35 lines
2.3 KiB
JavaScript
35 lines
2.3 KiB
JavaScript
/* 老师（方案 §4.3）：solveDyn 松手口径——有离线路网时内部走 PRM 路网 Lazy A* + 捷径平滑，路网失败再落到 RRT-Connect。
|
|
* 离线确定性（2026-10-17，M1 一致性门禁 78% 未过后加）：
|
|
* - 每次求解前 resetSession()：清空路网增广/坏边/已验段等跨调用状态，结果与样本顺序无关；
|
|
* - setDeterministic：毫秒预算改按碰撞判定次数计（msPerCheck 默认 0.5，即 300 ms 预算 ≈ 600 次判定），与机器负载无关；
|
|
* - pos 任务冻结 J6：位置任务里 J6 不影响 TCP，路径上 J6 恒取起点值（认证不过才保留老师原路径，由 gen 决定）。 */
|
|
'use strict';
|
|
module.exports = function makeTeacher(S, ArmIK, opt) {
|
|
opt = opt || {};
|
|
const L = S.LIM, O = S.ORDER, w = S.wrap180;
|
|
if (S.setDeterministic) S.setDeterministic(true, opt.msPerCheck || 0.5);
|
|
return function teach(task) {
|
|
const o = { tool: 0, step: 0.5, ref: task.q0, from: task.q0.slice() };
|
|
if (task.mode === 'pose') { o.pose = { R: task.R }; o.priority = 'pos'; }
|
|
if (S.resetSession) S.resetSession(); else if (S.rtReset) S.rtReset();
|
|
const t0 = performance.now();
|
|
const r = S.solveDyn(task.T, o);
|
|
const ms = performance.now() - t0;
|
|
if (!r || !r.q) return { ok: false, ms, why: 'noq' };
|
|
const pts = [task.q0.slice()].concat(r.via || [], [r.q]);
|
|
for (let i = 1; i < pts.length; i++) pts[i] = pts[i - 1].map((v, k) => L[O[k]].cont ? v + w(pts[i][k] - v) : pts[i][k]);
|
|
const qf = pts[pts.length - 1], tcp = S.fk(qf, 0);
|
|
const err = Math.hypot(tcp[0] - task.T[0], tcp[1] - task.T[1], tcp[2] - task.T[2]);
|
|
const oerr = task.mode === 'pose' ? ArmIK.rotErrDeg(S.orient(qf), task.R) : 0;
|
|
const reached = err < 1 && oerr < 0.5 && !r.blocked;
|
|
const travelOf = P => { let t = 0; for (let i = 1; i < P.length; i++) for (let k = 0; k < 6; k++) t += Math.abs(P[i][k] - P[i - 1][k]); return t; };
|
|
const out = { ok: true, pts, reached, err, oerr, travel: travelOf(pts), ms, blocked: !!r.blocked, poseRelaxed: !!r.poseRelaxed, unsafe: !!r.unsafe, detour: r.detour || null };
|
|
if (task.mode === 'pos') {
|
|
const j6 = task.q0[5];
|
|
if (pts.some(p => Math.abs(p[5] - j6) > 1e-6)) out.ptsJ6Frozen = pts.map(p => { const c = p.slice(); c[5] = j6; return c; });
|
|
}
|
|
out.travelOf = travelOf;
|
|
return out;
|
|
};
|
|
};
|