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Use midpoint method for speedsum integration

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This commit is contained in:
Emma Broman
2020-04-16 09:37:27 +02:00
parent a08250cc5c
commit d6cdc86f44
1 changed files with 7 additions and 6 deletions
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modules/autonavigation/pathsegment.cpp
+7 -6
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@@ -83,7 +83,7 @@ CameraPose PathSegment::traversePath(double dt) {
double h = dt / steps;
for (int i = 0; i < steps; ++i) {
double t = _progressedTime + i * h;
double speed = 0.5 * (speedAtTime(t - h) + speedAtTime(t + h)); // midpoint method
double speed = 0.5 * (speedAtTime(t - 0.5*h) + speedAtTime(t + 0.5*h)); // midpoint method
displacement += h * speed;
}
@@ -149,12 +149,13 @@ void PathSegment::initCurve() {
PathSegment::SpeedFunction::SpeedFunction(double duration) {
// apply duration constraint (eq. 14 in Eberly)
const int steps = 100;
double dt = duration / steps;
// TODO: better approximation
double speedSum = 0.0;
for (double t = 0.0; t <= 1.0; t += 1.0 / steps) {
speedSum += dt * value(t);
int steps = 100;
double dt = duration / steps;
const double h = 1.0 / steps;
for (double t = 0.0; t <= 1.0; t += h) {
double midpointSpeed = 0.5 * (value(t + 0.5*h) + value(t - 0.5*h));
speedSum += dt * midpointSpeed;
}
integratedSum = speedSum;