scurve trajectory planner

 Hi Arciera,

Here is a basic  powel example. It uses a equatation with 2 unknown's.
This example run's ok.
powel basic example

The residual  = distance ( guess position result from first calculation up to final end position. )

I just found out why to use the gaus method....
gaus calculates clothoid length

I found it by accident, when computing the endpoint of the clothoid compound in a optimized function.
it turn's out that the Gauss method is used to get very high accuracy in a few iterations.
My current approach has the property to drift off. As values are incremented including nummerical errors.

So now finally i know why gauss is used.

Gaus vs Drift:
 

I guess we could simply calculate the length of our 3D residual vector and pass that back as the error value to be minimized.
Yes. Excact. That's going to be tested.

20 iterations vs 1000
Nice.

Hi,

I have implemented dogleg. The source is updated.

At least it does something. But something is not ok and i don't know what.

Given Target = x100, y2, z2.
Dogleg result : x1.99 y1.99 z100.00

But i guess this result is luck. Because other values can completely mesh up the clothoid result.

How would I add the dogleg dependencies to your cloned repo?

@Arciera,

I think this : sudo apt-get install libdogleg-dev

In the mean time, i have seen the params[index], had a flaw. I repaired that. Git is updated.
Now still wrong results. I think the Jacobian setup is incorrect also.

I get this error when building your repo:
 

Hi Arciera,
I installed both off them in a hurry. I think this one :sudo apt-get install libdogleg2

apt-cache search libdogleg -> gives both :  libdogleg-dev  & libdogleg-dev

Ok,

I am a little further.
There is added a test : single_clothoid_fit();

This is a test, given a clothoid start point, end point.
It is a single clothoid, so no clothoid compound.

I have those installed but still complains about missing 'cholmod.h': 
 

strange thing is that I seem to able to build 'libdogleg' git repo you linked above which also includes 'chmod.h'. Had to install 'mrbuild' though.

 

Hi Arciera,

Mr build? Huh.  Wich dep is that?

I am able to let the single clothoid finish at target position ~ 50% off the cases.
using example : single_clothoid_fit();

Dogleg fails to find solution very often. Tarpos in the range x20 is ok. x200 is failing all the time.

The good news is, it works partially.
The bad new is, is fails a lot.

Here it does the job ok:



So now what to do?
Maybe try another library?

interpolation endpoint result : endpoint x: 11.000000 y: 5.000000 z: 2.000000