Command_Now.position_ref[2] + formation_separation(uav_id-1,2); - - vel_des[0] = yita * k_p * ( Command_Now.velocity_ref[0] - k_gamma * (pos_drone[0] - Command_Now.position_ref[0] - formation_separation(uav_id-1,0))); - vel_des[1] = yita * k_p * ( Command_Now.velocity_ref[1] - k_gamma * (pos_drone[1] - Command_Now.position_ref[1] - formation_separation(uav_id-1,1))); - vel_des[2] = 0.0; - - for(int i = 1; i <= swarm_num_uav; i++) - { - if(i == uav_id) - { - continue; - } - - vel_des[0] += - yita * k_aij * ( vel_nei[i][0] - k_gamma *((pos_drone[0] - pos_nei[i][0]) - ( formation_separation(uav_id-1,0) - formation_separation(i-1,0)))); - vel_des[1] += - yita * k_aij * ( vel_nei[i][1] - k_gamma *((pos_drone[1] - pos_nei[i][1]) - ( formation_separation(uav_id-1,1) - formation_separation(i-1,1)))); - } - - if(collision_flag == 1) - { - // 计算APF项 - for(int i = 1; i <= swarm_num_uav; i++) - { - if(i == uav_id) - { - continue; - } - - float distance = (pos_drone - pos_nei[i]).norm(); - - if(distance > R) - { - dv.setZero(); - }else if(distance > r) - { - dv = 4*(R*R-r*r)*(distance*distance - R*R)/pow(distance*distance - r*r,3) * (pos_drone - pos_nei[i]); - }else - { - dv.setZero(); - } - - // 降低避障的影响，调小这个参数 - vel_des[0] -= 0.5*dv[0]; - vel_des[1] -= 0.5*dv[1]; - } - } - - acc_des << 0.0, 0.0, 0.0; - yaw_des = Command_Now.yaw_ref + formation_separation(uav_id-1,3); - break; - - case prometheus_msgs::SwarmCommand::Accel_Control: - - //To be continued; 此处加速度控制实则控制的是３轴油门，限制幅度为[-1, 1] , [-1, 1], [0,1] - - //　此控制方式即为　集中式控制，　直接由地面站指定期望位置点,并计算期望加速度（期望油门） - //　此处也可以根据自己的算法改为　分布式控制 - //　需要增加积分项　否则会有静差 - - acc_des[0] = 2.5 * (Command_Now.position_ref[0] + formation_separation(uav_id-1,0) - pos_drone[0]) + 3.0 * (Command_Now.velocity_ref[0] - vel_drone[0]); - acc_des[1] = 2.5 * (Command_Now.position_ref[1] + formation_separation(uav_id-1,1) - pos_drone[1]) + 3.0 * (Command_Now.velocity_ref[1] - vel_drone[1]); - acc_des[2] = 2.0 * (Command_Now.position_ref[2] + formation_separation(uav_id-1,2) - pos_drone[2]) + 3.0 * (Command_Now.velocity_ref[2] - vel_drone[2]) + 9.8; - yaw_des = Command_Now.yaw_ref + formation_separation(uav_id-1,3); - break; - - // 单个飞机情况 - case prometheus_msgs::SwarmCommand::Move: - - //　此控制方式即为　期望位置点控制, 仅针对单个飞机 - if(Command_Now.Move_mode == prometheus_msgs::SwarmCommand::XYZ_POS) - { - pos_des[0] = Command_Now.position_ref[0]; - pos_des[1] = Command_Now.position_ref[1]; - pos_des[2] = Command_Now.position_ref[2]; - vel_des << 0.0, 0.0, 0.0; - acc_des << 0.0, 0.0, 0.0; - yaw_des = Command_Now.yaw_ref; - }else if(Command_Now.Move_mode == prometheus_msgs::SwarmCommand::XY_VEL_Z_POS) - { - pos_des[0] = 0.0; - pos_des[1] = 0.0; - pos_des[2] = Command_Now.position_ref[2]; - vel_des[0] = Command_Now.velocity_ref[0]; - vel_des[1] = Command_Now.velocity_ref[1]; - vel_des[2] = 0.0; - acc_des << 0.0, 0.0, 0.0; - yaw_des = Command_Now.yaw_ref; - }else if(Command_Now.Move_mode == prometheus_msgs::SwarmCommand::TRAJECTORY) - { - for(int i=0; i<3; i++) - { - pos_des(i) = Command_Now.position_ref[i]; - vel_des(i) = Command_Now.velocity_ref[i]; - acc_des(i) = Command_Now.acceleration_ref[i]; - } - yaw_des = Command_Now.yaw_ref; - } - else - { - pos_des[0] = Command_Now.position_ref[0]; - pos_des[1] = Command_Now.position_ref[1]; - pos_des[2] = Command_Now.position_ref[2]; - vel_des << 0.0, 0.0, 0.0; - acc_des << 0.0, 0.0, 0.0; - yaw_des = Command_Now.yaw_ref; - cout << RED << "Wrong swarm command: switch to XYZ_POS " << TAIL << endl; - } - - break; - - case prometheus_msgs::SwarmCommand::User_Mode1: - - break; - } - Command_Last = Command_Now; -} - -void control_cb(const ros::TimerEvent &e) -{ - if( Command_Now.Mode == prometheus_msgs::SwarmCommand::Idle || - Command_Now.Mode == prometheus_msgs::SwarmCommand::Disarm ) - { - return; - } - - if(controller_flag == 0) - { - // 计算控制量 - pos_controller(); - - // 发送角度期望值 - send_attitude_setpoint(u_att); - }else - { - if( Command_Now.Mode == prometheus_msgs::SwarmCommand::Takeoff ) - { - send_pos_setpoint(pos_des, yaw_des); - }else if( Command_Now.Mode == prometheus_msgs::SwarmCommand::Hold ) - { - send_pos_setpoint(pos_des, yaw_des); - }else if( Command_Now.Mode == prometheus_msgs::SwarmCommand::Land ) - { - send_pos_vel_xyz_setpoint(pos_des, vel_des, yaw_des); - }else if( Command_Now.Mode == prometheus_msgs::SwarmCommand::Position_Control ) - { - send_pos_setpoint(pos_des, yaw_des); - }else if( Command_Now.Mode == prometheus_msgs::SwarmCommand::Velocity_Control ) - { - send_vel_xy_pos_z_setpoint(pos_des, vel_des, yaw_des); - }else if( Command_Now.Mode == prometheus_msgs::SwarmCommand::Accel_Control ) - { - // 暂不可用 - // throttle_sp = accelToThrottle(acc_des, 1.0, 20.0); - // send_acc_xyz_setpoint(throttle_sp, yaw_des); - }else if( Command_Now.Mode == prometheus_msgs::SwarmCommand::Move ) - { - if(Command_Now.Move_mode == prometheus_msgs::SwarmCommand::XYZ_POS) - { - send_pos_setpoint(pos_des, yaw_des); - }else if(Command_Now.Move_mode == prometheus_msgs::SwarmCommand::XY_VEL_Z_POS) - { - send_vel_xy_pos_z_setpoint(pos_des, vel_des, yaw_des); - }else if(Command_Now.Move_mode == prometheus_msgs::SwarmCommand::TRAJECTORY) - { - send_pos_vel_xyz_setpoint(pos_des, vel_des, yaw_des); - } - else - { - send_pos_setpoint(pos_des, yaw_des); - } - }else - { - cout << RED << "Wrong swarm command!" << TAIL << endl; - } - } - -} diff --git a/src/UAV/Modules/swarm_control/src/swarm_estimator.cpp b/src/UAV/Modules/swarm_control/src/swarm_estimator.cpp deleted file mode 100644 index 8c4a8c6..0000000 --- a/src/UAV/Modules/swarm_control/src/swarm_estimator.cpp +++ /dev/null @@ -1,89 +0,0 @@ -#include "swarm_estimator.h" - -using namespace std; - -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>主 函 数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -int main(int argc, char **argv) -{ - ros::init(argc, argv, NODE_NAME); - ros::NodeHandle nh("~"); - - // 读取参数 - nh.param("uav_id", uav_id, 0); - // 定位数据输入源 0 for vicon, 2 for gazebo ground truth - nh.param("input_source", input_source, 0); - //　定位设备偏移量 - nh.param("offset_x", pos_offset[0], 0); - nh.param("offset_y", pos_offset[1], 0); - nh.param("offset_z", pos_offset[2], 0); - nh.param("offset_yaw", yaw_offset, 0); - - uav_name = "/uav" + std::to_string(uav_id); - msg_name = uav_name + "/control"; - - // 变量初始化 - init(); - - // 【订阅】无人机当前状态 - 来自飞控 - // 本话题来自飞控(通过Mavros功能包 /plugins/sys_status.cpp) - state_sub = nh.subscribe(uav_name + "/mavros/state", 10, state_cb); - - // 【订阅】无人机当前位置 坐标系:ENU系 （此处注意，所有状态量在飞控中均为NED系，但在ros中mavros将其转换为ENU系处理。所以，在ROS中，所有和mavros交互的量都为ENU系） - // 本话题来自飞控(通过Mavros功能包 /plugins/local_position.cpp读取), 对应Mavlink消息为LOCAL_POSITION_NED (#32), 对应的飞控中的uORB消息为vehicle_local_position.msg - position_sub = nh.subscribe(uav_name + "/mavros/local_position/pose", 10, pos_cb); - - // 【订阅】无人机当前速度 坐标系:ENU系 - // 本话题来自飞控(通过Mavros功能包 /plugins/local_position.cpp读取), 对应Mavlink消息为LOCAL_POSITION_NED (#32), 对应的飞控中的uORB消息为vehicle_local_position.msg - velocity_sub = nh.subscribe(uav_name + "/mavros/local_position/velocity_local", 10, vel_cb); - - // 【订阅】无人机当前欧拉角 坐标系:ENU系 - // 本话题来自飞控(通过Mavros功能包 /plugins/imu.cpp读取), 对应Mavlink消息为ATTITUDE (#30), 对应的飞控中的uORB消息为vehicle_attitude.msg - attitude_sub = nh.subscribe(uav_name + "/mavros/imu/data", 10, att_cb); - - // 【订阅】无人机相对高度 此订阅仅针对户外实验 - alt_sub = nh.subscribe(uav_name + "/mavros/global_position/rel_alt", 10, alt_cb); - - // 【订阅】mocap估计位置 - mocap_sub = nh.subscribe("/vrpn_client_node"+ uav_name + "/pose", 10, mocap_cb); - - // 【订阅】gazebo仿真真值 - gazebo_sub = nh.subscribe(uav_name + "/prometheus/ground_truth", 10, gazebo_cb); - - // 【发布】无人机位置和偏航角 坐标系 ENU系 - // 本话题要发送飞控(通过mavros_extras/src/plugins/vision_pose_estimate.cpp发送), 对应Mavlink消息为VISION_POSITION_ESTIMATE(#102), 对应的飞控中的uORB消息为vehicle_vision_position.msg 及 vehicle_vision_attitude.msg - vision_pub = nh.advertise(uav_name + "/mavros/vision_pose/pose", 100); - - // 【发布】无人机状态合集,包括位置\速度\姿态\模式等,供上层节点使用 - drone_state_pub = nh.advertise(uav_name + "/prometheus/drone_state", 10); - - // 【发布】提示消息 - message_pub = nh.advertise(uav_name + "/prometheus/message/main", 10); - - // 【发布】无人机里程计,用于RVIZ显示 - odom_pub = nh.advertise(uav_name + "/prometheus/drone_odom", 10); - - // 【发布】无人机运动轨迹 - trajectory_pub = nh.advertise(uav_name + "/prometheus/drone_trajectory", 10); - - // 定时器,定时发送vision信息至飞控,保证50Hz以上 - ros::Timer timer_vision_pub = nh.createTimer(ros::Duration(0.02), timercb_vision); - - // 定时器,发布 drone_state_pub,保证20Hz以上 - ros::Timer timer_drone_state_pub = nh.createTimer(ros::Duration(0.05), timercb_drone_state); - - // 定时器,发布 rviz显示,保证1Hz以上 - ros::Timer timer_rviz_pub = nh.createTimer(ros::Duration(0.5), timercb_rviz); - - // 频率 - ros::Rate rate(100.0); - - //>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>Main Loop<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< - while (ros::ok()) - { - //回调一次 更新传感器状态 - ros::spinOnce(); - rate.sleep(); - } - - return 0; -} \ No newline at end of file diff --git a/src/UAV/Modules/swarm_control/src/swarm_formation_control.cpp b/src/UAV/Modules/swarm_control/src/swarm_formation_control.cpp deleted file mode 100644 index eb088d2..0000000 --- a/src/UAV/Modules/swarm_control/src/swarm_formation_control.cpp +++ /dev/null @@ -1,250 +0,0 @@ -//ros头文件 -#include -#include -#include -#include - -//topic 头文件 -#include -#include -#include - -using namespace std; - -#define NODE_NAME "swarm_formation_control" -#define MAX_NUM 40 -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>全 局 变 量<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -int swarm_num_uav; -string uav_name[MAX_NUM+1]; -int uav_id[MAX_NUM+1]; -prometheus_msgs::SwarmCommand swarm_command[MAX_NUM+1]; -ros::Publisher command_pub[MAX_NUM+1]; - -int controller_num; -float formation_size; -bool sim_mode; - -Eigen::Vector3f virtual_leader_pos; -Eigen::Vector3f virtual_leader_vel; -float virtual_leader_yaw; - -int formation_num = 1; - -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>声 明 函 数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -void printf_param(); -void pub_formation_command(); -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>主 函 数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -int main(int argc, char **argv) -{ - ros::init(argc, argv, NODE_NAME); - ros::NodeHandle nh("~"); - - nh.param("swarm_num_uav", swarm_num_uav, 1); - // 0代表位置追踪模式，1代表速度追踪模式，2代表加速度追踪模式 - nh.param("controller_num", controller_num, 0); - nh.param("formation_size", formation_size, 1.0); - nh.param("sim_mode",sim_mode,true); - - virtual_leader_pos << 0.0,0.0,1.0; - virtual_leader_yaw = 0.0; - - - for(int i = 1; i <= swarm_num_uav; i++) - { - //【发布】阵型 - command_pub[i] = nh.advertise("/uav" + std::to_string(i) + "/prometheus/swarm_command", 1); - } - - //固定的浮点显示 - cout.setf(ios::fixed); - //setprecision(n) 设显示小数精度为n位 - cout<>>>>>>>>>>>>>>>>>>>>>>>>>>>Formation Flight Mission<<<<<<<<<<<<<<<<<<<<<<<<< "<< endl; - cout << "Please enter 1 to disarm all the UAVs."<> start_flag; - - for(int i = 1; i <= swarm_num_uav; i++) - { - swarm_command[i].Mode = prometheus_msgs::SwarmCommand::Idle; - swarm_command[i].yaw_ref = 999; - command_pub[i].publish(swarm_command[i]); //【发布】阵型 - } - } - - start_flag = 0; - while(start_flag == 0) - { - cout << ">>>>>>>>>>>>>>>>>>>>>>>>>>>>Formation Flight Mission<<<<<<<<<<<<<<<<<<<<<<<<< "<< endl; - cout << "Please enter 1 to takeoff all the UAVs."<> start_flag; - - for(int i = 1; i <= swarm_num_uav; i++) - { - swarm_command[i].Mode = prometheus_msgs::SwarmCommand::Takeoff; - swarm_command[i].yaw_ref = 0.0; - command_pub[i].publish(swarm_command[i]); //【发布】阵型 - } - } - - float trajectory_total_time; - while (ros::ok()) // todo: only check start_flag=0, other function need tested - { - cout << ">>>>>>>>>>>>>>>>>>>>>>>>>>>>Formation Flight Mission<<<<<<<<<<<<<<<<<<<<<<<<< 3 for Circle Trajectory Tracking,"<< endl; - cout << "Please choose the action: 0 for Formation Shape, 1 for Virtual Leader Pos, 2 for Hold, 3 for Land, 5 for Disarm..."<> start_flag; - if (start_flag == 0) - { - cout << "Please choose the formation: 1 for One Column, 2 for Triangle, 3 for Square, 4 for Circular ..."<> formation_num; - - pub_formation_command(); - } - else if (start_flag == 1) - { - cout << "Please enter the virtual leader position:"<> virtual_leader_pos[0]; - cout << "virtual_leader_pos: --- y [m]"<> virtual_leader_pos[1]; - cout << "virtual_leader_pos: --- z [m]"<> virtual_leader_pos[2]; - cout << "virtual_leader_yaw [deg]:"<> virtual_leader_yaw; - virtual_leader_yaw = virtual_leader_yaw/180.0*M_PI; - - pub_formation_command(); - } - else if (start_flag == 2) - { - for(int i = 1; i <= swarm_num_uav; i++) - { - swarm_command[i].Mode = prometheus_msgs::SwarmCommand::Hold; - command_pub[i].publish(swarm_command[i]); //【发布】阵型 - } - } - else if (start_flag == 3) - { - for(int i = 1; i <= swarm_num_uav; i++) - { - swarm_command[i].Mode = prometheus_msgs::SwarmCommand::Land; - command_pub[i].publish(swarm_command[i]); //【发布】阵型 - } - } - else if (start_flag == 5) - { - for(int i = 1; i <= swarm_num_uav; i++) - { - swarm_command[i].Mode = prometheus_msgs::SwarmCommand::Disarm; - command_pub[i].publish(swarm_command[i]); //【发布】阵型 - } - } - else - { - cout << "Wrong input."<>>>>>>>>>>>>>>>>>>>>>>> Formation Flight Parameter <<<<<<<<<<<<<<<<<<<<<<" < -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "message_utils.h" -#include "formation_utils.h" - - -using namespace std; -#define NUM_POINT 2 -#define MAX_UAV_NUM 50 - -//参数声明 -int swarm_num_uav; -prometheus_msgs::DroneState State_uav[MAX_UAV_NUM+1]; -prometheus_msgs::SwarmCommand Command_uav[MAX_UAV_NUM+1]; -geometry_msgs::PoseStamped ref_pose_uav[MAX_UAV_NUM+1]; - -ros::Subscriber drone_state_sub[MAX_UAV_NUM+1]; -ros::Subscriber command_sub[MAX_UAV_NUM+1]; - -void swarm_command_cb(const prometheus_msgs::SwarmCommand::ConstPtr& msg, int id) -{ - Command_uav[id] = *msg; -} - -void drone_state_cb(const prometheus_msgs::DroneState::ConstPtr& msg, int id) -{ - State_uav[id] = *msg; -} - -void printf_swarm_state(int swarm_num, int uav_id, const prometheus_msgs::DroneState& _Drone_state, const prometheus_msgs::SwarmCommand& SwarmCommand); - -//主函数 -int main(int argc, char **argv) -{ - ros::init(argc, argv, "swarm_ground_station"); - ros::NodeHandle nh("~"); - - nh.param("swarm_num_uav", swarm_num_uav, 1); - - for(int i = 1; i <= swarm_num_uav; i++) - { - // 订阅 - command_sub[i] = nh.subscribe("/uav" + std::to_string(i) + "/prometheus/swarm_command", 10, boost::bind(swarm_command_cb,_1,i)); - drone_state_sub[i] = nh.subscribe("/uav" + std::to_string(i) + "/prometheus/drone_state", 10, boost::bind(drone_state_cb,_1,i)); - } - - while(ros::ok()) - { - ros::spinOnce(); - cout << ">>>>>>>>>>>>>>>>>>>> Swarm Ground Station <<<<<<<<<<<<<<<<<<< "<< endl; - for(int i = 1; i <= swarm_num_uav; i++) - { - printf_swarm_state(swarm_num_uav, i, State_uav[i], Command_uav[i]); - } - sleep(2.0); // frequence - } - return 0; -} - - -void printf_swarm_state(int swarm_num, int uav_id, const prometheus_msgs::DroneState& _Drone_state, const prometheus_msgs::SwarmCommand& SwarmCommand) -{ - //固定的浮点显示 - cout.setf(ios::fixed); - //setprecision(n) 设显示小数精度为n位 - cout<>>>>>>>>>>>>>>>>>>>>>UAV[" << uav_id << "] State" << "<<<<<<<<<<<<<<<<<<<<<<" < -#include -#include -#include - -//topic 头文件 -#include -#include -#include -#include -#include -using namespace std; - -#define NODE_NAME "swarm_terminal_control" -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>全 局 变 量<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -string uav_name; -int uav_id; -prometheus_msgs::SwarmCommand swarm_command; -ros::Publisher command_pub,ego_wp_pub,goal_pub; -float state_desired[4]; -bool sim_mode; -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>主 函 数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -int main(int argc, char **argv) -{ - ros::init(argc, argv, NODE_NAME); - ros::NodeHandle nh("~"); - - // 无人机编号 1号无人机则为1 - nh.param("uav_id", uav_id, 0); - nh.param("sim_mode", sim_mode, true); - - uav_name = "/uav" + std::to_string(uav_id); - //　【发布】　指令(swarm-controller) - command_pub = nh.advertise(uav_name + "/prometheus/swarm_command", 10); - //　【发布】　参考轨迹(ego-planner) - ego_wp_pub = nh.advertise(uav_name + "/waypoint_generator/waypoints", 10); - //　【发布】　参考轨迹(ego-planner-swarm) - goal_pub = nh.advertise(uav_name + "/prometheus/ego/goal", 10); - - // Waiting for input - int start_flag = 0; - - if(sim_mode) - { - while(start_flag == 0) - { - cout << ">>>>>>>>>>>>>>>>>>>>>>>>>>>>Terminal Control<<<<<<<<<<<<<<<<<<<<<<<<< "<< endl; - cout << "Please enter 1 to disarm the UAV and switch to OFFBOARD mode."<> start_flag; - - swarm_command.Mode = prometheus_msgs::SwarmCommand::Idle; - swarm_command.yaw_ref = 999; - //【发布】阵型 - command_pub.publish(swarm_command); - } - } - - start_flag = 0; - while(start_flag == 0) - { - cout << ">>>>>>>>>>>>>>>>>>>>>>>>>>>>Terminal Control<<<<<<<<<<<<<<<<<<<<<<<<< "<< endl; - cout << "Please enter 1 to takeoff the UAV."<> start_flag; - - swarm_command.Mode = prometheus_msgs::SwarmCommand::Takeoff; - swarm_command.yaw_ref = 0.0; - //【发布】阵型 - command_pub.publish(swarm_command); - } - - while (ros::ok()) - { - cout << ">>>>>>>>>>>>>>>>>>>>>>>>>>>>Terminal Control<<<<<<<<<<<<<<<<<<<<<<<<< "<< endl; - cout << "Please choose the action: 1 for Move(XYZ_POS), 2 for EGO goal, 3 for Hold, 4 for Land, 5 for Disarm..."<> start_flag; - if (start_flag == 1) - { - cout << "Move in ENU frame, Pls input the desired position and yaw angle"<> state_desired[0]; - cout << "desired state: --- y [m]"<> state_desired[1]; - cout << "desired state: --- z [m]"<> state_desired[2]; - cout << "desired state: --- yaw [deg]:"<> state_desired[3]; - state_desired[3] = state_desired[3]/180.0*M_PI; - swarm_command.Mode = prometheus_msgs::SwarmCommand::Move; - swarm_command.Move_mode = prometheus_msgs::SwarmCommand::XYZ_POS; - swarm_command.position_ref[0] = state_desired[0]; - swarm_command.position_ref[1] = state_desired[1]; - swarm_command.position_ref[2] = state_desired[2]; - swarm_command.yaw_ref = state_desired[3]; - //【发布】阵型 - command_pub.publish(swarm_command); - - cout << "pos_des [X Y Z] : " << state_desired[0] << " [ m ] "<< state_desired[1] <<" [ m ] "<< state_desired[2] <<" [ m ] "<< endl; - cout << "yaw_des : " << state_desired[3]/M_PI*180.0 <<" [ deg ] "<< endl; - } - else if (start_flag == 2) - { - cout << "Move in ENU frame, Pls input the desired velocity, position and yaw angle"<> state_desired[0]; - cout << "desired state: --- y [m]"<> state_desired[1]; - cout << "desired state: --- z [m]"<> state_desired[2]; - cout << "desired state: --- yaw [deg]:"<> state_desired[3]; - state_desired[3] = state_desired[3]/180.0*M_PI; - - geometry_msgs::PoseStamped pt; - - pt.header.stamp = ros::Time::now(); - pt.header.frame_id = std::string("world"); - pt.pose.position.x = state_desired[0]; - pt.pose.position.y = state_desired[1]; - pt.pose.position.z = state_desired[2]; - pt.pose.orientation = tf::createQuaternionMsgFromYaw(state_desired[3]/180*3.1415926); - goal_pub.publish(pt); - - cout << "pos_des [X Y Z] : " << state_desired[0] << " [ m ] "<< state_desired[1] <<" [ m ] "<< state_desired[2] <<" [ m ] "<< endl; - cout << "yaw_des : " << state_desired[3]/M_PI*180.0 <<" [ deg ] "<< endl; - } - else if (start_flag == 3) - { - swarm_command.Mode = prometheus_msgs::SwarmCommand::Hold; - //【发布】阵型 - command_pub.publish(swarm_command); - } - else if (start_flag == 4) - { - swarm_command.Mode = prometheus_msgs::SwarmCommand::Land; - //【发布】阵型 - command_pub.publish(swarm_command); - } - else if (start_flag == 5) - { - swarm_command.Mode = prometheus_msgs::SwarmCommand::Disarm; - //【发布】阵型 - command_pub.publish(swarm_command); - } - else - { - cout << "Wrong input."< // min, max -#include // string -#include // shared_ptr - -namespace TB2 -{ - -using std::min; -using std::max; -using std::string; - -class Smoother -{ -private: - - double MAX_LIN_VEL_; ///< Maximum linear velocity - double MAX_ANG_VEL_; ///< Maximum angular velocity - double LIN_STEP_SIZE_; ///< Linear step size, in terms of linear accelerator - double ANG_STEP_SIZE_; ///< Angular step size, in terms of angular accelerator - - // double cur_linear_vel_; - // double cur_angular_vel_; - - // ros::Publisher vel_pub_; - - /// @brief smooth input data according output and slot - /// While output is much greater or lower than input, smoothing operation woule be token. Input - /// data is being smoothed to get closer to ouput according to slot. - /// @param input data being smoothing - /// @param output data to which input get close - /// @param slot step size of smoothing - /// @return const double smoothed data - const double make_simple_profile(const double input, const double output, const double slot); - - /// @brief velocity constrain function - /// Correct abnormal values. - /// @param input data - /// @param low minimum - /// @param high maximum - /// @return const double data between minimum and maximum - const double constrain(const double input, const double low, const double high); - - - -public: - /// @brief Construct a new Smoother object - /// @details - Smoother(); - - /// @brief Destroy the Smoother object - /// @details Do nothing. - ~Smoother(); - - Smoother(const string name); - - - // void pub(const double cur_linear_vel, - // const double cur_angular_vel, - // const double target_linear_vel, - // const double target_angular_vel) - // { - // cur_linear_vel_ = cur_linear_vel; - // cur_angular_vel_ = cur_angular_vel; - // pub(target_linear_vel, target_angular_vel); - // } - - // void pub(const double target_linear_vel = 0.0, const double target_angular_vel = 0.0); - - void smooth(const double cur_linear_vel, const double cur_angular_vel, - double &target_linear_vel, double &target_angular_vel); - - typedef std::shared_ptr Ptr; -}; - - -} - - -#endif \ No newline at end of file diff --git a/src/UAV/Modules/ugv_control/include/math_utils.h b/src/UAV/Modules/ugv_control/include/math_utils.h deleted file mode 100644 index 606b0a1..0000000 --- a/src/UAV/Modules/ugv_control/include/math_utils.h +++ /dev/null @@ -1,138 +0,0 @@ -/*************************************************************************************************************************** -* math_utils.h -* -* Author: Qyp -* -* Update Time: 2019.3.16 -* -* Introduction: math utils functions 数学工具函数 -* -* 1、转换 ref to https://github.com/PX4/Matrix/blob/56b069956da141da244926ed7000e89b2ba6c731/matrix/Euler.hpp -***************************************************************************************************************************/ -#ifndef MATH_UTILS_H -#define MATH_UTILS_H - -#include -#include - -using namespace std; - -// 四元数转欧拉角 -Eigen::Vector3d quaternion_to_rpy2(const Eigen::Quaterniond &q) -{ - // YPR - ZYX - return q.toRotationMatrix().eulerAngles(2, 1, 0).reverse(); -} - -// 从(roll,pitch,yaw)创建四元数 by a 3-2-1 intrinsic Tait-Bryan rotation sequence -Eigen::Quaterniond quaternion_from_rpy(const Eigen::Vector3d &rpy) -{ - // YPR - ZYX - return Eigen::Quaterniond( - Eigen::AngleAxisd(rpy.z(), Eigen::Vector3d::UnitZ()) * - Eigen::AngleAxisd(rpy.y(), Eigen::Vector3d::UnitY()) * - Eigen::AngleAxisd(rpy.x(), Eigen::Vector3d::UnitX()) - ); -} - -// 将四元数转换至(roll,pitch,yaw) by a 3-2-1 intrinsic Tait-Bryan rotation sequence -// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles -// q0 q1 q2 q3 -// w x y z -Eigen::Vector3d quaternion_to_euler(const Eigen::Quaterniond &q) -{ - float quat[4]; - quat[0] = q.w(); - quat[1] = q.x(); - quat[2] = q.y(); - quat[3] = q.z(); - - Eigen::Vector3d ans; - ans[0] = atan2(2.0 * (quat[3] * quat[2] + quat[0] * quat[1]), 1.0 - 2.0 * (quat[1] * quat[1] + quat[2] * quat[2])); - ans[1] = asin(2.0 * (quat[2] * quat[0] - quat[3] * quat[1])); - ans[2] = atan2(2.0 * (quat[3] * quat[0] + quat[1] * quat[2]), 1.0 - 2.0 * (quat[2] * quat[2] + quat[3] * quat[3])); - return ans; -} - -//旋转矩阵转欧拉角 -void rotation_to_euler(const Eigen::Matrix3d& dcm, Eigen::Vector3d& euler_angle) -{ - double phi_val = atan2(dcm(2, 1), dcm(2, 2)); - double theta_val = asin(-dcm(2, 0)); - double psi_val = atan2(dcm(1, 0), dcm(0, 0)); - double pi = M_PI; - - if (fabs(theta_val - pi / 2.0) < 1.0e-3) { - phi_val = 0.0; - psi_val = atan2(dcm(1, 2), dcm(0, 2)); - - } else if (fabs(theta_val + pi / 2.0) < 1.0e-3) { - phi_val = 0.0; - psi_val = atan2(-dcm(1, 2), -dcm(0, 2)); - } - - euler_angle(0) = phi_val; - euler_angle(1) = theta_val; - euler_angle(2) = psi_val; -} - -//constrain_function -float constrain_function(float data, float Max) -{ - if(abs(data)>Max) - { - return (data > 0) ? Max : -Max; - } - else - { - return data; - } -} - -//constrain_function2 -float constrain_function2(float data, float Min,float Max) -{ - if(data > Max) - { - return Max; - } - else if (data < Min) - { - return Min; - }else - { - return data; - } -} - -//sign_function -float sign_function(float data) -{ - if(data>0) - { - return 1.0; - } - else if(data<0) - { - return -1.0; - } - else if(data == 0) - { - return 0.0; - } -} - -// min function -float min(float data1,float data2) -{ - if(data1>=data2) - { - return data2; - } - else - { - return data1; - } -} - -#endif \ No newline at end of file diff --git a/src/UAV/Modules/ugv_control/include/ugv_controller.h b/src/UAV/Modules/ugv_control/include/ugv_controller.h deleted file mode 100644 index 0c91e99..0000000 --- a/src/UAV/Modules/ugv_control/include/ugv_controller.h +++ /dev/null @@ -1,136 +0,0 @@ -#ifndef UGV_CONTROLLER_H -#define UGV_CONTROLLER_H -#include -#include - -#include -#include -#include -#include - -#include "math_utils.h" -#include "Smoother.h" -#include "angles/angles.h" // vinson: shortest_angular_distance -#include "printf_utils.h" - -// 宏定义 -#define NUM_POINT 2 // 打印小数点 - -// 变量 -int ugv_id; // 无人车编号 -string ugv_name; // 无人车名字 -Eigen::Vector2f geo_fence_x,geo_fence_y; //Geigraphical fence 地理围栏 -prometheus_msgs::UgvCommand Command_Now; // 无人车当前执行命令 -prometheus_msgs::UgvCommand Command_Last; // 无人车上一条执行命令 -prometheus_msgs::UgvState _UgvState; // 无人车状态 -Eigen::Vector3d pos_ugv; // 无人车位置 -Eigen::Vector3d vel_ugv; // 无人车速度 -float yaw_ugv; // 无人车偏航角 -float k_p,k_yaw; // 速度控制参数 -float max_vel; // 无人车最大速度 -bool flag_printf; // 是否打印 -geometry_msgs::Twist cmd_vel; // 底层速度指令 - -// 订阅 -ros::Subscriber command_sub; -ros::Subscriber ugv_state_sub; - -// 发布 -ros::Publisher cmd_pub; - -/// @brief 速度平滑器 -/// @details 无视了小车加速度，简单实现了速度的平滑控制，使得小车的速度不会变化太大 -TB2::Smoother sm; - -double dist,direct,yaw_error; -bool only_rotate; -bool first_arrive; // 在距离上到达并停下之前都为false -bool stop_flag; - -void init(ros::NodeHandle &nh) -{ - nh.param("ugv_id", ugv_id, 0); - // 控制变量 - nh.param("k_p", k_p, 2.0f); - nh.param("k_yaw", k_yaw, 2.0f); - nh.param("max_vel", max_vel, 2.0f); - // 是否打印消息 - nh.param("flag_printf", flag_printf, false); - // 地理围栏 - nh.param("geo_fence/x_min", geo_fence_x[0], -100.0f); - nh.param("geo_fence/x_max", geo_fence_x[1], 100.0f); - nh.param("geo_fence/y_min", geo_fence_y[0], -100.0f); - nh.param("geo_fence/y_max", geo_fence_y[1], 100.0f); - - ugv_name = "/ugv" + std::to_string(ugv_id); - - // 初始化命令 - Command_Now.Mode = prometheus_msgs::UgvCommand::Hold; - Command_Now.Command_ID = 0; - Command_Now.linear_vel[0] = 0; - Command_Now.linear_vel[1] = 0; - Command_Now.angular_vel = 0; - - sm = TB2::Smoother("smoother"); - only_rotate = true; - - cout << GREEN << "ugv_controller_ugv_" << ugv_id << " init."<< TAIL <>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>回调函数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -void ugv_command_cb(const prometheus_msgs::UgvCommand::ConstPtr& msg) -{ - Command_Now = *msg; - only_rotate = true; // vinson: should be set for initializing. - first_arrive = true; - stop_flag = false; -} - -void ugv_state_cb(const prometheus_msgs::UgvState::ConstPtr& msg) -{ - _UgvState = *msg; - pos_ugv = Eigen::Vector3d(msg->position[0], msg->position[1], msg->position[2]); - vel_ugv = Eigen::Vector3d(msg->velocity[0], msg->velocity[1], msg->velocity[2]); - yaw_ugv = _UgvState.attitude[2]; -} - -void printf_state() -{ - cout <<">>>>>>>>>>>>>>>>>>>>>>>> Ugv Controller <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<" < geo_fence_x[1] || - _UgvState.position[1] < geo_fence_y[0] || _UgvState.position[1] > geo_fence_y[1]) - { - cout << RED << "Out of the geo fence, stop!" << TAIL < -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "tf2_ros/transform_broadcaster.h" //发布动态坐标关系 -#include "math_utils.h" -#include "printf_utils.h" - -// 宏定义 -#define TRA_WINDOW 20 // 发布轨迹长度 -#define TIMEOUT_MAX 0.1 // MOCAP超时阈值 - -// 变量 -int ugv_id; // 无人车编号 -string ugv_name; // 无人车名字(话题前缀) -bool sim_mode; -prometheus_msgs::UgvState ugv_state; // 无人车状态 -nav_msgs::Odometry ugv_odom; // 无人车odom -std::vector posehistory_vector_; // 无人车轨迹容器 -string mesh_resource; -ros::Time last_mocap_timestamp; // mocap时间戳 - -// 订阅话题 -ros::Subscriber gazebo_odom_sub; -ros::Subscriber mocap_pos_sub; -ros::Subscriber mocap_vel_sub; -ros::Subscriber battery_sub; -// 发布话题 -ros::Publisher ugv_state_pub; -ros::Publisher ugv_odom_pub; -ros::Publisher ugv_mesh_pub; -ros::Publisher trajectory_pub; - -void init(ros::NodeHandle &nh) -{ - // 读取参数 - nh.param("ugv_id", ugv_id, 0); - nh.param("sim_mode", sim_mode, false); - nh.param("mesh_resource", mesh_resource, std::string("package://prometheus_ugv_control/meshes/car.dae")); - - ugv_name = "/ugv" + std::to_string(ugv_id); - - // 变量初始化 - ugv_state.battery = 0.0; - ugv_state.position[0] = 0.0; - ugv_state.position[1] = 0.0; - ugv_state.position[2] = 0.0; - ugv_state.velocity[0] = 0.0; - ugv_state.velocity[1] = 0.0; - ugv_state.velocity[2] = 0.0; - ugv_state.attitude[0] = 0.0; - ugv_state.attitude[1] = 0.0; - ugv_state.attitude[2] = 0.0; - ugv_state.attitude_q.x = 0.0; - ugv_state.attitude_q.y = 0.0; - ugv_state.attitude_q.z = 0.0; - ugv_state.attitude_q.w = 1.0; - - last_mocap_timestamp = ros::Time::now(); - - cout << GREEN << "ugv_estimator_ugv_" << ugv_id << " init."<< TAIL <pose.position.x; - ugv_state.position[1] = msg->pose.position.y; - ugv_state.position[2] = msg->pose.position.z; - // ugv_state赋值 - 四元数 - ugv_state.attitude_q = msg->pose.orientation; - // ugv_state赋值 - 欧拉角 - Eigen::Quaterniond q_mocap = Eigen::Quaterniond(msg->pose.orientation.w, msg->pose.orientation.x, msg->pose.orientation.y, msg->pose.orientation.z); - Eigen::Vector3d euler_mocap = quaternion_to_euler(q_mocap); - ugv_state.attitude[0] = euler_mocap[0]; - ugv_state.attitude[1] = euler_mocap[1]; - ugv_state.attitude[2] = euler_mocap[2]; - - // 记录收到mocap的时间戳 - last_mocap_timestamp = ros::Time::now(); -} - -void mocap_vel_cb(const geometry_msgs::TwistStamped::ConstPtr &msg) -{ - // ugv_state赋值 - 速度 - ugv_state.velocity[0] = msg->twist.linear.x; - ugv_state.velocity[1] = msg->twist.linear.y; - ugv_state.velocity[2] = msg->twist.linear.z; -} - -void battery_cb(const std_msgs::Float32::ConstPtr &msg) -{ - ugv_state.battery = msg->data; -} - -void gazebo_cb(const nav_msgs::Odometry::ConstPtr &msg) -{ - // ugv_state赋值 - 位置 - ugv_state.position[0] = msg->pose.pose.position.x; - ugv_state.position[1] = msg->pose.pose.position.y; - ugv_state.position[2] = msg->pose.pose.position.z; - // ugv_state赋值 - 速度 - ugv_state.velocity[0] = msg->twist.twist.linear.x; - ugv_state.velocity[1] = msg->twist.twist.linear.y; - ugv_state.velocity[2] = msg->twist.twist.linear.z; - // ugv_state赋值 - 四元数 - ugv_state.attitude_q = msg->pose.pose.orientation; - // ugv_state赋值 - 欧拉角 - Eigen::Quaterniond q_gazebo = Eigen::Quaterniond(msg->pose.pose.orientation.w, msg->pose.pose.orientation.x, msg->pose.pose.orientation.y, msg->pose.pose.orientation.z); - Eigen::Vector3d euler_gazebo = quaternion_to_euler(q_gazebo); - ugv_state.attitude[0] = euler_gazebo[0]; - ugv_state.attitude[1] = euler_gazebo[1]; - ugv_state.attitude[2] = euler_gazebo[2]; -} - -void timercb_ugv_state(const ros::TimerEvent &e) -{ - // 如果长时间未收到mocap数据，则一直给飞控发送旧数据，此处显示timeout - if(!sim_mode && get_time_in_sec(last_mocap_timestamp) > TIMEOUT_MAX) - { - cout << RED << "Mocap Timeout : " << get_time_in_sec(last_mocap_timestamp) << " [ s ]"<< TAIL < TRA_WINDOW) - { - posehistory_vector_.pop_back(); - } - - nav_msgs::Path ugv_trajectory; - ugv_trajectory.header.stamp = ros::Time::now(); - ugv_trajectory.header.frame_id = "world"; - ugv_trajectory.poses = posehistory_vector_; - trajectory_pub.publish(ugv_trajectory); - - // 发布mesh - visualization_msgs::Marker meshROS; - meshROS.header.frame_id = "world"; - meshROS.header.stamp = ros::Time::now(); - meshROS.ns = "ugv_mesh"; - meshROS.id = 0; - meshROS.type = visualization_msgs::Marker::MESH_RESOURCE; - meshROS.action = visualization_msgs::Marker::ADD; - meshROS.pose.position.x = ugv_state.position[0]; - meshROS.pose.position.y = ugv_state.position[1]; - meshROS.pose.position.z = ugv_state.position[2]; - meshROS.pose.orientation = ugv_state.attitude_q; - meshROS.scale.x = 0.6/4.5; - meshROS.scale.y = 0.6/4.5; - meshROS.scale.z = 0.6/4.5; - meshROS.color.a = 1.0; - meshROS.color.r = 0.0; - meshROS.color.g = 0.0; - meshROS.color.b = 1.0; - meshROS.mesh_resource = mesh_resource; - ugv_mesh_pub.publish(meshROS); - - // 发布TF用于RVIZ显示（激光雷达与无人车的tf） - static tf2_ros::TransformBroadcaster broadcaster; - geometry_msgs::TransformStamped tfs; - // |----头设置 - tfs.header.frame_id = "world"; //相对于世界坐标系 - tfs.header.stamp = ros::Time::now(); //时间戳 - // |----坐标系 ID - tfs.child_frame_id = ugv_name + "/lidar_link"; //子坐标系，无人车的坐标系 - // |----坐标系相对信息设置 偏移量 无人车相对于世界坐标系的坐标 - tfs.transform.translation.x = ugv_state.position[0]; - tfs.transform.translation.y = ugv_state.position[1]; - tfs.transform.translation.z = ugv_state.position[2]; - // |--------- 四元数设置 - tfs.transform.rotation = ugv_state.attitude_q; - // 发布数据 - broadcaster.sendTransform(tfs); -} -#endif \ No newline at end of file diff --git a/src/UAV/Modules/ugv_control/meshes/car.dae b/src/UAV/Modules/ugv_control/meshes/car.dae deleted file mode 100644 index fdbd3dc..0000000 --- a/src/UAV/Modules/ugv_control/meshes/car.dae +++ /dev/null @@ -1,167 +0,0 @@ - - - - - Blender User - Blender 2.90.1 - - 2021-04-06T15:05:55 - 2021-04-06T15:05:55 - - Z_UP - - - - - - - - 0 0 0 1 - - - 0.8000001 0 0.009980693 1 - - - 0.5 - - - - - - - - - - - 0 0 0 1 - - - 0.8 0.8 0.8 1 - - - 1.45 - - - - - - - - - - - 0 0 0 1 - - - 0 0 0 1 - - - 1.45 - - - - - - - - - - - 0 0 0 1 - - - 0.8000001 0 0.008083365 1 - - - 1.45 - - - - - - - - - - - - - - - - - - - - - - - - - - -2.155484 6.40185 1.775009 -2.168594 6.366343 1.823899 -2.109326 6.400212 1.785115 -2.109326 6.316635 1.749063 -2.160673 6.327285 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725 113080 725 113081 59325 113081 508 113081 724 113082 725 113082 508 113082 723 113083 724 113083 508 113083 722 18802 723 18802 508 18802 721 113084 722 113084 510 113084 719 113085 721 113085 510 113085 720 113086 714 113086 59019 113086 718 113087 719 113087 510 113087 717 113088 718 113088 512 113088 716 113089 717 113089 512 113089 715 113090 716 113090 512 113090 713 113091 715 113091 515 113091 714 112603 707 112603 58769 112603 712 113092 713 113092 515 113092 711 113093 712 113093 515 113093 710 113094 711 113094 517 113094 709 113095 710 113095 517 113095 708 113096 709 113096 517 113096 517 113097 706 113097 708 113097 707 113098 702 113098 58757 113098 517 113099 705 113099 706 113099 705 106336 519 106336 704 106336 519 113100 703 113100 704 113100 703 113101 522 113101 701 113101 58756 113102 702 113102 696 113102 700 19206 701 19206 522 19206 522 113103 699 113103 700 113103 699 113104 524 113104 698 113104 697 113105 698 113105 524 113105 524 113106 695 113106 697 113106 691 106344 696 106344 694 106344 526 113107 59239 113107 692 113107 694 260 693 260 691 260 690 113108 692 113108 59239 113108 691 113109 685 113109 58743 113109 689 113110 690 113110 59092 113110 688 260 689 260 59089 260 688 18658 59086 18658 687 18658 686 113111 687 113111 59326 113111 630 260 59326 260 687 260 630 260 635 260 59326 260 58744 260 685 260 684 260 684 113112 683 113112 58746 113112 640 113113 58746 113113 683 113113 683 55099 59065 55099 640 55099 680 113114 59065 113114 683 113114 639 113115 681 113115 623 113115 678 260 58638 260 680 260 675 113116 679 113116 58631 113116 677 113117 58630 113117 678 113117 58617 55075 677 55075 676 55075 676 63780 674 63780 58617 63780 58618 55079 673 55079 672 55079 677 113118 672 113118 669 113118 677 113119 669 113119 668 113119 58628 18860 668 18860 667 18860 666 113120 664 113120 58627 113120 661 112665 59100 112665 662 112665 660 113121 58634 113121 658 113121 657 19913 656 19913 59103 19913 653 106361 58644 106361 651 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260 59247 113135 545 113135 575 113135 574 113136 573 113136 1036 113136 570 113137 569 113137 1023 113137 1005 113138 569 113138 568 113138 566 113139 953 113139 568 113139 57573 113140 566 113140 565 113140 564 113141 57571 113141 565 113141 564 113142 563 113142 57563 113142 58539 113143 563 113143 560 113143 567 113144 561 113144 562 113144 571 113145 547 113145 561 113145 559 113146 58539 113146 560 113146 559 113147 557 113147 57556 113147 556 113148 57551 113148 557 113148 57552 113149 556 113149 554 113149 558 113150 548 113150 555 113150 554 113151 553 113151 57554 113151 552 113152 57555 113152 553 113152 551 113153 550 113153 57545 113153 546 113154 57469 113154 549 113154 558 113155 547 113155 548 113155 544 113156 57460 113156 546 113156 545 113157 59246 113157 543 113157 542 113158 57460 113158 544 113158 543 113159 59242 113159 541 113159 540 113160 57430 113160 542 113160 541 113161 59222 113161 539 113161 537 113162 57429 113162 540 113162 539 113163 59223 113163 538 113163 535 113164 538 113164 59226 113164 536 113165 57429 113165 537 113165 534 113166 57421 113166 536 113166 533 113167 535 113167 59230 113167 534 113168 532 113168 57419 113168 530 113169 533 113169 59233 113169 532 113170 531 113170 57419 113170 529 113171 57403 113171 531 113171 528 113172 530 113172 59236 113172 527 113173 57397 113173 529 113173 526 113174 528 113174 59239 113174 525 113175 57397 113175 527 113175 524 113176 526 113176 695 113176 523 113177 57390 113177 525 113177 522 113178 524 113178 699 113178 521 113179 57388 113179 523 113179 519 113180 522 113180 703 113180 520 113181 57388 113181 521 113181 518 113182 57389 113182 520 113182 517 113183 519 113183 705 113183 518 113184 516 113184 57344 113184 515 113185 517 113185 711 113185 516 113186 514 113186 57344 113186 512 113187 515 113187 715 113187 513 113188 57332 113188 514 113188 511 113189 57857 113189 513 113189 510 106270 512 106270 718 106270 509 113190 57857 113190 511 113190 508 113191 510 113191 722 113191 507 113192 57977 113192 509 113192 506 113193 508 113193 59325 113193 505 113194 57967 113194 507 113194 503 113195 506 113195 740 113195 504 113196 57967 113196 505 113196 502 113197 57966 113197 504 113197 501 113198 503 113198 737 113198 502 113199 500 113199 57963 113199 499 113200 501 113200 734 113200 500 113201 496 113201 57963 113201 498 106307 499 106307 743 106307 498 113202 748 113202 497 113202 497 113203 752 113203 492 113203 57754 113204 496 113204 495 113204 57292 113205 494 113205 493 113205 491 113206 57292 113206 493 113206 492 113207 756 113207 490 113207 489 113208 763 113208 491 113208 490 113209 759 113209 487 113209 488 113210 764 113210 489 113210 766 113211 488 113211 486 113211 759 113212 485 113212 487 113212 486 113213 482 113213 801 113213 758 113214 484 113214 485 113214 484 113215 761 113215 483 113215 481 113216 483 113216 774 113216 480 113217 481 113217 774 113217 475 113218 479 113218 476 113218 482 113219 475 113219 473 113219 473 113220 472 113220 802 113220 472 113221 471 113221 806 113221 465 113222 471 113222 468 113222 474 113223 469 113223 470 113223 467 113224 469 113224 478 113224 468 113225 466 113225 465 113225 462 113226 59319 113226 465 113226 462 113227 460 113227 843 113227 460 113228 459 113228 919 113228 458 113229 850 113229 459 113229 456 113230 846 113230 458 113230 448 113231 846 113231 456 113231 446 113232 842 113232 448 113232 447 113233 450 113233 444 113233 446 113234 445 113234 813 113234 838 113235 445 113235 443 113235 450 113236 442 113236 444 113236 443 113237 441 113237 837 113237 452 113238 440 113238 442 113238 453 113239 439 113239 440 113239 439 113240 453 113240 164 113240 441 113241 435 113241 434 113241 433 113242 835 113242 434 113242 831 113243 433 113243 431 113243 436 113244 430 113244 432 113244 429 113245 829 113245 431 113245 428 113246 830 113246 429 113246 405 113247 830 113247 428 113247 59328 113248 405 113248 428 113248 59328 113249 428 113249 426 113249 424 113250 59328 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113279 386 113280 383 113280 388 113280 73 113281 385 113281 387 113281 384 113282 383 113282 386 113282 382 113283 380 113283 59331 113283 380 113284 379 113284 59331 113284 379 113285 376 113285 59330 113285 375 113286 400 113286 376 113286 365 90620 366 90620 370 90620 365 113287 370 113287 142 113287 142 113288 370 113288 137 113288 359 113289 360 113289 364 113289 358 113290 359 113290 150 113290 160 113291 358 113291 150 113291 352 113292 358 113292 160 113292 352 113293 354 113293 358 113293 353 91033 351 91033 349 91033 345 113294 346 113294 350 113294 345 113295 350 113295 168 113295 339 113296 340 113296 344 113296 333 79184 334 79184 338 79184 327 79178 328 79178 332 79178 323 113297 325 113297 212 113297 246 113298 323 113298 212 113298 322 113299 323 113299 246 113299 322 113300 317 113300 318 113300 317 113301 322 113301 247 113301 257 113302 317 113302 247 113302 315 113303 317 113303 257 113303 313 113304 315 113304 258 113304 263 113305 313 113305 258 113305 311 113306 313 113306 263 113306 309 113307 311 113307 264 113307 274 113308 309 113308 264 113308 308 113309 309 113309 274 113309 308 113310 303 113310 304 113310 303 113311 308 113311 275 113311 280 113312 303 113312 275 113312 300 113313 303 113313 280 113313 58180 91286 301 91286 299 91286 299 113314 298 113314 58180 113314 58173 113315 298 113315 296 113315 58170 113316 296 113316 295 113316 293 113317 58169 113317 295 113317 292 113318 57893 113318 293 113318 292 113319 290 113319 58201 113319 289 113320 291 113320 294 113320 290 113321 288 113321 58201 113321 287 113322 289 113322 282 113322 288 113323 286 113323 58203 113323 286 113324 285 113324 57824 113324 57826 113325 285 113325 284 113325 283 113326 287 113326 282 113326 297 113327 281 113327 282 113327 281 113328 300 113328 280 113328 278 113329 284 113329 279 113329 277 113330 57828 113330 278 113330 280 113331 275 113331 276 113331 275 113332 308 113332 274 113332 272 113333 277 113333 273 113333 272 113334 271 113334 57830 113334 269 113335 57832 113335 271 113335 268 113336 57844 113336 269 113336 57314 113337 268 113337 267 113337 266 113338 270 113338 265 113338 274 113339 264 113339 265 113339 264 113340 311 113340 263 113340 261 113341 267 113341 262 113341 260 113342 57312 113342 261 113342 263 113343 258 113343 259 113343 258 113344 315 113344 257 113344 255 113345 260 113345 256 113345 254 113346 57309 113346 255 113346 254 113347 252 113347 57308 113347 252 113348 251 113348 58469 113348 58469 113349 251 113349 237 113349 59333 113350 251 113350 250 113350 244 113351 59333 113351 250 113351 251 113352 59333 113352 238 113352 249 113353 253 113353 248 113353 257 113354 247 113354 248 113354 247 113355 322 113355 246 113355 244 113356 250 113356 245 113356 240 113357 59333 113357 244 113357 59333 113358 240 113358 238 113358 237 113359 251 113359 238 113359 58469 113360 237 113360 235 113360 234 113361 57763 113361 235 113361 236 113362 232 113362 233 113362 232 113363 239 113363 231 113363 230 113364 229 113364 234 113364 229 113365 228 113365 57769 113365 57774 105509 228 105509 225 105509 231 113366 226 113366 227 113366 224 113367 57774 113367 225 113367 223 113368 785 113368 224 113368 780 113369 223 113369 221 113369 226 113370 220 113370 222 113370 218 113371 779 113371 221 113371 242 113372 219 113372 220 113372 218 113373 216 113373 779 113373 205 113374 779 113374 216 113374 217 113375 219 113375 215 113375 215 113376 219 113376 214 113376 214 113377 243 113377 213 113377 246 113378 212 113378 213 113378 212 113379 325 113379 210 113379 210 113380 327 113380 209 113380 207 113381 211 113381 208 113381 216 113382 207 113382 205 113382 204 113383 779 113383 205 113383 203 113384 776 113384 204 113384 202 113385 771 113385 203 113385 200 113386 201 113386 206 113386 198 113387 202 113387 199 113387 480 113388 198 113388 197 113388 196 113389 200 113389 195 113389 209 113390 194 113390 195 113390 194 113391 333 113391 193 113391 197 113392 192 113392 191 113392 197 113393 191 113393 190 113393 189 113394 477 113394 190 113394 193 113395 187 113395 188 113395 187 113396 339 113396 186 113396 185 113397 184 113397 189 113397 184 113398 183 113398 189 113398 182 113399 467 113399 183 113399 180 113400 463 113400 182 113400 464 113401 180 113401 179 113401 179 113402 178 113402 461 113402 178 113403 177 113403 457 113403 177 113404 175 113404 455 113404 173 113405 176 113405 172 113405 171 113406 172 113406 181 113406 186 113407 170 113407 171 113407 345 113408 168 113408 170 113408 174 82280 169 82280 166 82280 168 113409 350 113409 167 113409 165 113410 174 113410 166 113410 167 113411 161 113411 162 113411 161 113412 352 113412 160 113412 158 113413 163 113413 159 113413 157 113414 438 113414 158 113414 155 113415 430 113415 157 113415 154 113416 427 113416 155 113416 425 113417 154 113417 153 113417 152 113418 156 113418 151 113418 160 113419 150 113419 151 113419 150 113420 359 113420 149 113420 147 113421 153 113421 148 113421 149 113422 143 113422 144 113422 143 113423 365 113423 142 113423 140 113424 145 113424 141 113424 142 113425 137 113425 138 113425 370 113426 136 113426 137 113426 136 97992 371 97992 134 97992 134 113427 373 113427 131 113427 132 113428 130 113428 57500 113428 132 113429 57500 113429 82 113429 129 82075 131 82075 373 82075 130 113430 128 113430 57499 113430 125 113431 59334 113431 124 113431 59334 113432 59335 113432 124 113432 59335 113433 59334 113433 47 113433 108 113434 59335 113434 47 113434 108 113435 118 113435 59335 113435 49 113436 59334 113436 125 113436 52 113437 49 113437 125 113437 124 113438 59335 113438 122 113438 122 113439 59335 113439 119 113439 117 113440 57488 113440 120 113440 59335 113441 118 113441 119 113441 117 113442 116 113442 57485 113442 113 113443 57539 113443 115 113443 114 113444 109 113444 111 113444 109 113445 118 113445 108 113445 110 113446 107 113446 103 113446 100 113447 110 113447 103 113447 99 113448 112 113448 100 113448 98 113449 113 113449 99 113449 96 113450 57530 113450 98 113450 92 113451 57505 113451 95 113451 90 113452 57502 113452 92 113452 87 113453 57497 113453 90 113453 59337 113454 59336 113454 43 113454 59336 113455 106 113455 43 113455 85 113456 57498 113456 87 113456 59338 113457 59337 113457 42 113457 59339 113458 59338 113458 42 113458 59339 113459 42 113459 34 113459 59340 113460 59338 113460 59339 113460 59341 113461 59340 113461 59339 113461 59341 113462 59339 113462 33 113462 59342 113463 59341 113463 33 113463 27 113464 59341 113464 59342 113464 27 113465 59340 113465 59341 113465 59343 113466 59340 113466 27 113466 82 113467 57500 113467 85 113467 80 113468 132 113468 82 113468 77 113469 133 113469 80 113469 76 113470 135 113470 77 113470 74 113471 139 113471 76 113471 72 113472 385 113472 73 113472 385 113473 72 113473 71 113473 71 113474 70 113474 381 113474 70 113475 68 113475 378 113475 68 113476 66 113476 378 113476 66 113477 68 113477 67 113477 66 113478 64 113478 378 113478 63 113479 377 113479 64 113479 59 113480 36 113480 58 113480 58 113481 36 113481 56 113481 56 113482 37 113482 53 113482 52 113483 125 113483 54 113483 53 113484 37 113484 51 113484 50 113485 49 113485 52 113485 59334 113486 49 113486 48 113486 47 113487 59334 113487 48 113487 108 113488 47 113488 46 113488 104 113489 46 113489 44 113489 43 113490 106 113490 44 113490 42 105891 59337 105891 43 105891 34 113491 42 113491 39 113491 45 113492 40 113492 41 113492 40 113493 51 113493 38 113493 51 113494 37 113494 38 113494 36 113495 37 113495 56 113495 35 113496 34 113496 39 113496 33 113497 59339 113497 34 113497 59342 113498 33 113498 30 113498 36 113499 31 113499 32 113499 29 113500 59342 113500 30 113500 28 113501 59342 113501 29 113501 28 113502 27 113502 59342 113502 25 113503 59343 113503 27 113503 25 113504 24 113504 78 113504 20 113505 23 113505 21 113505 69 113506 20 113506 19 113506 16 113507 5 113507 19 113507 22 113508 17 113508 18 113508 16 113509 15 113509 57553 113509 14 113510 57550 113510 15 113510 17 113511 12 113511 13 113511 12 113512 26 113512 10 113512 11 113513 9 113513 14 113513 1 113514 6 113514 10 113514 9 113515 8 113515 58540 113515 7 113516 5 113516 16 113516 5 113517 4 113517 19 113517 65 113518 4 113518 3 113518 2 113519 60 113519 3 113519 1 113520 31 113520 2 113520 6 113521 1 113521 0 113521 59396 113522 59395 113522 59397 113522 59485 2324 59486 2324 59484 2324 59552 113523 59551 113523 59553 113523 59554 113524 59552 113524 59553 113524 59562 113525 59559 113525 59557 113525 59394 113526 59549 113526 59397 113526 59566 113527 59520 113527 59565 113527 59567 113528 59521 113528 59566 113528 59525 113529 59568 113529 59569 113529 59570 113530 59569 113530 59571 113530 59572 113531 59571 113531 59573 113531 59577 113532 59581 113532 59579 113532 59576 113533 59585 113533 59577 113533 59567 113534 59523 113534 59521 113534 59566 113535 59521 113535 59520 113535 59407 113536 59503 113536 59502 113536 59499 2324 59586 2324 59500 2324 59608 113537 59607 113537 59591 113537 59610 113538 59609 113538 59590 113538 59610 113539 59590 113539 59611 113539 59669 113540 59586 113540 59671 113540 59686 113541 59684 113541 59685 113541 59687 113542 59686 113542 59685 113542 59783 113543 59784 113543 59785 113543 59811 113544 59813 113544 59816 113544 59724 113545 59841 113545 59726 113545 59717 113546 59719 113546 59720 113546 59843 113547 59846 113547 59641 113547 59639 113548 59633 113548 59629 113548 59627 113549 59624 113549 59621 113549 59598 2324 59595 2324 59592 2324 59407 113550 59428 113550 59408 113550 59858 113551 59860 113551 59861 113551 59858 113552 59861 113552 59862 113552 59877 113553 59876 113553 59874 113553 59852 2324 59885 2324 59883 2324 59891 113554 59855 113554 59866 113554 59901 113555 59902 113555 59900 113555 59904 113556 59902 113556 59905 113556 59904 113557 59905 113557 59898 113557 59898 113558 59905 113558 59906 113558 59907 113559 59898 113559 59906 113559 59878 2324 59923 2324 59925 2324 59922 113560 59928 113560 59917 113560 59922 113561 59917 113561 59929 113561 59938 113562 59933 113562 59919 113562 59923 2324 59921 2324 59906 2324 59860 113563 59863 113563 59861 113563 59356 113564 59358 113564 59404 113564 59354 113565 59356 113565 59404 113565

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5 4 6 4 0 4 5 5 7 5 6 5 7 6 8 6 6 6 22 21 21 21 23 21 23 22 24 22 22 22 24 24 12 24 17 24 57 67 61 67 60 67 60 68 61 68 62 68 23 85 73 85 74 85 75 86 23 86 74 86 95 107 96 107 94 107 96 108 97 108 94 108 97 113 101 113 93 113 101 115 102 115 91 115 102 119 105 119 89 119 88 122 105 122 106 122 123 147 126 147 54 147 126 148 127 148 54 148 127 149 126 149 128 149 129 150 127 150 128 150 153 178 154 178 152 178 154 179 155 179 152 179 152 180 155 180 156 180 155 181 157 181 156 181 156 182 157 182 158 182 174 200 175 200 173 200 302 348 305 348 304 348 305 349 306 349 304 349 304 350 306 350 307 350 316 362 319 362 318 362 318 363 319 363 320 363 318 364 320 364 321 364 326 372 329 372 328 372 329 373 330 373 328 373 328 374 330 374 331 374 331 381 335 381 334 381 335 382 336 382 334 382 334 383 336 383 337 383 337 390 341 390 340 390 341 391 342 391 340 391 340 392 342 392 343 392 343 398 347 398 346 398 347 399 348 399 346 399 346 400 348 400 349 400 353 408 355 408 354 408 355 409 356 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501 609 502 609 503 610 502 610 504 610 503 611 504 611 505 611 506 612 503 612 505 612 506 613 505 613 507 613 508 614 506 614 507 614 508 615 507 615 509 615 510 616 508 616 509 616 510 617 509 617 511 617 512 618 510 618 511 618 512 619 511 619 513 619 512 620 513 620 514 620 515 621 512 621 514 621 517 623 515 623 516 623 517 624 516 624 518 624 519 625 517 625 518 625 519 626 518 626 520 626 519 627 520 627 521 627 522 628 519 628 521 628 522 629 521 629 523 629 524 630 522 630 523 630 524 631 523 631 525 631 526 632 524 632 525 632 526 633 525 633 527 633 528 634 526 634 527 634 530 636 528 636 529 636 530 637 529 637 531 637 533 639 530 639 532 639 533 640 532 640 534 640 535 641 533 641 534 641 535 642 534 642 536 642 535 643 536 643 537 643 538 644 535 644 537 644 539 645 538 645 537 645 539 646 537 646 540 646 541 647 539 647 540 647 541 648 540 648 542 648 543 649 541 649 542 649 543 650 542 650 544 650 545 651 543 651 544 651 545 652 544 652 546 652 547 653 545 653 546 653 548 654 547 654 546 654 548 655 546 655 549 655 548 656 549 656 550 656 550 657 551 657 548 657 551 658 552 658 548 658 552 659 553 659 548 659 571 680 570 680 572 680 571 681 572 681 573 681 571 682 573 682 545 682 588 688 586 688 587 688 588 689 587 689 589 689 589 689 590 689 588 689 588 690 590 690 591 690 591 691 592 691 588 691 595 689 596 689 587 689 597 697 596 697 595 697 597 689 595 689 598 689 597 698 598 698 582 698 601 703 602 703 603 703 603 689 591 689 601 689 604 704 601 704 591 704 605 705 603 705 602 705 604 711 590 711 609 711 609 689 610 689 604 689 611 689 604 689 610 689 611 689 610 689 612 689 612 712 613 712 611 712 611 689 613 689 614 689 618 718 619 718 620 718 618 719 620 719 621 719 621 689 622 689 618 689 623 720 618 720 622 720 623 689 622 689 624 689 624 689 625 689 623 689 626 689 623 689 625 689 625 689 627 689 626 689 626 721 627 721 628 721 631 723 626 723 630 723 631 724 630 724 632 724 631 689 632 689 633 689 631 725 633 725 634 725 637 728 634 728 636 728 637 729 636 729 638 729 639 730 637 730 638 730 639 689 638 689 640 689 639 731 640 731 641 731 639 732 641 732 642 732 639 733 642 733 643 733 639 734 643 734 644 734 644 689 645 689 639 689 646 689 639 689 645 689 645 689 647 689 646 689 648 735 646 735 647 735 648 736 647 736 649 736 649 689 650 689 648 689 651 689 648 689 650 689 650 737 652 737 651 737 653 738 651 738 652 738 652 689 654 689 653 689 655 689 653 689 654 689 655 689 654 689 656 689 656 689 657 689 655 689 658 689 655 689 657 689 657 689 659 689 658 689 660 689 658 689 659 689 660 689 659 689 661 689 661 689 662 689 660 689 663 689 660 689 662 689 662 689 664 689 663 689 665 689 663 689 664 689 664 689 666 689 665 689 665 689 666 689 667 689 670 741 665 741 669 741 671 742 670 742 669 742 669 743 672 743 671 743 671 744 672 744 673 744 673 689 674 689 671 689 675 689 671 689 674 689 674 689 676 689 675 689 675 745 676 745 677 745 678 747 680 747 679 747 639 748 679 748 680 748 498 791 746 791 747 791 498 792 747 792 748 792 747 793 749 793 748 793 795 857 793 857 794 857 810 875 342 875 809 875 347 876 342 876 810 876 811 877 347 877 810 877 826 895 361 895 823 895 361 896 356 896 823 896 401 897 361 897 826 897 823 923 355 923 820 923 355 924 839 924 820 924 820 927 839 927 817 927 839 928 348 928 817 928 817 931 348 931 815 931 843 940 844 940 842 940 844 941 845 941 842 941 858 959 859 959 860 959 858 960 860 960 413 960 866 966 865 966 860 966 866 967 867 967 865 967 867 968 868 968 865 968 868 969 869 969 865 969 873 986 884 986 885 986 873 987 885 987 864 987 885 988 886 988 864 988 886 989 887 989 864 989 921 1039 920 1039 869 1039 920 1040 921 1040 845 1040 935 1060 933 1060 934 1060 934 1061 936 1061 935 1061 938 219 939 219 937 219 952 1079 954 1079 953 1079 975 1102 978 1102 979 1102 988 1113 987 1113 989 1113 997 1120 996 1120 998 1120 998 1121 999 1121 997 1121 1000 689 997 689 999 689 1000 1122 999 1122 1001 1122 1004 1125 1003 1125 1001 1125 1009 689 1008 689 996 689 1019 1157 1018 1157 1020 1157 1020 1158 1021 1158 1019 1158 1022 1159 1019 1159 1021 1159 1022 1160 1021 1160 1023 1160 1021 1163 1024 1163 1023 1163 570 1164 1023 1164 1024 1164 1024 1165 1021 1165 1025 1165 1024 1166 1025 1166 572 1166 1026 1167 572 1167 1025 1167 1052 689 1051 689 1053 689 1052 1185 1053 1185 1054 1185 1052 689 1054 689 1055 689 1052 1186 1055 1186 1056 1186 1052 1187 1056 1187 1057 1187 1052 1188 1057 1188 1058 1188 1052 1189 1058 1189 1059 1189 1052 1190 1059 1190 1060 1190 1060 689 1061 689 1052 689 1062 689 1052 689 1061 689 1061 1191 1063 1191 1062 1191 1065 689 596 689 1062 689 1066 689 596 689 1065 689 1065 689 1059 689 1066 689 1067 689 1066 689 1059 689 1068 689 1066 689 1067 689 1067 1194 1040 1194 1068 1194 1040 1195 1046 1195 1068 1195 1056 1195 1068 1195 1046 1195 1069 1196 1066 1196 1068 1196 1069 689 1068 689 1070 689 1071 1201 1070 1201 1047 1201 1055 1203 1047 1203 1070 1203 1070 1204 1068 1204 1055 1204 1072 689 1066 689 1069 689 1069 689 1051 689 1072 689 1072 1205 1051 1205 1073 1205 1073 1206 1074 1206 1072 1206 1038 1207 1072 1207 1074 1207 1079 1209 1078 1209 1080 1209 1081 1213 1084 1213 1083 1213 1083 1214 1084 1214 1085 1214 1083 689 1085 689 1086 689 1086 1215 1077 1215 1083 1215 1087 1215 1083 1215 1077 1215 1085 1216 1051 1216 1086 1216 1086 689 1051 689 1088 689 1088 1217 1078 1217 1086 1217 1080 1218 1088 1218 1051 1218 1051 1219 1089 1219 1080 1219 1051 1220 1090 1220 1089 1220 1090 1221 1091 1221 1089 1221 1095 1226 1094 1226 1096 1226 1097 1227 1095 1227 1096 1227 1096 1228 1098 1228 1097 1228 1097 1229 1098 1229 1099 1229 1097 689 1099 689 1100 689 1101 689 1100 689 1099 689 1101 689 1099 689 1102 689 1101 1230 1102 1230 1103 1230 1103 689 1104 689 1101 689 1101 1231 1104 1231 1105 1231 1106 1232 1105 1232 1104 1232 1104 1233 1107 1233 1106 1233 1108 1234 1106 1234 1107 1234 1108 1235 1107 1235 1109 1235 1109 219 1110 219 1108 219 1111 219 1108 219 1110 219 1111 1236 1110 1236 1112 1236 1112 1237 1113 1237 1111 1237 1113 1238 1114 1238 1111 1238 1115 1239 1111 1239 1114 1239 1114 1240 1116 1240 1115 1240 1117 1241 1115 1241 1116 1241 1117 1242 1116 1242 1118 1242 1121 1244 1120 1244 1122 1244 1122 1245 1123 1245 1121 1245 1125 689 1123 689 1126 689 1126 689 1127 689 1125 689 1128 689 1125 689 1127 689 1127 689 1129 689 1128 689 1128 689 1129 689 1130 689 1130 1248 1131 1248 1128 1248 1131 1249 1120 1249 1128 1249 1132 1250 1128 1250 1120 1250 1129 1253 1134 1253 1136 1253 1129 689 1136 689 1137 689 1137 689 1138 689 1129 689 1129 689 1138 689 1139 689 1129 689 1139 689 1140 689 1141 689 1140 689 1139 689 1139 1254 1142 1254 1141 1254 1143 689 1141 689 1142 689 1142 689 1144 689 1143 689 1143 1255 1144 1255 1145 1255 1146 1256 1143 1256 1145 1256 1145 1257 1147 1257 1146 1257 1148 689 1146 689 1147 689 1147 1258 1149 1258 1148 1258 1148 1259 1149 1259 1150 1259 1151 1260 1148 1260 1150 1260 1152 1261 1151 1261 1150 1261 1153 1262 1152 1262 1150 1262 1150 1263 1154 1263 1153 1263 1155 1264 1153 1264 1154 1264 1154 1265 1156 1265 1155 1265 1156 1266 1157 1266 1155 1266 1158 1267 1155 1267 1157 1267 1159 1268 1158 1268 1157 1268 1159 1269 1157 1269 1160 1269 1161 1270 1159 1270 1160 1270 1161 1271 1160 1271 1162 1271 1161 219 1162 219 1163 219 1161 1272 1163 1272 1164 1272 1161 1273 1164 1273 1165 1273 1161 1274 1165 1274 1166 1274 1166 219 1167 219 1161 219 1168 1275 1161 1275 1167 1275 1169 1276 1168 1276 1167 1276 1169 1277 1167 1277 1170 1277 1170 1278 1171 1278 1169 1278 1169 1279 1171 1279 1172 1279 1173 1280 1169 1280 1172 1280 1174 1281 1173 1281 1172 1281 1174 1282 1172 1282 1175 1282 1175 1283 1176 1283 1174 1283 1177 1284 1174 1284 1176 1284 1177 1285 1176 1285 1178 1285 1179 1286 1177 1286 1178 1286 1180 1287 1179 1287 1178 1287 1181 1288 1180 1288 1178 1288 1182 1289 1181 1289 1178 1289 1182 1290 1178 1290 1183 1290 1182 1291 1183 1291 1184 1291 1185 1292 1182 1292 1184 1292 1186 1293 1185 1293 1184 1293 1186 1294 1184 1294 1187 1294 1188 1295 1186 1295 1187 1295 1188 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113422 144 113422 143 113423 365 113423 142 113423 140 113424 145 113424 141 113424 142 113425 137 113425 138 113425 370 113426 136 113426 137 113426 136 97992 371 97992 134 97992 134 113427 373 113427 131 113427 132 113428 130 113428 57500 113428 132 113429 57500 113429 82 113429 129 82075 131 82075 373 82075 130 113430 128 113430 57499 113430 125 113431 59334 113431 124 113431 59334 113432 59335 113432 124 113432 59335 113433 59334 113433 47 113433 108 113434 59335 113434 47 113434 108 113435 118 113435 59335 113435 49 113436 59334 113436 125 113436 52 113437 49 113437 125 113437 124 113438 59335 113438 122 113438 122 113439 59335 113439 119 113439 117 113440 57488 113440 120 113440 59335 113441 118 113441 119 113441 117 113442 116 113442 57485 113442 113 113443 57539 113443 115 113443 114 113444 109 113444 111 113444 109 113445 118 113445 108 113445 110 113446 107 113446 103 113446 100 113447 110 113447 103 113447 99 113448 112 113448 100 113448 98 113449 113 113449 99 113449 96 113450 57530 113450 98 113450 92 113451 57505 113451 95 113451 90 113452 57502 113452 92 113452 87 113453 57497 113453 90 113453 59337 113454 59336 113454 43 113454 59336 113455 106 113455 43 113455 85 113456 57498 113456 87 113456 59338 113457 59337 113457 42 113457 59339 113458 59338 113458 42 113458 59339 113459 42 113459 34 113459 59340 113460 59338 113460 59339 113460 59341 113461 59340 113461 59339 113461 59341 113462 59339 113462 33 113462 59342 113463 59341 113463 33 113463 27 113464 59341 113464 59342 113464 27 113465 59340 113465 59341 113465 59343 113466 59340 113466 27 113466 82 113467 57500 113467 85 113467 80 113468 132 113468 82 113468 77 113469 133 113469 80 113469 76 113470 135 113470 77 113470 74 113471 139 113471 76 113471 72 113472 385 113472 73 113472 385 113473 72 113473 71 113473 71 113474 70 113474 381 113474 70 113475 68 113475 378 113475 68 113476 66 113476 378 113476 66 113477 68 113477 67 113477 66 113478 64 113478 378 113478 63 113479 377 113479 64 113479 59 113480 36 113480 58 113480 58 113481 36 113481 56 113481 56 113482 37 113482 53 113482 52 113483 125 113483 54 113483 53 113484 37 113484 51 113484 50 113485 49 113485 52 113485 59334 113486 49 113486 48 113486 47 113487 59334 113487 48 113487 108 113488 47 113488 46 113488 104 113489 46 113489 44 113489 43 113490 106 113490 44 113490 42 105891 59337 105891 43 105891 34 113491 42 113491 39 113491 45 113492 40 113492 41 113492 40 113493 51 113493 38 113493 51 113494 37 113494 38 113494 36 113495 37 113495 56 113495 35 113496 34 113496 39 113496 33 113497 59339 113497 34 113497 59342 113498 33 113498 30 113498 36 113499 31 113499 32 113499 29 113500 59342 113500 30 113500 28 113501 59342 113501 29 113501 28 113502 27 113502 59342 113502 25 113503 59343 113503 27 113503 25 113504 24 113504 78 113504 20 113505 23 113505 21 113505 69 113506 20 113506 19 113506 16 113507 5 113507 19 113507 22 113508 17 113508 18 113508 16 113509 15 113509 57553 113509 14 113510 57550 113510 15 113510 17 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- - - - - - - - 0.27 0 0 -0.3056743 0 0.27 0 -0.645954 0 0 0.27 0.001432426 0 0 0 1 - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/src/UAV/Modules/ugv_control/package.xml b/src/UAV/Modules/ugv_control/package.xml deleted file mode 100644 index 8a4a86d..0000000 --- a/src/UAV/Modules/ugv_control/package.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - prometheus_ugv_control - 0.0.0 - The prometheus_ugv_control package - - Yuhua Qi - Yuhua Qi - TODO - - http://www.amovauto.com/ - https://github.com/potato77/prometheus_ugv_control.git - - message_generation - message_runtime - - catkin - std_msgs - std_msgs - std_msgs - - - - - - - - diff --git a/src/UAV/Modules/ugv_control/src/Smoother.cpp b/src/UAV/Modules/ugv_control/src/Smoother.cpp deleted file mode 100644 index afebeec..0000000 --- a/src/UAV/Modules/ugv_control/src/Smoother.cpp +++ /dev/null @@ -1,62 +0,0 @@ -/// @file Smoother.cpp -/// @author Vinson Sheep (775014077@qq.com) -/// @brief -/// @version 2.0 -/// @date 2021-04-28 -/// -/// @copyright Copyright (c) 2021 -/// - -#include "Smoother.h" - -namespace TB2 -{ - -Smoother::Smoother(){} -Smoother::~Smoother(){} - -Smoother::Smoother(const string name) -{ - ros::NodeHandle private_nh("~" + name); - - private_nh.param("max_lin_vel", MAX_LIN_VEL_, 1.00); - private_nh.param("max_ang_vel", MAX_ANG_VEL_, 2.00); - private_nh.param("lin_step_size", LIN_STEP_SIZE_, 0.10); - private_nh.param("ang_step_size", ANG_STEP_SIZE_, 0.20); - - ROS_INFO("%f, %f, %f, %f", MAX_LIN_VEL_, MAX_ANG_VEL_, LIN_STEP_SIZE_, ANG_STEP_SIZE_); -} - -const double Smoother::make_simple_profile(const double input, const double output, - const double slot){ - if (input > output){ - return min(input, output + slot/2); - } - else if (input < output){ - return max(input, output - slot/2); - } - return output; -} - - -const double Smoother::constrain(const double input, const double low, const double high){ - if (input > high) - return high; - else if (input < low) - return low; - return input; -} - - -void Smoother::smooth(const double cur_linear_vel, const double cur_angular_vel, - double &target_linear_vel, double &target_angular_vel){ - target_linear_vel = constrain(target_linear_vel, -MAX_LIN_VEL_, MAX_LIN_VEL_); - target_linear_vel = make_simple_profile(target_linear_vel, - cur_linear_vel, LIN_STEP_SIZE_); - target_angular_vel = constrain(target_angular_vel, -MAX_ANG_VEL_, MAX_ANG_VEL_); - target_angular_vel = make_simple_profile(target_angular_vel, - cur_angular_vel, ANG_STEP_SIZE_); - -} - -} diff --git a/src/UAV/Modules/ugv_control/src/fake_vicon.cpp b/src/UAV/Modules/ugv_control/src/fake_vicon.cpp deleted file mode 100644 index 973b054..0000000 --- a/src/UAV/Modules/ugv_control/src/fake_vicon.cpp +++ /dev/null @@ -1,70 +0,0 @@ -/*************************************************************************************************************************** -* fake_vicon.cpp -* -* Author: Qyp -* -* Update Time: 2019.3.16 -* -* Introduction: test function for fake publish vicon topic -***************************************************************************************************************************/ - -//头文件 -#include -#include -#include -#include - - -using namespace std; -string rigid_body_name; -geometry_msgs::PoseStamped mocap; //发送给飞控的mocap(来源：mocap或laser) -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>主 函 数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -int main(int argc, char **argv) -{ - ros::init(argc, argv, "fake_vicon"); - ros::NodeHandle nh("~"); - - nh.param("rigid_body_name", rigid_body_name, "/ugv0"); - - // 【订阅】optitrack估计位置 - ros::Publisher optitrack_pub = nh.advertise("/vrpn_client_node"+ rigid_body_name + "/pose", 1000); - - // 频率 - ros::Rate rate(100.0); - - Eigen::Vector3d pos_vicon_enu(1,2,0); - - Eigen::Vector3d Euler_vicon(0,0.0/180*M_PI,10.0/180*M_PI); - - Eigen::Quaterniond q_vicon = quaternion_from_rpy(Euler_vicon); - - // Transform the Quaternion from NED to ENU - //Eigen::Quaterniond q_vicon_enu = transform_orientation_aircraft_to_baselink( transform_orientation_ned_to_enu(q_vicon) ); - - mocap.pose.orientation.x = q_vicon.x(); - mocap.pose.orientation.y = q_vicon.y(); - mocap.pose.orientation.z = q_vicon.z(); - mocap.pose.orientation.w = q_vicon.w(); - - mocap.pose.position.x = pos_vicon_enu[0]; - mocap.pose.position.y = pos_vicon_enu[1]; - mocap.pose.position.z = pos_vicon_enu[2]; - - -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>Main Loop<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< - while(ros::ok()) - { - // cout <<">>>>>>>>>>>>>>>>>>>>>>>>>>>[Fake Vicon]<<<<<<<<<<<<<<<<<<<<<<<<<<<<" <>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>主 函 数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -int main(int argc, char **argv) -{ - ros::init(argc, argv, "ugv_controller"); - ros::NodeHandle nh("~"); - ros::Rate rate(20.0); - - init(nh); - - //【订阅】无人车控制指令 - command_sub = nh.subscribe(ugv_name + "/prometheus/ugv_command", 2, ugv_command_cb); - //【订阅】本机状态信息 - ugv_state_sub = nh.subscribe(ugv_name + "/prometheus/ugv_state", 2, ugv_state_cb); - //【发布】底层控制指令 - cmd_pub = nh.advertise(ugv_name + "/cmd_vel", 10); - - //>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>主 循 环<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< - while(ros::ok()) - { - // 执行回调函数 - ros::spinOnce(); - - // 一般选择不打印 - if(flag_printf) - { - printf_state(); - } - - // Check for geo fence: If ugv is out of the geo fence, it will hold now. - if(check_failsafe() == 1) - { - Command_Now.Mode = prometheus_msgs::UgvCommand::Hold; - } - - switch (Command_Now.Mode) - { - // 【Start】 - case prometheus_msgs::UgvCommand::Hold: - - cmd_vel.linear.x = 0.0; - cmd_vel.linear.y = 0.0; - cmd_vel.linear.z = 0.0; - cmd_vel.angular.x = 0.0; - cmd_vel.angular.y = 0.0; - cmd_vel.angular.z = 0.0; - cmd_pub.publish(cmd_vel); - break; - - case prometheus_msgs::UgvCommand::Direct_Control: - - // 注: linear.x与linear.y控制的是无人车车体系下的线速度 - cmd_vel.linear.x = Command_Now.linear_vel[0]; - cmd_vel.linear.y = Command_Now.linear_vel[1]; - cmd_vel.linear.z = 0.0; - cmd_vel.angular.x = 0.0; - cmd_vel.angular.y = 0.0; - cmd_vel.angular.z = Command_Now.angular_vel; - cmd_pub.publish(cmd_vel); - - break; - case prometheus_msgs::UgvCommand::Point_Control: - - cmd_vel.linear.x = k_p*(Command_Now.position_ref[0] - pos_ugv[0]); - cmd_vel.linear.y = k_p*(Command_Now.position_ref[1] - pos_ugv[1]); - cmd_vel.linear.z = 0.0; - cmd_vel.angular.x = 0.0; - cmd_vel.angular.y = 0.0; - cmd_vel.angular.z = k_yaw*(0.0 - yaw_ugv); - - // 速度限制幅度 - if(cmd_vel.linear.x > max_vel) - { - cmd_vel.linear.x = max_vel; - }else if(cmd_vel.linear.x < -max_vel) - { - cmd_vel.linear.x = -max_vel; - } - - if(cmd_vel.linear.y > max_vel) - { - cmd_vel.linear.y = max_vel; - }else if(cmd_vel.linear.y < -max_vel) - { - cmd_vel.linear.y = -max_vel; - } - cmd_pub.publish(cmd_vel); - - break; - - case prometheus_msgs::UgvCommand::Path_Control: - // 空缺 - break; - - } - - Command_Last = Command_Now; - rate.sleep(); - } -} \ No newline at end of file diff --git a/src/UAV/Modules/ugv_control/src/ugv_estimator.cpp b/src/UAV/Modules/ugv_control/src/ugv_estimator.cpp deleted file mode 100644 index bbc000c..0000000 --- a/src/UAV/Modules/ugv_control/src/ugv_estimator.cpp +++ /dev/null @@ -1,63 +0,0 @@ -#include "ugv_estimator.h" - -using namespace std; - -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>主 函 数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -int main(int argc, char **argv) -{ - ros::init(argc, argv, "ugv_estimator"); - ros::NodeHandle nh("~"); - - // 变量初始化 - init(nh); - - if(sim_mode) - { - // 【订阅】gazebo仿真真值 - gazebo_odom_sub = nh.subscribe(ugv_name + "/prometheus/fake_odom", 1, gazebo_cb); - }else - { - // 【订阅】mocap估计位置 - mocap_pos_sub = nh.subscribe("/vrpn_client_node"+ ugv_name + "/pose", 1, mocap_pos_cb); - - // 【订阅】mocap估计速度 - mocap_vel_sub = nh.subscribe("/vrpn_client_node"+ ugv_name + "/twist", 1, mocap_vel_cb); - - // 【订阅】电池状态(无人车底板电压) - battery_sub = nh.subscribe(ugv_name + "/PowerVoltage", 1, battery_cb); - } - - // 【发布】无人机状态合集,包括位置\速度\姿态\模式等,供上层节点使用 - ugv_state_pub = nh.advertise(ugv_name + "/prometheus/ugv_state", 10); - - // 【发布】无人机里程计 - ugv_odom_pub = nh.advertise(ugv_name + "/prometheus/ugv_odom", 10); - - // 【发布】无人机运动轨迹 - trajectory_pub = nh.advertise(ugv_name + "/prometheus/ugv_trajectory", 10); - - // 【发布】mesh，用于RVIZ显示 - ugv_mesh_pub = nh.advertise(ugv_name + "/prometheus/ugv_mesh", 10); - - // 【定时器】发布ugv_state话题 - ros::Timer timer_ugv_state_pub = nh.createTimer(ros::Duration(0.02), timercb_ugv_state); - - // 【定时器】发布RVIZ显示相关话题 - ros::Timer timer_rviz_pub = nh.createTimer(ros::Duration(0.2), timercb_rviz); - - // 频率 - ros::Rate rate(100.0); - - // 等待数据 - ros::Duration(1.0).sleep(); - - //>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>Main Loop<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< - while (ros::ok()) - { - //回调一次 更新传感器状态 - ros::spinOnce(); - rate.sleep(); - } - - return 0; -} \ No newline at end of file diff --git a/src/UAV/Modules/ugv_control/src/ugv_terminal_control.cpp b/src/UAV/Modules/ugv_control/src/ugv_terminal_control.cpp deleted file mode 100644 index bc422a3..0000000 --- a/src/UAV/Modules/ugv_control/src/ugv_terminal_control.cpp +++ /dev/null @@ -1,111 +0,0 @@ -//ros头文件 -#include -#include -#include -#include - -//topic 头文件 -#include -#include -#include - -using namespace std; - -#define NODE_NAME "ugv_terminal_control" -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>全 局 变 量<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -string ugv_name; -int ugv_id; -prometheus_msgs::UgvCommand ugv_cmd; -geometry_msgs::PoseStamped goal; -ros::Publisher command_pub,goal_pub; -float state_desired[3]; -//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>主 函 数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -int main(int argc, char **argv) -{ - ros::init(argc, argv, NODE_NAME); - ros::NodeHandle nh("~"); - - // 无人机编号 1号无人机则为1 - nh.param("ugv_id", ugv_id, 0); - - ugv_name = "/ugv" + std::to_string(ugv_id); - - // 【发布】控制指令 - command_pub = nh.advertise(ugv_name + "/prometheus/ugv_command", 10); - //【发布】目标点 - goal_pub = nh.advertise(ugv_name + "/prometheus/case2/goal", 10); - - // Waiting for input - int start_flag = 0; - - while (ros::ok()) - { - cout << ">>>>>>>>>>>>>>>>>>>>>>>>>>>>UGV Terminal Control<<<<<<<<<<<<<<<<<<<<<<<<< "<< endl; - cout << "Please choose the action: 0 for Hold, 1 for Direct Control, 2 for Point Control, 9 for astar goal pub..."<> start_flag; - if (start_flag == 0) - { - ugv_cmd.Mode = prometheus_msgs::UgvCommand::Hold; - command_pub.publish(ugv_cmd); - } - else if (start_flag == 1) - { - cout << "Move in Direct Control, Pls input the desired velocity and angular velocity "<> state_desired[0]; - cout << "desired state: --- linear_vel_y(body) [m/s] "<> state_desired[1]; - cout << "desired state: --- angular_vel(body) [deg/s]"<> state_desired[2]; - - ugv_cmd.Mode = prometheus_msgs::UgvCommand::Direct_Control; - ugv_cmd.linear_vel[0] = state_desired[0]; - ugv_cmd.linear_vel[1] = state_desired[1]; - ugv_cmd.angular_vel = state_desired[2]/180.0*M_PI; - command_pub.publish(ugv_cmd); - cout << "state_desired [linear angular] : " << state_desired[0] << " [m/s] "<< state_desired[1] << " [m/s] "<< state_desired[2] <<" [deg/s] "<< endl; - } - else if (start_flag == 2) - { - cout << "Move in Point control, Pls input the desired position"<> state_desired[0]; - cout << "desired state: --- y [m]"<> state_desired[1]; - - ugv_cmd.Mode = prometheus_msgs::UgvCommand::Point_Control; - ugv_cmd.position_ref[0] = state_desired[0]; - ugv_cmd.position_ref[1] = state_desired[1]; - ugv_cmd.yaw_ref = 0.0; - command_pub.publish(ugv_cmd); - cout << "state_desired [X Y] : " << state_desired[0] << " [ m ] "<< state_desired[1] <<" [ m ] "<< endl; - } - else if (start_flag == 9) - { - cout << "Please input the goal position:"<> state_desired[0]; - cout << "goal - y [m] : "<< endl; - cin >> state_desired[1]; - - goal.header.stamp =ros::Time::now(); - goal.header.frame_id = "map"; - goal.pose.position.x = state_desired[0]; - goal.pose.position.y = state_desired[1]; - goal.pose.position.z = 0.0; - goal.pose.orientation.x = 0.0; - goal.pose.orientation.y = 0.0; - goal.pose.orientation.z = 0.0; - goal.pose.orientation.w = 1.0; - goal_pub.publish(goal); - - cout << "state_desired [X Y] : " << state_desired[0] << " [ m ] "<< state_desired[1] <<" [ m ] "<< endl; - } - else - { - cout << "Wrong input."<