34 lines
1.9 KiB
JavaScript
34 lines
1.9 KiB
JavaScript
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/* 局部可观测时间律（2026-10-17，方案 §4.5）
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* 折线按"巡航时间" τ 参数化：每段 τ = max_j |Δq_j| / VMAX_j（各轴同步、主导轴满速）。
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* 归一化速度 v∈[0,1]（1 = 巡航）：v ← min(1, v + A·dt, sqrt(2·A·剩余 τ))，只依赖当前速度与剩余路程。
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* 输出 50 Hz（dt = 20 ms）状态序列，末点精确落在终点。 */
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'use strict';
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const VMAX = [60, 60, 90, 90, 120, 180]; // °/s，与 tests/route_bench.cjs 同（轴速比 0.6/0.6/0.9/0.9/1.2/1.8）
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const A = 5.0; // 1/s²：0→巡航约 0.2 s（a_max 待真机参数）
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const DT = 0.02;
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function timeParam(P, opt) {
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opt = opt || {};
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const vmax = opt.vmax || VMAX, a = opt.acc || A, dt = opt.dt || DT;
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const segT = [];
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for (let i = 1; i < P.length; i++) { let m = 0; for (let j = 0; j < 6; j++) m = Math.max(m, Math.abs(P[i][j] - P[i - 1][j]) / vmax[j]); segT.push(m); }
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const cum = [0]; for (const s of segT) cum.push(cum[cum.length - 1] + s);
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const total = cum[cum.length - 1];
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const at = tau => {
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if (tau >= total) return P[P.length - 1].slice();
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let i = 0; while (i < segT.length - 1 && cum[i + 1] < tau) i++;
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const u = segT[i] > 0 ? (tau - cum[i]) / segT[i] : 1;
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return P[i].map((v, j) => v + (P[i + 1][j] - v) * u);
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};
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const out = [P[0].slice()], taus = [0]; let tau = 0, v = 0, guard = 0;
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while (tau < total - 1e-9 && guard++ < 100000) {
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const rem = total - tau;
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const v1 = Math.min(1, v + a * dt, Math.sqrt(2 * a * Math.max(0, rem - 0.5 * v * dt)) + 1e-9);
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let step = 0.5 * (v + v1) * dt;
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if (step <= 1e-9) step = Math.min(rem, a * dt * dt); // 防止末端速度掉到 0 卡住
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tau = Math.min(total, tau + step); v = v1;
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out.push(at(tau)); taus.push(tau);
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}
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return { traj: out, taus, cum, total, steps: out.length - 1 };
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}
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module.exports = { timeParam, VMAX, A, DT };
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