StraightLine.cpp

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/**
 * @file StraightLine.cpp
 */

#include "StraightLine.hpp"
#include <mathlib/mathlib.h>
#include <px4_platform_common/defines.h>

using namespace matrix;

void StraightLine::generateSetpoints(matrix::Vector3f &position_setpoint, matrix::Vector3f &velocity_setpoint)
{
    if (isEndReached()) {
        // Vehicle has reached target, lock position
        position_setpoint = _end;
        velocity_setpoint.setNaN();
        return;
    }

    Vector3f start_to_end = _end - _start;
    float distance_start_to_end = start_to_end.norm();

    // capture progress as ratio between 0 and 1 of entire distance
    Vector3f vehicle_to_end = _end - _position;
    float distance_vehicle_to_end = vehicle_to_end.norm();
    float distance_from_start = Vector3f(_start - _position).norm();
    float progress = distance_from_start / (distance_from_start + distance_vehicle_to_end);

    float distance_from_boundary = 0.f;

    // calculate the distance to the closer boundary
    if (progress < 0.5f) {
        distance_from_boundary = (2 * progress) * distance_start_to_end;

    } else {
        distance_from_boundary = (2 * (1 - progress)) * distance_start_to_end;
    }

    // ramp velocity based on the distance to the boundary
    float velocity = 0.5f + (distance_from_boundary / 4.f);
    velocity = math::min(velocity, _speed);
    velocity_setpoint = vehicle_to_end.unit_or_zero() * velocity;

    // check if we plan to go against the line direction which indicates we reached the goal
    if (start_to_end * vehicle_to_end < 0) {
        end_reached = true;
    }
}

void StraightLine::setLineFromTo(const Vector3f &start, const Vector3f &end)
{
    if (PX4_ISFINITE(start.norm_squared()) && PX4_ISFINITE(end.norm_squared())) {
        _start = start;
        _end = end;
        end_reached = false;
    }
}