Introduce Wheel Ramping in Simulation#3805
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williamckha
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williamckha
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…into Andrewyx/sim_ramping
williamckha
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@Andrewyx you'll have to pull from master or else ci fails |
…rewyx/sim_ramping
nycrat
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| auto prev_it = prev_ramp_velocities->find(robot_id); | ||
| if (prev_it == prev_ramp_velocities->end()) | ||
| { | ||
| LocalVelocity seed{Vector(0, 0), AngularVelocity::zero()}; | ||
| auto robot_state_it = robot_map.find(robot_id); | ||
| if (robot_state_it != robot_map.end()) | ||
| { | ||
| seed = LocalVelocity{robot_state_it->second.localVelocity(), | ||
| robot_state_it->second.angularVelocity()}; | ||
| } | ||
| prev_it = prev_ramp_velocities->insert({robot_id, seed}).first; | ||
| } | ||
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| direct_control = getRampedVelocityPrimitive( | ||
| prev_it->second.linear, prev_it->second.angular, *direct_control_no_ramp, | ||
| primitive_executor_time_step); | ||
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| // Persist the ramped command as the setpoint to ramp from next tick. | ||
| const auto& ramped = | ||
| direct_control->motor_control().direct_velocity_control(); | ||
| prev_it->second = |
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nit: prefer structured bindings for iterators over ->first and ->second for readability. For example:
// ...
{
auto& [id, state] = *robot_state_it;
}
// ...
auto& [id, prev_velocity] = *prev_it;Or just create a variable since we don't use ->first in this code:
auto& state = robot_state_it->second;
auto& prev_velocity = prev_it->second;
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Description
Currently, wheel velocity ramping is performed in the field via
rampWheelVelocity, however, in sim, we do not do any ramping at all and assume we always maintain ideal velocity, To reduce the disparities between our sim and real observations, this PR introduces ramping to the simulator and tweaks correlated tests to adhere to this new behaviour.Testing Done
All tests pass, thunderscope runs at an expected rate. Thresholds for tests loosened as little as possible and within reasonable limits.
Resolved Issues
Length Justification and Key Files to Review
Review Checklist
It is the reviewers responsibility to also make sure every item here has been covered
.hfile) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO(or similar) statements should either be completed or associated with a github issue