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Increase nr iteration for Newton's method + small refactor

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This commit is contained in:
Emma Broman
2020-05-13 14:38:21 +02:00
parent f003274e62
commit 79d5af5d57
1 changed files with 7 additions and 16 deletions
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modules/autonavigation/pathcurves.cpp
+7 -16
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@@ -66,6 +66,9 @@ double PathCurve::approximatedCurveParameter(double s) {
return uPrevSample + slope * (s - sPrevSample);
}
// Compute the curve parameter from an arc length value, using a combination of
// Newton's method and bisection. Source:
// https://www.geometrictools.com/Documentation/MovingAlongCurveSpecifiedSpeed.pdf
// Input s is a length value, in the range [0, _length]
// Returns curve parameter in range [0, 1]
double PathCurve::curveParameter(double s) {
@@ -86,7 +89,7 @@ double PathCurve::curveParameter(double s) {
const double uMax = _parameterIntervals[segmentIndex];
double u = uMin + (uMax - uMin) * (segmentS / segmentLength);
const int nrIterations = 10;
const int nrIterations = 40;
// initialize root bounding limits for bisection
double lower = uMin;
@@ -104,26 +107,14 @@ double PathCurve::curveParameter(double s) {
double dfdu = approximatedDerivative(u, Epsilon); // > 0
double uCandidate = u - F / dfdu;
// Update root-bounding interval and test candidate
// update root-bounding interval and test candidate
if (F > 0) { // => candidate < u <= upper
upper = u;
if (uCandidate <= lower) {
// the candidate is outside [lower, upper] => use bisection
u = (upper + lower) / 2.0;
}
else {
u = uCandidate;
}
u = (uCandidate <= lower) ? (upper + lower) / 2.0 : uCandidate;
}
else { // F < 0 => lower <= u < candidate
lower = u;
if (uCandidate >= upper) {
// the candidate is outside [lower, upper] => use bisection
u = (upper + lower) / 2.0;
}
else {
u = uCandidate;
}
u = (uCandidate >= upper) ? (upper + lower) / 2.0 : uCandidate;
}
}