Paparazzi UAS  v5.15_devel-88-gb3ad7fe
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gvf_sin.c
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1 /*
2  * Copyright (C) 2016 Hector Garcia de Marina
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4  * This file is part of paparazzi.
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22 
31 #include "gvf_sin.h"
32 #include "generated/airframe.h"
33 
35 #ifndef GVF_SIN_KE
36 #define GVF_SIN_KE 1
37 #endif
38 
40 #ifndef GVF_SIN_KN
41 #define GVF_SIN_KN 1
42 #endif
43 
45 #ifndef GVF_SIN_ALPHA
46 #define GVF_SIN_ALPHA 0
47 #endif
48 
50 #ifndef GVF_SIN_W
51 #define GVF_SIN_W 0
52 #endif
53 
55 #ifndef GVF_SIN_OFF
56 #define GVF_SIN_OFF 0
57 #endif
58 
60 #ifndef GVF_SIN_A
61 #define GVF_SIN_A 0
62 #endif
63 
66  };
67 
68 
69 void gvf_sin_info(float *phi, struct gvf_grad *grad,
70  struct gvf_Hess *hess)
71 {
72 
73  struct EnuCoor_f *p = stateGetPositionEnu_f();
74  float px = p->x;
75  float py = p->y;
76  float a = gvf_trajectory.p[0];
77  float b = gvf_trajectory.p[1];
78  float alpha = gvf_trajectory.p[2];
79  float w = gvf_trajectory.p[3];
80  float off = gvf_trajectory.p[4];
81  float A = gvf_trajectory.p[5];
82 
83  float cosa = cosf(alpha);
84  float sina = sinf(alpha);
85 
86  // Phi(x,y)
87  float xs = (px - a) * sina - (py - b) * cosa;
88  float ys = -(px - a) * cosa - (py - b) * sina;
89 
90  // TODO Make it always in (-pi, pi] in an efficient way
91  float ang = (w * xs + off);
92  float cosang = cosf(ang);
93  float sinang = sinf(ang);
94 
95  *phi = ys - A * sinang;
96 
97  // grad Phi
98  grad->nx = -cosa - A * w * sina * cosang;
99  grad->ny = -sina + A * w * cosa * cosang;
100 
101  // Hessian Phi
102  hess->H11 = A * w * w * sina * sina * sinang;
103  hess->H12 = -A * w * w * sina * cosa * sinang;
104  hess->H21 = -A * w * w * cosa * sina * sinang;
105  hess->H22 = A * w * w * cosa * cosa * sinang;
106 }
#define GVF_SIN_W
Definition: gvf_sin.c:51
float H22
Definition: gvf.h:92
float p[16]
Definition: gvf.h:60
float H12
Definition: gvf.h:89
Guidance algorithm based on vector fields 2D sinusoidal trajectory.
vector in East North Up coordinates Units: meters
float alpha
Definition: textons.c:107
gvf_s_par gvf_sin_par
Definition: gvf_sin.c:64
#define GVF_SIN_KN
Definition: gvf_sin.c:41
float H21
Definition: gvf.h:91
Definition: gvf.h:87
#define GVF_SIN_ALPHA
Definition: gvf_sin.c:46
#define GVF_SIN_A
Definition: gvf_sin.c:61
static struct EnuCoor_f * stateGetPositionEnu_f(void)
Get position in local ENU coordinates (float).
Definition: state.h:719
void gvf_sin_info(float *phi, struct gvf_grad *grad, struct gvf_Hess *hess)
Definition: gvf_sin.c:69
float x
in meters
float ny
Definition: gvf.h:83
float nx
Definition: gvf.h:82
Definition: gvf.h:81
gvf_tra gvf_trajectory
Definition: gvf.c:40
static float p[2][2]
#define A
#define GVF_SIN_KE
Definition: gvf_sin.c:36
#define GVF_SIN_OFF
Definition: gvf_sin.c:56
float y
in meters
float H11
Definition: gvf.h:88