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Merged
merged 4 commits into from
Dec 18, 2024
Merged

Fetch ndcurves if not found #26

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e40987c
Update foot-trajectory.hpp
ManifoldFR Dec 18, 2024
87681c5
Allow ndcurves to be consumed thru FetchContent
ManifoldFR Dec 18, 2024
734e920
Manually alias ndcurves::ndcurves
ManifoldFR Dec 18, 2024
c50a249
dependencies.cmake : disable testing for ndcurves
ManifoldFR Dec 18, 2024
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14 changes: 7 additions & 7 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -92,19 +92,19 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
)
endif()

find_package(example-robot-data 4.0.9 REQUIRED)
ADD_PROJECT_DEPENDENCY(OpenMP REQUIRED)
ADD_PROJECT_DEPENDENCY(proxsuite REQUIRED)
ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED)
ADD_PROJECT_DEPENDENCY(aligator REQUIRED)
ADD_PROJECT_DEPENDENCY(ndcurves REQUIRED)
include(dependencies.cmake)

# Main Library
file(GLOB mpc_SOURCE CONFIGURE_DEPENDS src/*.cpp)
file(GLOB mpc_HEADER CONFIGURE_DEPENDS include/${PROJECT_NAME}/*.hpp)

add_library(${PROJECT_NAME} SHARED ${mpc_HEADER} ${mpc_SOURCE})
target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
target_include_directories(
${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(
${PROJECT_NAME}
PUBLIC
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28 changes: 28 additions & 0 deletions dependencies.cmake
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@@ -0,0 +1,28 @@
find_package(example-robot-data 4.0.9 REQUIRED)
ADD_PROJECT_DEPENDENCY(OpenMP REQUIRED)
ADD_PROJECT_DEPENDENCY(proxsuite REQUIRED)
ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED)
ADD_PROJECT_DEPENDENCY(aligator REQUIRED)

function(get_ndcurves)
find_package(ndcurves QUIET)
if(NOT ndcurves_FOUND)
FetchContent_Declare(
ndcurves
GIT_REPOSITORY "https://github.com/loco-3d/ndcurves"
GIT_PROGRESS True
GIT_TAG devel
SYSTEM
EXCLUDE_FROM_ALL
)
set(PROJECT_CUSTOM_HEADER_DIR)
set(PROJECT_CUSTOM_HEADER_EXTENSION)
set(BUILD_PYTHON_INTERFACE OFF)
set(BUILD_TESTING OFF)
FetchContent_MakeAvailable(ndcurves)
add_library(ndcurves::ndcurves ALIAS ndcurves)
install(TARGETS ndcurves EXPORT ${TARGETS_EXPORT_NAME})
endif()
endfunction()

get_ndcurves()
23 changes: 8 additions & 15 deletions include/simple-mpc/foot-trajectory.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,7 @@
// All rights reserved.
///////////////////////////////////////////////////////////////////////////////

#ifndef SIMPLE_MPC_FOOTTRAJ_HPP_
#define SIMPLE_MPC_FOOTTRAJ_HPP_
#pragma once

#include "simple-mpc/fwd.hpp"
#include <ndcurves/fwd.h>
Expand All @@ -19,14 +18,11 @@ namespace simple_mpc
* @brief Foot trajectory generation
*/

typedef Eigen::Vector3d point3_t;
typedef ndcurves::bezier_curve<float, double, false, point3_t> curve_translation;
typedef ndcurves::piecewise_curve<float, double, false, point3_t> piecewise_curve;
using point3_t = Eigen::Vector3d;
using piecewise_curve = ndcurves::piecewise_curve<float, double, false, point3_t>;

class FootTrajectory
{
/**
*/
protected:
std::map<std::string, point3_t> initial_poses_;
std::map<std::string, point3_t> final_poses_;
Expand All @@ -38,18 +34,21 @@ namespace simple_mpc
size_t T_;

public:
FootTrajectory() {};
virtual ~FootTrajectory() {};
explicit FootTrajectory() {};
FootTrajectory(
const std::map<std::string, point3_t> & initial_poses, double swing_apex, int T_fly, int T_contact, size_t T);
virtual ~FootTrajectory() {};

void updateApex(double swing_apex)
{
swing_apex_ = swing_apex;
}

piecewise_curve defineTranslationBezier(const point3_t & trans_init, const point3_t & trans_final);

std::vector<point3_t> createTrajectory(
int time_to_land, point3_t & initial_trans, point3_t & final_trans, piecewise_curve trajectory_swing);

void updateTrajectory(
bool update,
int landing_time,
Expand All @@ -63,9 +62,3 @@ namespace simple_mpc
};

} // namespace simple_mpc

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */

#endif // SIMPLE_MPC_HPP_
1 change: 1 addition & 0 deletions src/foot-trajectory.cpp
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Expand Up @@ -15,6 +15,7 @@

namespace simple_mpc
{
using curve_translation = ndcurves::bezier_curve<float, double, false, point3_t>;

FootTrajectory::FootTrajectory(
const std::map<std::string, point3_t> & initial_poses, double swing_apex, int T_fly, int T_contact, size_t T)
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