325 lines
18 KiB
C#
325 lines
18 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Reflection;
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using EMPlannerVerificationHost;
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using MultiWheelC.TrajectoryPlanning.CoarsePath;
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using MultiWheelC.TrajectoryPlanning.Mapping;
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namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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internal static class TrajectoryChecks
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{
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public static void Run()
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{
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VerifiesForwardFieldsExactTerminalAndHold();
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VerifiesReverseTravelVelocityAndUnwrappedYaw();
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VerifiesPublishedListsAreImmutable();
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VerifiesWorldSpacePublicationMutationsAreRejected();
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VerifiesReverseSpeedLimitUsesReverseConfiguration();
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}
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private static void VerifiesForwardFieldsExactTerminalAndHold()
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{
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EmTrajectory trajectory = new EmTrajectoryAssembler().Assemble(
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CreatePath(TravelDirection.Forward, 0d, Math.PI / 2d),
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CreateLongitudinalResult(),
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CreateMetadata(TravelDirection.Forward, EmTerminalType.Goal));
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VerifyKinematicFields(trajectory, TravelDirection.Forward, "forward");
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VerifyTerminalAndHold(trajectory, EmBoundaryType.Goal, "forward");
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}
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private static void VerifiesReverseTravelVelocityAndUnwrappedYaw()
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{
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EmTrajectory trajectory = new EmTrajectoryAssembler().Assemble(
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CreatePath(TravelDirection.Reverse, 3.10d, -3.10d),
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CreateLongitudinalResult(),
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CreateMetadata(TravelDirection.Reverse, EmTerminalType.GearSwitch));
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VerifyKinematicFields(trajectory, TravelDirection.Reverse, "reverse");
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VerifyTerminalAndHold(trajectory, EmBoundaryType.GearSwitchApproach, "reverse");
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EmTrajectoryPoint moving = trajectory.Points[1];
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Verification.True(moving.SignedLongitudinalVelocity < 0d, "reverse signed velocity is negative");
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Verification.True(moving.VelocityX * Math.Cos(moving.Yaw) + moving.VelocityY * Math.Sin(moving.Yaw) < 0d,
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"reverse world velocity points opposite the vehicle yaw");
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Verification.True(Math.Abs(Math.Abs(moving.Yaw) - Math.PI) < 0.1d,
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"reverse yaw interpolation unwraps across the pi boundary");
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}
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private static void VerifiesPublishedListsAreImmutable()
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{
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EmTrajectory trajectory = new EmTrajectoryAssembler().Assemble(
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CreatePath(TravelDirection.Forward, 0d, 0d), CreateLongitudinalResult(),
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CreateMetadata(TravelDirection.Forward, EmTerminalType.RollingSafetyStop));
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Verification.True(!(trajectory.Points is IList<EmTrajectoryPoint> mutable) || mutable.IsReadOnly,
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"trajectory public point list is immutable");
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}
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private static void VerifiesWorldSpacePublicationMutationsAreRejected()
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{
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ValidationContext context = CreateValidationContext();
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EmTrajectory valid = CreateValidationTrajectory(TravelDirection.Forward);
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EmTrajectoryValidationResult accepted = new EmTrajectoryValidator().Validate(valid, context.EmptyMap, context.Vehicle,
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context.Configuration, 2, 0.0055d, EmBoundaryType.Goal);
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Verification.True(accepted.IsValid, "valid world-space trajectory is publishable: " + accepted.Message);
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AssertRejected(context, CorruptDouble(valid, 1, "X", double.NaN), EmTrajectoryValidationFailure.NonFinite, 1,
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"non-finite point");
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AssertRejected(context, Replace(valid, 1, Clone(valid.Points[1], timeFromStart: valid.Points[0].TimeFromStart)),
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EmTrajectoryValidationFailure.TimeNotStrictlyIncreasing, 1, "non-increasing time");
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AssertRejected(context, Replace(valid, 2, Clone(valid.Points[2], pathS: 0.0005d)),
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EmTrajectoryValidationFailure.PathSDecreased, 2, "decreasing PathS");
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AssertRejected(context, Replace(valid, 1, Clone(valid.Points[1], signedSpeed: -valid.Points[1].Speed)),
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EmTrajectoryValidationFailure.DirectionSignMismatch, 1, "direction sign");
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AssertRejected(context, CorruptDouble(valid, 1, "Speed", valid.Points[1].Speed + 0.01d),
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EmTrajectoryValidationFailure.RedundantSpeedMismatch, 1, "redundant speed");
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AssertRejected(context, CorruptDouble(valid, 1, "VelocityX", valid.Points[1].VelocityX + 0.01d),
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EmTrajectoryValidationFailure.WorldVelocityMismatch, 1, "world velocity");
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AssertRejected(context, CorruptDouble(valid, 1, "YawRate", valid.Points[1].YawRate + 0.01d),
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EmTrajectoryValidationFailure.YawRateMismatch, 1, "yaw rate");
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AssertRejected(context, Replace(valid, 1, Clone(valid.Points[1], signedSpeed: 0.30d)),
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EmTrajectoryValidationFailure.SpeedLimitExceeded, 1, "speed limit");
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AssertRejected(context, Replace(valid, 2, Clone(valid.Points[2], signedSpeed: 0.19d)),
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EmTrajectoryValidationFailure.AccelerationLimitExceeded, 2, "acceleration limit");
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EmTrajectory jerkMutated = Replace(valid, 1, Clone(valid.Points[1], signedSpeed: 0.035d));
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jerkMutated = Replace(jerkMutated, 2, Clone(jerkMutated.Points[2], signedSpeed: 0.03d));
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AssertRejected(context, jerkMutated, EmTrajectoryValidationFailure.JerkLimitExceeded, 2, "jerk limit");
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EmTrajectoryValidationResult jerkResult = new EmTrajectoryValidator().Validate(
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jerkMutated, context.EmptyMap, context.Vehicle, context.Configuration, 2, 0.0055d, EmBoundaryType.Goal);
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Verification.Equal(EmTrajectoryValidationFailure.JerkLimitExceeded, jerkResult.Failure,
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"jerk diagnostic failure code");
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Verification.Equal(2, jerkResult.PointIndex, "jerk diagnostic point index");
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foreach (string field in new[]
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{
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"time=", "dt=", "previousAcceleration=", "acceleration=", "jerk=", "limit=", "excess=",
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"storedPreviousJerk=", "storedCurrentJerk=",
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})
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{
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Verification.True(jerkResult.Message.Contains(field), "jerk diagnostic includes " + field);
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}
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AssertRejected(context, Replace(valid, 1, Clone(valid.Points[1], vehicleCurvature: 2d)),
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EmTrajectoryValidationFailure.CurvatureLimitExceeded, 1, "curvature limit");
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AssertRejected(context, Replace(valid, 1, Clone(valid.Points[1], vehicleCurvature: 0.75d)),
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EmTrajectoryValidationFailure.CurvatureRateLimitExceeded, 1, "curvature-rate limit");
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const int terminalIndex = 8;
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AssertRejected(context, Replace(valid, terminalIndex, Clone(valid.Points[terminalIndex], boundaryType: EmBoundaryType.None)),
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EmTrajectoryValidationFailure.MissingTerminalAnchor, terminalIndex, "missing exact terminal anchor");
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AssertRejected(context, Replace(valid, terminalIndex, Clone(valid.Points[terminalIndex], signedSpeed: 0.01d)),
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EmTrajectoryValidationFailure.TerminalSpeedNotZero, terminalIndex, "terminal speed");
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AssertRejected(context, CorruptDouble(valid, terminalIndex, "YawRate", 0.01d),
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EmTrajectoryValidationFailure.TerminalYawRateNotZero, terminalIndex, "terminal yaw rate");
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AssertRejected(context, Replace(valid, 1, Clone(valid.Points[1], x: 1d)), context.PoseCollisionMap,
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EmTrajectoryValidationFailure.PoseCollision, 1, "pose collision");
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AssertRejected(context, Replace(valid, 1, Clone(valid.Points[1], x: 1d)), context.SweptCollisionMap,
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EmTrajectoryValidationFailure.SweptCollision, 1, "swept collision");
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EmTrajectoryValidationResult beyondSegment = new EmTrajectoryValidator().Validate(valid, context.EmptyMap, context.Vehicle,
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context.Configuration, 2, 0.004d, EmBoundaryType.Goal);
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Verification.Equal(EmTrajectoryValidationFailure.SegmentBoundaryExceeded, beyondSegment.Failure,
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"segment-boundary failure code");
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Verification.Equal(4, beyondSegment.PointIndex, "segment-boundary first point");
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}
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private static void VerifiesReverseSpeedLimitUsesReverseConfiguration()
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{
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ValidationContext context = CreateValidationContext();
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context.Configuration.Longitudinal.MaximumForwardSpeedMetersPerSecond = 0.20d;
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context.Configuration.Longitudinal.MaximumReverseSpeedMetersPerSecond = 0.02d;
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EmTrajectoryValidationResult result = new EmTrajectoryValidator().Validate(
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CreateValidationTrajectory(TravelDirection.Reverse), context.EmptyMap, context.Vehicle, context.Configuration,
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2, 0.0055d, EmBoundaryType.Goal);
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Verification.Equal(EmTrajectoryValidationFailure.SpeedLimitExceeded, result.Failure,
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"reverse speed uses the configured reverse limit");
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Verification.Equal(0, result.PointIndex, "reverse speed first over-limit point");
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}
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private static void AssertRejected(ValidationContext context, EmTrajectory trajectory,
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EmTrajectoryValidationFailure expectedFailure, int expectedIndex, string name)
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{
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AssertRejected(context, trajectory, context.EmptyMap, expectedFailure, expectedIndex, name);
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}
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private static void AssertRejected(ValidationContext context, EmTrajectory trajectory, PlanningGridMap map,
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EmTrajectoryValidationFailure expectedFailure, int expectedIndex, string name)
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{
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EmTrajectoryValidationResult result = new EmTrajectoryValidator().Validate(trajectory, map, context.Vehicle,
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context.Configuration, 2, 0.0055d, EmBoundaryType.Goal);
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Verification.True(!result.IsValid, name + " is rejected");
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Verification.Equal(expectedFailure, result.Failure, name + " failure code");
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Verification.Equal(expectedIndex, result.PointIndex, name + " failure index");
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}
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private static ValidationContext CreateValidationContext()
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{
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EmPlannerConfiguration configuration = EmPlannerConfiguration.CreateDefault();
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return new ValidationContext(configuration, new VehicleParameters
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{
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LengthMeters = 0.01d,
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WidthMeters = 0.01d,
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SafetyMarginMeters = 0d,
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MaximumCurvaturePerMeter = 1d,
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},
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CreateValidationMap(Array.Empty<IMapObstacle>()),
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CreateValidationMap(new IMapObstacle[] { new AxisAlignedRectangleObstacle(990f, 1010f, -10f, 10f) }),
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CreateValidationMap(new IMapObstacle[] { new AxisAlignedRectangleObstacle(490f, 510f, -10f, 10f) }));
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}
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private static PlanningGridMap CreateValidationMap(IReadOnlyList<IMapObstacle> obstacles)
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{
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IMapObstacleSource[] sources = obstacles.Count == 0
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? Array.Empty<IMapObstacleSource>()
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: new IMapObstacleSource[] { new ManualObstacleSource("trajectory-validator", 1L, true, obstacles) };
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PlanningMapBuildResult result = new PlanningMapFactory().Create(new PlanningMapRequest
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{
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Bounds = new MapBoundsMm(-1000f, 3000f, -1000f, 1000f),
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ResolutionMm = 20f,
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ObstacleSources = sources,
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AllowExplicitEmptyMap = obstacles.Count == 0,
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});
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Verification.True(result.Succeeded && result.Map != null && result.Map.PlanningReady,
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"trajectory-validator map builds: " + result.FailureReason);
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return result.Map!;
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}
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private static EmTrajectory CreateValidationTrajectory(TravelDirection direction)
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{
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double[] times = { 0d, 0.05d, 0.10d, 0.15d, 0.20d, 0.25d, 0.30d, 0.35d, 0.40d };
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double[] pathS = { 0d, 0.0014375d, 0.00271875d, 0.00378125d, 0.0045625d, 0.0050625d, 0.00534375d,
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0.00546875d, 0.0055d };
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double[] speed = { 0.03d, 0.0275d, 0.02375d, 0.01875d, 0.0125d, 0.0075d, 0.00375d, 0.00125d, 0d };
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double[] acceleration = { -0.05d, -0.075d, -0.10d, -0.125d, -0.10d, -0.075d, -0.05d, -0.025d, 0d };
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double[] jerk = { -0.5d, -0.5d, -0.5d, 0.5d, 0.5d, 0.5d, 0.5d, 0.5d };
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var candidate = new LongitudinalCandidate(times, pathS, speed, acceleration, jerk);
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var result = new LongitudinalPlanningResult(EmPlanningStatus.Success, candidate, string.Empty);
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var path = new LateralPath(new[]
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{
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new LateralPathPoint(0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d),
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new LateralPathPoint(1d, 0.0055d, 0d, 0d, 0d, 0d, 0.0055d, 0d, 0d, 0d, 0d, 0d),
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}, true);
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return new EmTrajectoryAssembler().Assemble(path, result, CreateMetadata(direction, EmTerminalType.Goal));
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}
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private static EmTrajectory Replace(EmTrajectory trajectory, int index, EmTrajectoryPoint replacement)
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{
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var points = new List<EmTrajectoryPoint>(trajectory.Points);
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points[index] = replacement;
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return new EmTrajectory(trajectory.Metadata, points);
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}
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private static EmTrajectory CorruptDouble(EmTrajectory trajectory, int index, string propertyName, double value)
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{
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EmTrajectoryPoint replacement = Clone(trajectory.Points[index]);
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FieldInfo field = typeof(EmTrajectoryPoint).GetField("<" + propertyName + ">k__BackingField",
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BindingFlags.Instance | BindingFlags.NonPublic) ?? throw new InvalidOperationException("Missing backing field " + propertyName);
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field.SetValue(replacement, value);
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return Replace(trajectory, index, replacement);
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}
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private static EmTrajectoryPoint Clone(EmTrajectoryPoint point, double? x = null, double? timeFromStart = null,
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double? signedSpeed = null, double? pathS = null, double? vehicleCurvature = null,
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EmBoundaryType? boundaryType = null)
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{
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return new EmTrajectoryPoint(x ?? point.X, point.Y, point.Yaw, signedSpeed ?? point.SignedLongitudinalVelocity,
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timeFromStart ?? point.TimeFromStart, vehicleCurvature ?? point.VehicleCurvature, point.SegmentIndex,
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pathS ?? point.SegmentLocalS, pathS ?? point.PathS, point.Direction, boundaryType ?? point.BoundaryType,
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0d, 0d);
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}
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private sealed class ValidationContext
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{
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public ValidationContext(EmPlannerConfiguration configuration, VehicleParameters vehicle, PlanningGridMap emptyMap,
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PlanningGridMap poseCollisionMap, PlanningGridMap sweptCollisionMap)
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{
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Configuration = configuration;
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Vehicle = vehicle;
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EmptyMap = emptyMap;
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PoseCollisionMap = poseCollisionMap;
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SweptCollisionMap = sweptCollisionMap;
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}
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public EmPlannerConfiguration Configuration { get; }
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public VehicleParameters Vehicle { get; }
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public PlanningGridMap EmptyMap { get; }
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public PlanningGridMap PoseCollisionMap { get; }
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public PlanningGridMap SweptCollisionMap { get; }
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}
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private static void VerifyKinematicFields(EmTrajectory trajectory, TravelDirection direction, string name)
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{
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double directionSign = direction == TravelDirection.Forward ? 1d : -1d;
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double previousTime = double.NegativeInfinity;
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double previousPathS = double.NegativeInfinity;
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for (int index = 0; index < trajectory.Points.Count; index++)
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{
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EmTrajectoryPoint point = trajectory.Points[index];
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Verification.NearlyEqual(Math.Abs(point.SignedLongitudinalVelocity), point.Speed,
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name + " speed field " + index);
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Verification.NearlyEqual(point.SignedLongitudinalVelocity * Math.Cos(point.Yaw), point.VelocityX,
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name + " velocity X field " + index);
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Verification.NearlyEqual(point.SignedLongitudinalVelocity * Math.Sin(point.Yaw), point.VelocityY,
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name + " velocity Y field " + index);
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Verification.NearlyEqual(point.SignedLongitudinalVelocity * point.VehicleCurvature, point.YawRate,
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name + " yaw-rate field " + index);
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if (index < 4)
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Verification.NearlyEqual(directionSign * CreateLongitudinalResult().Candidate.U[index],
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point.SignedLongitudinalVelocity, name + " signed speed field " + index);
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Verification.True(point.TimeFromStart > previousTime, name + " time strictly increases " + index);
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Verification.True(point.PathS >= previousPathS, name + " PathS never decreases " + index);
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previousTime = point.TimeFromStart;
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previousPathS = point.PathS;
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}
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}
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private static void VerifyTerminalAndHold(EmTrajectory trajectory, EmBoundaryType terminalBoundary, string name)
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{
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const int terminalIndex = 3;
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EmTrajectoryPoint terminal = trajectory.Points[terminalIndex];
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Verification.Equal(terminalBoundary, terminal.BoundaryType, name + " exact terminal boundary type");
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Verification.NearlyEqual(0d, terminal.SignedLongitudinalVelocity, name + " exact terminal signed speed");
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Verification.NearlyEqual(0d, terminal.YawRate, name + " exact terminal yaw rate");
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Verification.NearlyEqual(0.137d, terminal.TimeFromStart, name + " exact non-regular terminal time");
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Verification.Equal(terminalIndex + 5, trajectory.Points.Count, name + " terminal plus 0.20-second hold samples");
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for (int index = terminalIndex + 1; index < trajectory.Points.Count; index++)
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{
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EmTrajectoryPoint hold = trajectory.Points[index];
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Verification.NearlyEqual(terminal.TimeFromStart + (index - terminalIndex) * 0.05d,
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hold.TimeFromStart, name + " hold timing " + index);
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Verification.NearlyEqual(terminal.X, hold.X, name + " hold X " + index);
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Verification.NearlyEqual(terminal.Y, hold.Y, name + " hold Y " + index);
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Verification.NearlyEqual(terminal.Yaw, hold.Yaw, name + " hold yaw " + index);
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Verification.NearlyEqual(0d, hold.SignedLongitudinalVelocity, name + " hold signed speed " + index);
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Verification.NearlyEqual(0d, hold.YawRate, name + " hold yaw rate " + index);
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}
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}
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private static LateralPath CreatePath(TravelDirection direction, double firstYaw, double lastYaw)
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{
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return new LateralPath(new[]
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{
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new LateralPathPoint(0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d, firstYaw, 0d, 0.5d, 0d),
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new LateralPathPoint(1d, 0.12d, 0d, 0d, 0d, 0d, 0.12d, 0d, lastYaw, 0d, 0.5d, 0d),
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}, true);
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}
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private static LongitudinalPlanningResult CreateLongitudinalResult()
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{
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var candidate = new LongitudinalCandidate(
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new[] { 0d, 0.05d, 0.10d, 0.137d },
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new[] { 0d, 0.04d, 0.08d, 0.12d },
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new[] { 0.8d, 0.8d, 0.8d, 0d },
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new[] { 0d, 0d, 0d, 0d },
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new[] { 0d, 0d, 0d });
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return new LongitudinalPlanningResult(EmPlanningStatus.Success, candidate, string.Empty);
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}
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private static EmTrajectoryMetadata CreateMetadata(TravelDirection direction, EmTerminalType terminalType)
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{
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return new EmTrajectoryMetadata("trajectory", DateTimeOffset.UnixEpoch, DateTimeOffset.UnixEpoch, 3L,
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"reference", 4L, string.Empty, 2, direction, terminalType);
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}
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}
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