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Allow setting minimum timestamp delta between trajectory points in Iterative Spline Parameterization #574

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386a096
Allow setting minimum delta_t between traj points in ISP solver
schornakj Jan 6, 2025
e67c3af
fix missing include for <limits>
schornakj Feb 7, 2025
de71df3
fix formatting
schornakj Feb 10, 2025
48df578
more formatting fixes from clang-format
schornakj Feb 10, 2025
24c2bcb
Add test for enforcing minimum time delta
schornakj Feb 10, 2025
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7 changes: 7 additions & 0 deletions ...ude/tesseract_task_composer/planning/profiles/iterative_spline_parameterization_profile.h
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Expand Up @@ -28,6 +28,7 @@

#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <limits>
#include <memory>
TESSERACT_COMMON_IGNORE_WARNINGS_POP

Expand Down Expand Up @@ -55,6 +56,12 @@ struct IterativeSplineParameterizationProfile : public Profile
/** @brief max_velocity_scaling_factor The max acceleration scaling factor passed to the solver */
double max_acceleration_scaling_factor{ 1.0 };

/**
* @brief minimum_time_delta The smallest-allowable difference between timestamps of
* consecutive trajectory points. Passed to the solver.
*/
double minimum_time_delta{ std::numeric_limits<double>::epsilon() };

protected:
friend class boost::serialization::access;
template <class Archive>
Expand Down
5 changes: 4 additions & 1 deletion tesseract_task_composer/planning/src/nodes/iterative_spline_parameterization_task.cpp
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Expand Up @@ -171,6 +171,8 @@ IterativeSplineParameterizationTask::runImpl(TaskComposerContext& context,
cur_composite_profile->max_acceleration_scaling_factor;
Eigen::VectorXd jerk_scaling_factors = Eigen::VectorXd::Ones(static_cast<Eigen::Index>(flattened.size()));

const auto minimum_time_delta = cur_composite_profile->minimum_time_delta;

// Loop over all MoveInstructions
for (Eigen::Index idx = 0; idx < static_cast<Eigen::Index>(flattened.size()); idx++)
{
Expand All @@ -196,7 +198,8 @@ IterativeSplineParameterizationTask::runImpl(TaskComposerContext& context,
limits.jerk_limits,
velocity_scaling_factors,
acceleration_scaling_factors,
jerk_scaling_factors))
jerk_scaling_factors,
minimum_time_delta))
{
// If the output key is not the same as the input key the output data should be assigned the input data for error
// branching
Expand Down
5 changes: 4 additions & 1 deletion ...arameterization/core/include/tesseract_time_parameterization/core/time_parameterization.h
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Expand Up @@ -43,6 +43,8 @@ class TimeParameterization
* @param velocity_scaling_factor The velocity scaling factor. Size should be trajectory.size()
* @param acceleration_scaling_factor The acceleration scaling factor. Size should be trajectory.size()
* @param jerk_scaling_factor The jerk scaling factor. Size should be trajectory.size()
* @param minimum_time_delta The smallest-allowable difference in seconds between timestamps of consecutive trajectory
* points.
* @return True if successful, otherwise false
*/
virtual bool compute(TrajectoryContainer& trajectory,
Expand All @@ -51,7 +53,8 @@ class TimeParameterization
const Eigen::Ref<const Eigen::MatrixX2d>& jerk_limits,
const Eigen::Ref<const Eigen::VectorXd>& velocity_scaling_factors,
const Eigen::Ref<const Eigen::VectorXd>& acceleration_scaling_factors,
const Eigen::Ref<const Eigen::VectorXd>& jerk_scaling_factors) const = 0;
const Eigen::Ref<const Eigen::VectorXd>& jerk_scaling_factors,
const double& minimum_time_delta) const = 0;
};
} // namespace tesseract_planning
#endif // TESSERACT_TIME_PARAMETERIZATION_TIME_PARAMETERIZATION_H
3 changes: 2 additions & 1 deletion ...ation/isp/include/tesseract_time_parameterization/isp/iterative_spline_parameterization.h
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Expand Up @@ -91,7 +91,8 @@ class IterativeSplineParameterization : public TimeParameterization
const Eigen::Ref<const Eigen::MatrixX2d>& jerk_limits,
const Eigen::Ref<const Eigen::VectorXd>& velocity_scaling_factors = Eigen::VectorXd::Ones(1),
const Eigen::Ref<const Eigen::VectorXd>& acceleration_scaling_factors = Eigen::VectorXd::Ones(1),
const Eigen::Ref<const Eigen::VectorXd>& jerk_scaling_factors = Eigen::VectorXd::Ones(1)) const override;
const Eigen::Ref<const Eigen::VectorXd>& jerk_scaling_factors = Eigen::VectorXd::Ones(1),
const double& minimum_time_delta = std::numeric_limits<double>::epsilon()) const override;

private:
/**
Expand Down
24 changes: 20 additions & 4 deletions tesseract_time_parameterization/isp/src/iterative_spline_parameterization.cpp
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Expand Up @@ -56,8 +56,12 @@ static void adjust_two_positions(long n,
double x2[], // NOLINT
double x2_i, // NOLINT
double x2_f); // NOLINT
static void
init_times(long n, double dt[], const double x[], const double max_velocity[], double min_velocity[]); // NOLINT
static void init_times(long n,
const double minimum_time_delta,
double dt[],
const double x[],
const double max_velocity[],
double min_velocity[]); // NOLINT
// static int fit_spline_and_adjust_times(const int n,
// double dt[],
// const double x[],
Expand Down Expand Up @@ -105,7 +109,8 @@ bool IterativeSplineParameterization::compute(TrajectoryContainer& trajectory,
const Eigen::Ref<const Eigen::MatrixX2d>& /*jerk_limits*/,
const Eigen::Ref<const Eigen::VectorXd>& velocity_scaling_factors,
const Eigen::Ref<const Eigen::VectorXd>& acceleration_scaling_factors,
const Eigen::Ref<const Eigen::VectorXd>& /*jerk_scaling_factors*/) const
const Eigen::Ref<const Eigen::VectorXd>& /*jerk_scaling_factors*/,
const double& minimum_time_delta) const
{
if (trajectory.empty())
return true;
Expand Down Expand Up @@ -342,6 +347,7 @@ bool IterativeSplineParameterization::compute(TrajectoryContainer& trajectory,
std::vector<double> time_diff(static_cast<std::size_t>(num_points - 1), std::numeric_limits<double>::epsilon());
for (unsigned int j = 0; j < trajectory.dof(); j++)
init_times(static_cast<long>(num_points),
minimum_time_delta,
time_diff.data(),
t2[j].positions_.data(),
t2[j].max_velocity_.data(),
Expand Down Expand Up @@ -548,7 +554,12 @@ static void adjust_two_positions(const long n,
Increase a segment's time interval if the current time isn't long enough.
*/
// NOLINTNEXTLINE
static void init_times(long n, double dt[], const double x[], const double max_velocity[], double min_velocity[])
static void init_times(long n,
const double minimum_time_delta,
double dt[],
const double x[],
const double max_velocity[],
double min_velocity[])
{
for (long i = 0; i < n - 1; i++)
{
Expand All @@ -560,6 +571,11 @@ static void init_times(long n, double dt[], const double x[], const double max_v
time = (dx / min_velocity[i]);
time += std::numeric_limits<double>::epsilon(); // prevent divide-by-zero

if (time < minimum_time_delta)
{
time = minimum_time_delta;
}

if (dt[i] < time)
dt[i] = time;
}
Expand Down
38 changes: 38 additions & 0 deletions tesseract_time_parameterization/isp/test/iterative_spline_tests.cpp
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Expand Up @@ -194,6 +194,44 @@ TEST(TestTimeParameterization, TestRepeatedPoint) // NOLINT
ASSERT_LT(program.back().as<MoveInstructionPoly>().getWaypoint().as<StateWaypointPoly>().getTime(), 0.001);
}

TEST(TestTimeParameterization, TestEnforceMinimumDelta)
{
// GIVEN a single-joint trajectory that is straight in joint-space
IterativeSplineParameterization time_parameterization(false);
CompositeInstruction program = createStraightTrajectory();
TrajectoryContainer::Ptr trajectory = std::make_shared<InstructionsTrajectory>(program);

// GIVEN valid limits for each joint
Eigen::MatrixX2d max_velocity(6, 2);
max_velocity.col(0) << -2.088, -2.082, -3.27, -3.6, -3.3, -3.078;
max_velocity.col(1) << 2.088, 2.082, 3.27, 3.6, 3.3, 3.078;
Eigen::MatrixX2d max_acceleration(6, 2);
max_acceleration.col(0) << -1, -1, -1, -1, -1, -1;
max_acceleration.col(1) << 1, 1, 1, 1, 1, 1;
Eigen::MatrixX2d max_jerk(6, 2);
max_jerk.col(0) << -1, -1, -1, -1, -1, -1;
max_jerk.col(1) << 1, 1, 1, 1, 1, 1;

// WHEN we compute time parameterization while enforcing a minimum time delta that is much larger than the optimal
// time delta given the specified limits
constexpr double minimum_time_delta = 10.0;
// THEN time parameterization succeeds
EXPECT_TRUE(time_parameterization.compute(*trajectory,
max_velocity,
max_acceleration,
max_jerk,
Eigen::VectorXd::Ones(1),
Eigen::VectorXd::Ones(1),
Eigen::VectorXd::Ones(1),
minimum_time_delta));
// THEN the timestamp of the first trajectory point is greater than or equal to the minimum time delta
ASSERT_GE(program[1].as<MoveInstructionPoly>().getWaypoint().as<StateWaypointPoly>().getTime(), minimum_time_delta);
// THEN the timestamp of the last trajectory point shows that the minimum time delta has been enforced for each
// previous trajectory point
ASSERT_GE(program.back().as<MoveInstructionPoly>().getWaypoint().as<StateWaypointPoly>().getTime(),
minimum_time_delta * static_cast<double>(program.size() - 1));
}

int main(int argc, char** argv)
{
testing::InitGoogleTest(&argc, argv);
Expand Down
3 changes: 2 additions & 1 deletion ...ation/ruckig/include/tesseract_time_parameterization/ruckig/ruckig_trajectory_smoothing.h
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Expand Up @@ -57,7 +57,8 @@ class RuckigTrajectorySmoothing : public TimeParameterization
const Eigen::Ref<const Eigen::MatrixX2d>& jerk_limits,
const Eigen::Ref<const Eigen::VectorXd>& velocity_scaling_factors = Eigen::VectorXd::Ones(1),
const Eigen::Ref<const Eigen::VectorXd>& acceleration_scaling_factors = Eigen::VectorXd::Ones(1),
const Eigen::Ref<const Eigen::VectorXd>& jerk_scaling_factors = Eigen::VectorXd::Ones(1)) const override;
const Eigen::Ref<const Eigen::VectorXd>& jerk_scaling_factors = Eigen::VectorXd::Ones(1),
const double& minimum_time_delta = std::numeric_limits<double>::epsilon()) const override;

protected:
double duration_extension_fraction_;
Expand Down
6 changes: 4 additions & 2 deletions tesseract_time_parameterization/ruckig/src/ruckig_trajectory_smoothing.cpp
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Expand Up @@ -73,7 +73,8 @@ bool RuckigTrajectorySmoothing::compute(TrajectoryContainer& trajectory,
const Eigen::Ref<const Eigen::VectorXd>& max_jerk,
const Eigen::Ref<const Eigen::VectorXd>& max_velocity_scaling_factors,
const Eigen::Ref<const Eigen::VectorXd>& max_acceleration_scaling_factors,
const Eigen::Ref<const Eigen::VectorXd>& max_jerk_scaling_factors) const
const Eigen::Ref<const Eigen::VectorXd>& max_jerk_scaling_factors,
const double& /*minimum_time_delta*/) const
{
if (trajectory.size() < 2)
return true;
Expand Down Expand Up @@ -208,7 +209,8 @@ bool RuckigTrajectorySmoothing::compute(TrajectoryContainer& trajectory,
const Eigen::Ref<const Eigen::MatrixX2d>& jerk_limits,
const Eigen::Ref<const Eigen::VectorXd>& /*velocity_scaling_factors*/,
const Eigen::Ref<const Eigen::VectorXd>& /*acceleration_scaling_factors*/,
const Eigen::Ref<const Eigen::VectorXd>& /*jerk_scaling_factors*/) const
const Eigen::Ref<const Eigen::VectorXd>& /*jerk_scaling_factors*/,
const double& /*minimum_time_delta*/) const
{
if (trajectory.size() < 2)
return true;
Expand Down
3 changes: 2 additions & 1 deletion ...on/totg/include/tesseract_time_parameterization/totg/time_optimal_trajectory_generation.h
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Expand Up @@ -67,7 +67,8 @@ class TimeOptimalTrajectoryGeneration : public TimeParameterization
const Eigen::Ref<const Eigen::MatrixX2d>& jerk_limits,
const Eigen::Ref<const Eigen::VectorXd>& velocity_scaling_factors = Eigen::VectorXd::Ones(1),
const Eigen::Ref<const Eigen::VectorXd>& acceleration_scaling_factors = Eigen::VectorXd::Ones(1),
const Eigen::Ref<const Eigen::VectorXd>& jerk_scaling_factors = Eigen::VectorXd::Ones(1)) const override;
const Eigen::Ref<const Eigen::VectorXd>& jerk_scaling_factors = Eigen::VectorXd::Ones(1),
const double& minimum_time_delta = std::numeric_limits<double>::epsilon()) const override;

private:
double path_tolerance_;
Expand Down
3 changes: 2 additions & 1 deletion tesseract_time_parameterization/totg/src/time_optimal_trajectory_generation.cpp
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Expand Up @@ -67,7 +67,8 @@ bool TimeOptimalTrajectoryGeneration::compute(TrajectoryContainer& trajectory,
const Eigen::Ref<const Eigen::MatrixX2d>& /*jerk_limits*/,
const Eigen::Ref<const Eigen::VectorXd>& velocity_scaling_factors,
const Eigen::Ref<const Eigen::VectorXd>& acceleration_scaling_factors,
const Eigen::Ref<const Eigen::VectorXd>& /*jerk_scaling_factors*/) const
const Eigen::Ref<const Eigen::VectorXd>& /*jerk_scaling_factors*/,
const double& /*minimum_time_delta*/) const
{
if (trajectory.empty())
return true;
Expand Down
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