Ramping.cpp

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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 <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2026
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "Ramping.h"
 
#include <algorithm>
#include <cstddef>
#include <utility>
#include <vector>
 
namespace armarx::navigation::algorithms
{
 
    Ramping::Ramping(const core::GeneralConfig& config) : config_(config)
    {
    }
 
    void
    Ramping::apply(core::GlobalTrajectory& trajectory, const float startVelocity) const
    {
        std::vector<std::pair<std::size_t, float>> fixedVelocities;
 
        if (config_.enableRampingStart)
        {
            fixedVelocities.emplace_back(0, startVelocity);
        }
        if (config_.enableRampingEnd)
        {
            // `goalVelocity`, not `boundaryVelocity`: the floor exists to get the robot moving
            // at the start, and applying it at the goal is what the robot overshoots on.
            // `applyRamping` spreads this over `rampLength`, so it is a ramp, not a step.
            fixedVelocities.emplace_back(trajectory.points().size() - 1, config_.goalVelocity);
        }
        if (config_.enableRampingCorners)
        {
            const auto& corners = trajectory.calculateCorners(config_.cornerLimit);
 
            for (const auto& [idx, angle] : corners)
            {
                fixedVelocities.emplace_back(idx, config_.cornerVelocity);
            }
        }
 
        // Derived rather than configured so existing setups keep their envelope: over
        // `rampLength` the ramp takes the profile from `goalVelocity` to `maxVel`, which is what
        // the linear ramp did.
        const float rampLength = std::max(config_.rampLength, 1.F);
        const float rampAcceleration =
            std::max(0.F,
                     config_.maxVel.linear * config_.maxVel.linear -
                         config_.goalVelocity * config_.goalVelocity) /
            (2.F * rampLength);
 
        trajectory.applyRamping(fixedVelocities, rampLength, rampAcceleration);
    }
 
} // namespace armarx::navigation::algorithms