Merge pull request #125 from RoboTeamTwente/update/path-planning

Update/path planning

.github/workflows/build-interface.yml

@@ -12,7 +12,7 @@ jobs:
 
     runs-on: ${{ matrix.platform }}
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: setup node
         uses: actions/setup-node@v3
         with:

.github/workflows/docker-action.yml

@@ -12,7 +12,7 @@ jobs:
     steps:
       -
         name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
             submodules: recursive
       -

.github/workflows/doxy-action.yml

@@ -13,7 +13,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
         with:
           submodules: "true"
       - name: Install Doxygen

.github/workflows/tests-action.yml

@@ -13,16 +13,16 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout repository and submodules
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
         with:
           submodules: recursive    
 
-      - name: Restored cached build
-        id: cache-build-restore
-        uses: actions/cache/restore@v3
-        with:
-          path: .
-          key: ${{ runner.os }}-build
+      # - name: Restored cached build
+      #   id: cache-build-restore
+      #   uses: actions/cache/restore@v4
+      #   with:
+      #     path: .
+      #     key: ${{ runner.os }}-build
 
       - name: Install dependecies
         run: |
@@ -40,7 +40,7 @@ jobs:
               ./autogen.sh
               ./autogen.sh
               ./configure
-              make
+              make -j $(nproc)
               make check
               
       - name: Install Protobuf
@@ -55,8 +55,7 @@ jobs:
 
       - name: Install tests
         run: |
-             cmake --build build --target all
-            #  cmake --build build --target all -j $(nproc)
+             cmake --build build --target all -j $(nproc)
              
       - name: Run
         run: find ./build/debug/bin/ -type f -iname "*test*" -exec {} \;

cmake_modules/GetIXWebSocket.cmake

@@ -2,7 +2,8 @@ include(FetchContent)
 
 FetchContent_Declare(IXWebSocket
         GIT_REPOSITORY https://github.com/machinezone/IXWebSocket.git
-        GIT_TAG master
+        GIT_TAG v11.4.5
+        GIT_SHALLOW TRUE
  )
 
 FetchContent_MakeAvailable(IXWebSocket)

cmake_modules/GetTracy.cmake

@@ -3,7 +3,7 @@ include(FetchContent)
 FetchContent_Declare (
     tracy
     GIT_REPOSITORY https://github.com/wolfpld/tracy.git
-    GIT_TAG master
+    GIT_TAG v0.10
     GIT_SHALLOW TRUE
     GIT_PROGRESS TRUE
 )

docs/World.md

@@ -109,9 +109,6 @@ if (currentWorld.has_value()) {
 the internal world accordingly. Takes ownership of the original data.
 Ownership will be explained in a lecture about move semantics.
 
-`updatePositionControl` -> Updates the internal `positionControl` using the new robot positions
-in the current world data representation.
-
 `getWorld` -> Gets an optional pointer to `currentWorld`.
 
 `getField` -> Returns `this->currentField`

roboteam_ai/.github/workflows/doxy-action.yml

@@ -14,7 +14,7 @@ jobs:
   deploy_doxy:
     runs-on: ubuntu-20.04
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
       - name: 'Build'
         uses: mattnotmitt/[email protected]  # action to create the documentation from the specified doxygen config file

roboteam_ai/include/roboteam_ai/control/ControlUtils.h

@@ -41,23 +41,6 @@ class ControlUtils {
      */
     static Vector2 velocityLimiter(const Vector2 &vel, double maxVel = Constants::MAX_VEL(), double minVel = 0.0, bool listenToReferee = true);
 
-    /**
-     * @brief Limits the acceleration
-     * @param targetVel velocity the robot should be at
-     * @param prevVel velocity of the robot in the previous tick
-     * @param targetAngle the angle the robot should be at
-     * @param sidewaysAcceleration maximum sideways acceleration
-     * @param forwardsAcceleration maximum forward acceleration
-     * @param sidewaysDeceleration maximum sideways deceleration
-     * @param forwardsDeceleration maximum forward deceleration
-     * @return limited acceleration
-     */
-    static Vector2 accelerationLimiter(const Vector2 &targetVel, const Vector2 &prevVel, const Angle &targetAngle,
-                                       double sidewaysAcceleration = Constants::MAX_ACC_LOWER() / Constants::STP_TICK_RATE(),
-                                       double forwardsAcceleration = Constants::MAX_ACC_UPPER() / Constants::STP_TICK_RATE(),
-                                       double sidewaysDeceleration = Constants::MAX_DEC_LOWER() / Constants::STP_TICK_RATE(),
-                                       double forwardsDeceleration = Constants::MAX_DEC_UPPER() / Constants::STP_TICK_RATE());
-
     /**
      * @brief calculates whether the object velocity will collide with a point
      * @param objectPosition position of the object

roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/BBTrajectory1D.h

@@ -4,7 +4,7 @@
 #include <array>
 #include <vector>
 
-namespace rtt::BB {
+namespace rtt::ai::control {
 /**
  * @brief Represents a segment of a one-dimensional bang-bang trajectory.
  */
@@ -105,7 +105,7 @@ class BBTrajectory1D {
      * @brief Puts all BBT parts in a vector
      * @return All BBT parts as a vector
      */
-    std::vector<BB::BBTrajectoryPart> getParts();
+    std::vector<rtt::ai::control::BBTrajectoryPart> getParts();
 
     /**
      * @brief Constructor for the BBTrajectory1D class
@@ -168,6 +168,6 @@ class BBTrajectory1D {
     double finalPos;                       /**< Target position to go to */
     double maxVel;                         /**< Maximum allowed velocity */
 };
-}  // namespace rtt::BB
+}  // namespace rtt::ai::control
 
 #endif  // RTT_BBTRAJECTORY1D_H

roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/BBTrajectory2D.h

@@ -7,7 +7,7 @@
 
 #include "BBTrajectory1D.h"
 
-namespace rtt::BB {
+namespace rtt::ai::control {
 
 /**
  * @author Rolf
@@ -73,7 +73,7 @@ class BBTrajectory2D {
     /**
      * @brief Returns all the trajectory parts in both dimensions to use in the Trajectory2D class
      */
-    [[nodiscard]] std::pair<std::vector<BB::BBTrajectoryPart>, std::vector<BB::BBTrajectoryPart>> getParts();
+    [[nodiscard]] std::pair<std::vector<rtt::ai::control::BBTrajectoryPart>, std::vector<rtt::ai::control::BBTrajectoryPart>> getParts();
 
    private:
     /**
@@ -93,5 +93,5 @@ class BBTrajectory2D {
     BBTrajectory1D x; /**< 1D x component of the 2D BBT */
     BBTrajectory1D y; /**< 1D y component of the 2D BBT */
 };
-}  // namespace rtt::BB
+}  // namespace rtt::ai::control
 #endif  // RTT_BBTRAJECTORY2D_H

roboteam_ai/include/roboteam_ai/control/positionControl/BBTrajectories/Trajectory1D.h

@@ -15,7 +15,7 @@ class Trajectory1D {
      * @param newParts Trajectory which needs to be stored
      * @param addFromTime Time the trajectory was created
      */
-    void addTrajectory(const std::vector<BB::BBTrajectoryPart> &newParts, double addFromTime);
+    void addTrajectory(const std::vector<rtt::ai::control::BBTrajectoryPart> &newParts, double addFromTime);
 
     /**
      * @brief Gets the position at time t
@@ -44,9 +44,9 @@ class Trajectory1D {
      */
     [[nodiscard]] double getTotalTime() const;
 
-    std::vector<BB::BBTrajectoryPart> parts; /**< Vector containing all parts of the trajectory */
-    double finalPos;                         /**< Target position to go to */
-    double maxVel;                           /**< Maximum allowed velocity */
+    std::vector<rtt::ai::control::BBTrajectoryPart> parts; /**< Vector containing all parts of the trajectory */
+    double finalPos;                                       /**< Target position to go to */
+    double maxVel;                                         /**< Maximum allowed velocity */
 };
 
 }  // namespace rtt