Logs.md

Changelog and Plans

Plans

• Nonuniform splines like centripetal Catmull Rom
• Optimize the trajectory planner

Graphs Jupyter Notebook | 2025/04/12

New graphs.ipynb, a Jupyter Notebook that graphs the csv files generated by test files.

Giselle Geometry & Trajectory Constraints | 2025/04/10 - 2025/04/12

New Giselle Geometry:

• Polygon2D class
  • Define simple polygons using vertices specified in counter-clockwise order
  • Provides functions like getArea() and containsPoint()

New trajectory constraints, inspired by that of WPILib:

• Centripetal Acceleration Constraint
  • Limits the centripetal acceleration of the trajectory to slow down around tight turns.
• Polygon Region Constraint
  • Limits the velocity when the robot is inside a polygon region
• Use the trajectory planner's addCenterTrajectoryConstraints() function

Optimization: Curve Sampling & Trajectory | 2025/04/04

Modified curve sampler:

• Optimization
  • It now integrates using midpoint sum, which reduces number of matrix multiplications by 2/3.

Modified trajectory planner:

• Changed to accept distanceStep instead of distanceResolution.
• setCurvatureFunction can accept additional distances to sample at.
• Not much optimization found yet.

Splines Refactor | 2025/04/03

When creating new cubic spline segments, control points are converted and stored as cubic Hermite control points.

• Thus, only the Hermite characteristic matrix is used