动手学运动规划: 2.2.c 3次样条曲线代码解析

最新推荐文章于 2024-10-04 12:45:00 发布

自动驾驶小白说

最新推荐文章于 2024-10-04 12:45:00 发布

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分类专栏：动手学运动规划文章标签：自动驾驶人工智能运动规划算法

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🏰代码及环境配置：请参考环境配置和代码运行!

本节提供了3次样条曲线的代码测试

python3 tests/curves/cubic_spline.py

2.2.c.1 3次样条曲线代码实现

CubicSpline1D实现了1维的3次样条曲线, 需要输入一组离散点. CubicSpline1D会计算两个点之间的3次多项式.

class CubicSpline1D:
    def __init__(self, x, y):
        h = np.diff(x)
        if np.any(h < 0):
            raise ValueError("x coordinates must be sorted in ascending order")

        self.a, self.b, self.c, self.d = [], [], [], []
        self.x = x
        self.y = y
        self.nx = len(x)  # dimension of x

        # calc coefficient a
        self.a = [iy for iy in y]

        # calc coefficient c
        A = self.__calc_A(h)
        B = self.__calc_B(h, self.a)
        self.c = np.linalg.solve(A, B)

        # calc spline coefficient b and d
        for i in range(self.nx - 1):
            d = (self.c[i + 1] - self.c[i]) / (3.0 * h[i])
            b = 1.0 / h[i] * (self.a[i + 1] - self.a[i]) - h[i] / 3.0 * (
                2.0 * self.c[i] + self.c[i + 1]
            )
            self.d.append(d)
            self.b.append(b)

它同样提供了计算0阶, 1阶, 2阶导数的接口

    def calc_position(self, x):
        if x < self.x[0]:
            return None
        elif x > self.x[-1]:
            return None

        i = self.__search_index(x)
        dx = x - self.x[i]
        position = (
            self.a[i] + self.b[i] * dx + self.c[i] * dx**2.0 + self.d[i] * dx**3.0
        )

        return position

    def calc_first_derivative(self, x)
        if x < self.x[0]:
            return None
        elif x > self.x[-1]:
            return None

        i = self.__search_index(x)
        dx = x - self.x[i]
        dy = self.b[i] + 2.0 * self.c[i] * dx + 3.0 * self.d[i] * dx**2.0
        return dy

    def calc_second_derivative(self, x):
        if x < self.x[0]:
            return None
        elif x > self.x[-1]:
            return None

        i = self.__search_index(x)
        dx = x - self.x[i]
        ddy = 2.0 * self.c[i] + 6.0 * self.d[i] * dx
        return ddy