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Simplify speed function

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This commit is contained in:
Emma Broman
2020-03-31 11:27:30 +02:00
parent 39151bda2e
commit 3ddb4e6575
1 changed files with 7 additions and 8 deletions
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15
modules/autonavigation/pathsegment.cpp
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@@ -168,23 +168,22 @@ PathSegment::SpeedFunction::SpeedFunction(double duration) {
double PathSegment::SpeedFunction::value(double t) const {
ghoul_assert(t >= 0 && t <= 1, "Variable t out of range [0,1]");
const double t1 = 0.2;
const double t2 = 0.8; // > t1
// TODO: more advanced computation of limits, possibly based on distances
const double tPeak = 0.5;
double speed = 1.0;
// accelerate
if (t < t1) {
double tScaled = t / t1;
if (t <= tPeak) {
double tScaled = t / tPeak;
speed = ghoul::cubicEaseInOut(tScaled);
}
// deaccelerate
else if (t > t2) {
double tScaled = (t - t2) / (1.0 - t2);
else {
double tScaled = (t - tPeak) / (1.0 - tPeak);
speed = 1.0 - ghoul::cubicEaseInOut(tScaled);
}
// avoid zero speed
speed += 0.001;
return speed;
}