LIBRARY

`examples.TrajectoryPlannersTest`

Example model for the Kinematic5 trajectory planner. The velocity output is passed through a BlockComponents.Continuous.Integrator so that the integrated velocity can be compared against the position output.

Usage

MultibodyComponents.examples.TrajectoryPlannersTest()

Behavior

[\begin{matrix} connect (k i n 5_{+} q d, s e l e c t o r 1_{+} u) \\ connect (s e l e c t o r 1_{+} y, i n t_{k i n 5_{+} u}) \\ connect (s e l e c t o r 2_{+} y, i n t_{b o u n d e d_j e r k_{+} u}) \\ connect (k i n e m a t i c p t p b o u n d e d j e r k_{+} q d, s e l e c t o r 2_{+} u) \\ connect (s e l e c t o r_{+} y, i n t_{p t p_{+} u}) \\ connect (k i n e m a t i c p t p_{+} q d, s e l e c t o r_{+} u) \\ {kin 5. q}_{1} (t) = {traj 5}_{q} (t, kin 5. tf, {kin 5. q 0}_{1}, {kin 5. q 1}_{1}, {kin 5. qd 0}_{1}, {kin 5. qd 1}_{1}, {kin 5. qdd 0}_{1}, {kin 5. qdd 1}_{1}) \\ {kin 5. qd}_{1} (t) = {traj 5}_{q d} (t, kin 5. tf, {kin 5. q 0}_{1}, {kin 5. q 1}_{1}, {kin 5. qd 0}_{1}, {kin 5. qd 1}_{1}, {kin 5. qdd 0}_{1}, {kin 5. qdd 1}_{1}) \\ {kin 5. qdd}_{1} (t) = {traj 5}_{q d d} (t, kin 5. tf, {kin 5. q 0}_{1}, {kin 5. q 1}_{1}, {kin 5. qd 0}_{1}, {kin 5. qd 1}_{1}, {kin 5. qdd 0}_{1}, {kin 5. qdd 1}_{1}) \\ \frac{d \cdot {int}_{kin 5. x} (t)}{d t} = {int}_{kin 5. k} \cdot {int}_{kin 5. u} (t) \\ {int}_{kin 5. y} (t) = {int}_{kin 5. x} (t) \\ {kinematicptpboundedjerk . q}_{1} (t) = {evaluate}_{a t_1} (kinematicptpboundedjerk . {profile}_{1}, t) \\ {kinematicptpboundedjerk . qd}_{1} (t) = {evaluate}_{a t_2} (kinematicptpboundedjerk . {profile}_{1}, t) \\ {kinematicptpboundedjerk . qdd}_{1} (t) = {evaluate}_{a t_3} (kinematicptpboundedjerk . {profile}_{1}, t) \\ {kinematicptpboundedjerk . qddd}_{1} (t) = {evaluate}_{a t_4} (kinematicptpboundedjerk . {profile}_{1}, t) \\ \frac{d \cdot {int}_{bounded_jerk . x} (t)}{d t} = {int}_{bounded_jerk . k} \cdot {int}_{bounded_jerk . u} (t) \\ {int}_{bounded_jerk . y} (t) = {int}_{bounded_jerk . x} (t) \\ selector 1. y (t) = {selector 1. u}_{1} (t) \\ selector 2. y (t) = {selector 2. u}_{1} (t) \\ {kinematicptp . q}_{1} (t) = {ptp}_{q} (t, {kinematicptp . q 0}_{1}, {kinematicptp . q 1}_{1}, {kinematicptp . qd}_{\max}_{1}, {kinematicptp . qdd}_{\max}_{1}) \\ {kinematicptp . qd}_{1} (t) = {ptp}_{q d} (t, {kinematicptp . q 0}_{1}, {kinematicptp . q 1}_{1}, {kinematicptp . qd}_{\max}_{1}, {kinematicptp . qdd}_{\max}_{1}) \\ {kinematicptp . qdd}_{1} (t) = {ptp}_{q d d} (t, {kinematicptp . q 0}_{1}, {kinematicptp . q 1}_{1}, {kinematicptp . qd}_{\max}_{1}, {kinematicptp . qdd}_{\max}_{1}) \\ selector . y (t) = {selector . u}_{1} (t) \\ \frac{d \cdot {int}_{ptp . x} (t)}{d t} = {int}_{ptp . k} \cdot {int}_{ptp . u} (t) \\ {int}_{ptp . y} (t) = {int}_{ptp . x} (t) \end{matrix}]

Source

dyad

"""
Example model for the Kinematic5 trajectory planner. The velocity output is
passed through a BlockComponents.Continuous.Integrator so that the integrated velocity can
be compared against the position output.
"""
example component TrajectoryPlannersTest
  "5th order polynomial trajectory planner"
  kin5 = MultibodyComponents.Kinematic5(nout = 1, tf = 2.0, q0 = [0.0], q1 = [1.0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 150, "y1": 290, "x2": 250, "y2": 390, "rot": 0}
      },
      "tags": []
    }
  }
  "Integrator for the Kinematic5 velocity output"
  int_kin5 = BlockComponents.Continuous.Integrator(k = 1.0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 480, "y1": 290, "x2": 580, "y2": 390, "rot": 0}
      },
      "tags": []
    }
  }
  kinematicptpboundedjerk = MultibodyComponents.KinematicPTPBoundedJerk() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 150, "y1": 450, "x2": 250, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  int_bounded_jerk = BlockComponents.Continuous.Integrator() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 480, "y1": 450, "x2": 580, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  selector1 = MultibodyComponents.Selector(nu = 1, index = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 320, "y1": 290, "x2": 420, "y2": 390, "rot": 0}
      },
      "tags": []
    }
  }
  selector2 = MultibodyComponents.Selector(nu = 1, index = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 320, "y1": 450, "x2": 420, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  kinematicptp = MultibodyComponents.KinematicPTP() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 150, "y1": 610, "x2": 250, "y2": 710, "rot": 0}
      },
      "tags": []
    }
  }
  selector = MultibodyComponents.Selector() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 320, "y1": 610, "x2": 420, "y2": 710, "rot": 0}
      },
      "tags": []
    }
  }
  int_ptp = BlockComponents.Continuous.Integrator() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 480, "y1": 610, "x2": 580, "y2": 710, "rot": 0}
      },
      "tags": []
    }
  }
relations
  connect(kin5.qd, selector1.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(selector1.y, int_kin5.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(selector2.y, int_bounded_jerk.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(kinematicptpboundedjerk.qd, selector2.u) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 280, "y": 488}, {"x": 280, "y": 500}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(selector.y, int_ptp.u) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
  connect(kinematicptp.qd, selector.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
metadata {"Dyad": {"tests": {"case1": {"stop": 3}}}}
end

Flattened Source

dyad

"""
Example model for the Kinematic5 trajectory planner. The velocity output is
passed through a BlockComponents.Continuous.Integrator so that the integrated velocity can
be compared against the position output.
"""
example component TrajectoryPlannersTest
  "5th order polynomial trajectory planner"
  kin5 = MultibodyComponents.Kinematic5(nout = 1, tf = 2.0, q0 = [0.0], q1 = [1.0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 150, "y1": 290, "x2": 250, "y2": 390, "rot": 0}
      },
      "tags": []
    }
  }
  "Integrator for the Kinematic5 velocity output"
  int_kin5 = BlockComponents.Continuous.Integrator(k = 1.0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 480, "y1": 290, "x2": 580, "y2": 390, "rot": 0}
      },
      "tags": []
    }
  }
  kinematicptpboundedjerk = MultibodyComponents.KinematicPTPBoundedJerk() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 150, "y1": 450, "x2": 250, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  int_bounded_jerk = BlockComponents.Continuous.Integrator() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 480, "y1": 450, "x2": 580, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  selector1 = MultibodyComponents.Selector(nu = 1, index = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 320, "y1": 290, "x2": 420, "y2": 390, "rot": 0}
      },
      "tags": []
    }
  }
  selector2 = MultibodyComponents.Selector(nu = 1, index = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 320, "y1": 450, "x2": 420, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  kinematicptp = MultibodyComponents.KinematicPTP() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 150, "y1": 610, "x2": 250, "y2": 710, "rot": 0}
      },
      "tags": []
    }
  }
  selector = MultibodyComponents.Selector() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 320, "y1": 610, "x2": 420, "y2": 710, "rot": 0}
      },
      "tags": []
    }
  }
  int_ptp = BlockComponents.Continuous.Integrator() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 480, "y1": 610, "x2": 580, "y2": 710, "rot": 0}
      },
      "tags": []
    }
  }
relations
  connect(kin5.qd, selector1.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(selector1.y, int_kin5.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(selector2.y, int_bounded_jerk.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(kinematicptpboundedjerk.qd, selector2.u) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 280, "y": 488}, {"x": 280, "y": 500}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(selector.y, int_ptp.u) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
  connect(kinematicptp.qd, selector.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
metadata {"Dyad": {"tests": {"case1": {"stop": 3}}}}
end

Test Cases

Test Case `case1`

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examples.TrajectoryPlannersTest ​

Usage ​

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Source ​

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Test Case case1 ​

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`examples.TrajectoryPlannersTest`

Usage

Behavior

Source

Test Cases

Test Case `case1`

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