import { bezierControlPoints , Knot , knotsToSegmentCoefficientsArray } from '../utils/geometry' ; export type RawVelocity = [ x : number , y : number , theta : number ] ; export type RawPose2D = [ x : number , y : number , theta : number ] ; export interface RawKnot { t : number ; v : RawVelocity ; x : RawPose2D ; } export interface Trajectory { id : number ; shape : string ; dimensions : number ; segments : RawKnot [ ] ; robot_name : string ; fleet_name : string ; map_name : string ; } function rawKnotsToKnots ( rawKnots ) { const knots = [ ] ; for ( const rawKnot of rawKnots ) { const [ poseX , poseY , poseTheta ] = rawKnot . x ; const [ velocityX , velocityY , velocityTheta ] = rawKnot . v ; knots . push ( { pose : { x : poseX , y : poseY , theta : poseTheta , } , velocity : { x : velocityX , y : velocityY , theta : velocityTheta , } , time : rawKnot . t , } ) ; } return knots ; } export interface TrajectoryPath { d : string ; segOffsets : number [ ] ; } export function trajectoryPath ( trajectorySegments ) { const knots = rawKnotsToKnots ( trajectorySegments ) ; const coeff = knotsToSegmentCoefficientsArray ( knots ) ; const bezierSplines = coeff . map ( bezierControlPoints ) ; const totalDuration = knots [ knots . length - 1 ] . time - knots [ 0 ] . time ; const segOffsets = knots . map ( ( k ) => ( k . time - knots [ 0 ] . time ) / totalDuration ) ; let d = `M ${ bezierSplines [ 0 ] [ 0 ] [ 0 ] } ${ - bezierSplines [ 0 ] [ 0 ] [ 1 ] } C ` ; bezierSplines . map ( ( bzCurves ) => ( d += `${ bzCurves [ 1 ] [ 0 ] } ${ - bzCurves [ 1 ] [ 1 ] } ` + `${ bzCurves [ 2 ] [ 0 ] } ${ - bzCurves [ 2 ] [ 1 ] } ` + `${ bzCurves [ 3 ] [ 0 ] } ${ - bzCurves [ 3 ] [ 1 ] } ` ) ) ; return { d , segOffsets , } ; }