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generate_route.m
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generate_route.m
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function [x_ref,y_ref,theta_ref,v_ref,viaPoints,a_ref,w_ref] = generate_route(dt,tsim)
% ---Start of user-controlled section--- %
% define boundry conditions
pi = [0 0]; % [xi yi]
vi = 0.1; % consists of vxi,vyi
thetai = 90; % orientation of the starting point, used to compute vxi,vyi,axi,ayi
pf = [6 0]; % [xf yf]
vf = 0.1;
thetaf = 270;
% define viaPoints
viaPoints = [0 , 2, 2, 4, 4, 6
10,10, 0, 0,10,10
];
% define time for the points
tPoints = [0,6,8,14,16,22,24,tsim];
% ----End of user-controlled section---- %
% Check if time points are valid
if(tPoints(end-1) >= tsim)
msg = 'Invalid time points';
error(msg)
end
% Decompose
xi = pi(1);
yi = pi(2);
vxi = vi * cosd(thetai);
vyi = vi * sind(thetai);
xf = pf(1);
yf = pf(2);
vxf = vf * cosd(thetaf);
vyf = vf * sind(thetaf);
xm = viaPoints(1,1:6);
ym = viaPoints(2,1:6);
% pre-compute the coefficients of the polynomials
xCoefs = calculate_coeffs(xi,vxi,xf,vxf,xm,tPoints);
yCoefs = calculate_coeffs(yi,vyi,yf,vyf,ym,tPoints);
% create empty arrays to store data
[x_ref,y_ref,theta_ref,v_ref,a_ref,w_ref] = deal([],[],[],[],[],[]);
% main for loop
for t = 0:dt:tsim
if(t < tPoints(2))
x_ref(end+1) = calc_position(xCoefs(:,1),t);
y_ref(end+1) = calc_position(yCoefs(:,1),t);
vx = calc_velocity(xCoefs(:,1),t);
vy = calc_velocity(yCoefs(:,1),t);
v_ref(end+1) = hypot(vx,vy);
theta_ref(end+1) = atan2d(vy,vx);
% calculate acceleration components
ax = calc_acceleration(xCoefs(:,1),t);
ay = calc_acceleration(yCoefs(:,1),t);
a_temp = hypot(ax,ay);
% check the direction of the acceleration
if(length(v_ref) > 2 && v_ref(end)-v_ref(end-1) < 0)
a_temp = -1 * a_temp;
end
a_ref(end+1) = a_temp;
% calculate reference angular velocity
w_ref(end+1) = (ay * vx - ax * vy) / (vx.^2 + vy.^2);
elseif(tPoints(2) <= t && t < tPoints(3))
x_ref(end+1) = calc_position_shifted(xCoefs(:,2),t,tPoints(2));
y_ref(end+1) = calc_position_shifted(yCoefs(:,2),t,tPoints(2));
vx = calc_velocity_shifted(xCoefs(:,2),t,tPoints(2));
vy = calc_velocity_shifted(yCoefs(:,2),t,tPoints(2));
v_ref(end+1) = hypot(vx,vy);
theta_ref(end+1) = atan2d(vy,vx);
% calculate acceleration components
ax = calc_acceleration_shifted(xCoefs(:,2),t,tPoints(2));
ay = calc_acceleration_shifted(yCoefs(:,2),t,tPoints(2));
a_temp = hypot(ax,ay);
% check the direction of the acceleration
if(length(v_ref) > 2 && v_ref(end) - v_ref(end-1) < 0)
a_temp = -1 * a_temp;
end
a_ref(end+1) = a_temp;
% calculate reference angular velocity
w_ref(end+1) = (ay * vx - ax * vy) / (vx.^2 + vy.^2);
elseif(tPoints(3) <= t && t < tPoints(4))
x_ref(end+1) = calc_position_shifted(xCoefs(:,3),t,tPoints(3));
y_ref(end+1) = calc_position_shifted(yCoefs(:,3),t,tPoints(3));
vx = calc_velocity_shifted(xCoefs(:,3),t,tPoints(3));
vy = calc_velocity_shifted(yCoefs(:,3),t,tPoints(3));
v_ref(end+1) = hypot(vx,vy);
theta_ref(end+1) = atan2d(vy,vx);
% calculate acceleration components
ax = calc_acceleration_shifted(xCoefs(:,3),t,tPoints(3));
ay = calc_acceleration_shifted(yCoefs(:,3),t,tPoints(3));
a_temp = hypot(ax,ay);
% check the direction of the acceleration
if(length(v_ref) > 2 && v_ref(end) - v_ref(end-1) < 0)
a_temp = -1 * a_temp;
end
a_ref(end+1) = a_temp;
% calculate reference angular velocity
w_ref(end+1) = (ay * vx - ax * vy) / (vx.^2 + vy.^2);
elseif(tPoints(4) <= t && t < tPoints(5))
x_ref(end+1) = calc_position_shifted(xCoefs(:,4),t,tPoints(4));
y_ref(end+1) = calc_position_shifted(yCoefs(:,4),t,tPoints(4));
vx = calc_velocity_shifted(xCoefs(:,4),t,tPoints(4));
vy = calc_velocity_shifted(yCoefs(:,4),t,tPoints(4));
v_ref(end+1) = hypot(vx,vy);
theta_ref(end+1) = atan2d(vy,vx);
% calculate acceleration components
ax = calc_acceleration_shifted(xCoefs(:,4),t,tPoints(4));
ay = calc_acceleration_shifted(yCoefs(:,4),t,tPoints(4));
a_temp = hypot(ax,ay);
% check the direction of the acceleration
if(length(v_ref) > 2 && v_ref(end) - v_ref(end-1) < 0)
a_temp = -1 * a_temp;
end
a_ref(end+1) = a_temp;
% calculate reference angular velocity
w_ref(end+1) = (ay * vx - ax * vy) / (vx.^2 + vy.^2);
elseif(tPoints(5) <= t && t < tPoints(6))
x_ref(end+1) = calc_position_shifted(xCoefs(:,5),t,tPoints(5));
y_ref(end+1) = calc_position_shifted(yCoefs(:,5),t,tPoints(5));
vx = calc_velocity_shifted(xCoefs(:,5),t,tPoints(5));
vy = calc_velocity_shifted(yCoefs(:,5),t,tPoints(5));
v_ref(end+1) = hypot(vx,vy);
theta_ref(end+1) = atan2d(vy,vx);
% calculate acceleration components
ax = calc_acceleration_shifted(xCoefs(:,5),t,tPoints(5));
ay = calc_acceleration_shifted(yCoefs(:,5),t,tPoints(5));
a_temp = hypot(ax,ay);
% check the direction of the acceleration
if(length(v_ref) > 2 && v_ref(end) - v_ref(end-1) < 0)
a_temp = -1 * a_temp;
end
a_ref(end+1) = a_temp;
% calculate reference angular velocity
w_ref(end+1) = (ay * vx - ax * vy) / (vx.^2 + vy.^2);
elseif(tPoints(6) <= t && t < tPoints(7))
x_ref(end+1) = calc_position_shifted(xCoefs(:,6),t,tPoints(6));
y_ref(end+1) = calc_position_shifted(yCoefs(:,6),t,tPoints(6));
vx = calc_velocity_shifted(xCoefs(:,6),t,tPoints(6));
vy = calc_velocity_shifted(yCoefs(:,6),t,tPoints(6));
v_ref(end+1) = hypot(vx,vy);
theta_ref(end+1) = atan2d(vy,vx);
% calculate acceleration components
ax = calc_acceleration_shifted(xCoefs(:,6),t,tPoints(6));
ay = calc_acceleration_shifted(yCoefs(:,6),t,tPoints(6));
a_temp = hypot(ax,ay);
% check the direction of the acceleration
if(length(v_ref) > 2 && v_ref(end) - v_ref(end-1) < 0)
a_temp = -1 * a_temp;
end
a_ref(end+1) = a_temp;
% calculate reference angular velocity
w_ref(end+1) = (ay * vx - ax * vy) / (vx.^2 + vy.^2);
else
x_ref(end+1) = calc_position_shifted(xCoefs(:,7),t,tPoints(7));
y_ref(end+1) = calc_position_shifted(yCoefs(:,7),t,tPoints(7));
vx = calc_velocity_shifted(xCoefs(:,7),t,tPoints(7));
vy = calc_velocity_shifted(yCoefs(:,7),t,tPoints(7));
v_ref(end+1) = hypot(vx,vy);
theta_ref(end+1) = atan2d(vy,vx);
% calculate acceleration components
ax = calc_acceleration_shifted(xCoefs(:,7),t,tPoints(7));
ay = calc_acceleration_shifted(yCoefs(:,7),t,tPoints(7));
a_temp = hypot(ax,ay);
% check the direction of the acceleration
if(length(v_ref) > 2 && v_ref(end) - v_ref(end-1) < 0)
a_temp = -1 * a_temp;
end
a_ref(end+1) = a_temp;
% calculate reference angular velocity
w_ref(end+1) = (ay * vx - ax * vy) / (vx.^2 + vy.^2);
end
end
x_ref = x_ref';
y_ref = y_ref';
theta_ref = deg2rad(theta_ref)';
v_ref = v_ref';
a_ref = a_ref';
w_ref = w_ref';
end