From 89518ec5a94d54e1fb29d3e3774ba70a2cd81f2b Mon Sep 17 00:00:00 2001
From: SPD3 <sean@ayerdoyles.org>
Date: Fri, 22 Sep 2017 23:22:09 -0400
Subject: [PATCH] All of the test cases work for one dimensional motion
 profiling without jerk even the random cases.

---
 ...sTester$InvalidAccelerationException.class | Bin 648 -> 648 bytes
 ...inematicsTester$InvalidFinalPosition.class | Bin 624 -> 624 bytes
 ...alidNextVelocityFromLastAcceleration.class | Bin 681 -> 681 bytes
 ...ematicsTester$InvalidTrajectoryLogic.class | Bin 630 -> 630 bytes
 ...aticsTester$InvalidVelocityException.class | Bin 636 -> 636 bytes
 .../bin/KinematicsTester.class                | Bin 30596 -> 31189 bytes
 .../bin/kinematics/KinematicsSimpler.class    | Bin 16299 -> 16121 bytes
 .../MotionProfiling/src/KinematicsTester.java |  61 ++++++++++++++----
 .../src/kinematics/KinematicsSimpler.java     |  13 ++--
 9 files changed, 53 insertions(+), 21 deletions(-)

diff --git a/eclipse-workspace/MotionProfiling/bin/KinematicsTester$InvalidAccelerationException.class b/eclipse-workspace/MotionProfiling/bin/KinematicsTester$InvalidAccelerationException.class
index e2381e764994dade6373e4174816f4b3dc0680b4..6be7dfd5b879a34be7373d4eaf768cff58b97b31 100644
GIT binary patch
delta 22
dcmeBR?O@&D!NkQX$-v4g#lXcXJvoTU3;-}u1E>H1

delta 22
dcmeBR?O@&D!NkS#g@KjjD+3qHx5+_FW&lS_1~vcy

diff --git a/eclipse-workspace/MotionProfiling/bin/KinematicsTester$InvalidFinalPosition.class b/eclipse-workspace/MotionProfiling/bin/KinematicsTester$InvalidFinalPosition.class
index fcc841eb7b706083f93c0c1328e7415dd6266c31..72ec180ab54131de3b559e81da118ba9247880a4 100644
GIT binary patch
delta 21
ccmeys@_}W8Arq$-11qaG0~f2#WGf~!06q%@bN~PV

delta 21
ccmeys@_}W8ArmJn11l>V0~ag%WGf~!06HWD1poj5

diff --git a/eclipse-workspace/MotionProfiling/bin/KinematicsTester$InvalidNextVelocityFromLastAcceleration.class b/eclipse-workspace/MotionProfiling/bin/KinematicsTester$InvalidNextVelocityFromLastAcceleration.class
index 698ccc588c73ff83e5b3b6540ca4d52eb578e0b4..01ee451dd5e3484b4b1857497fa33d59b1d9b9e9 100644
GIT binary patch
delta 22
dcmZ3<x{`H6CKDH{5(6u%G6NT@%H(1uGXOb41V;b>

delta 22
ecmZ3<x{`H6CKDISUj|l|e+*nK|0fqSnE?P$JqFbP

diff --git a/eclipse-workspace/MotionProfiling/bin/KinematicsTester$InvalidTrajectoryLogic.class b/eclipse-workspace/MotionProfiling/bin/KinematicsTester$InvalidTrajectoryLogic.class
index 88b841de31dc1e3264b7c99317fb2dd10e946550..93ca4e4b1928993680366a23dfdf76bbbfb10def 100644
GIT binary patch
delta 21
ccmeyy@{MJKITNQb11qZu0~f35WCtcQ06<^_rvLx|

delta 21
ccmeyy@{MJKITI%z11l>(0~f2nWCtcQ06cjFH~;_u

diff --git a/eclipse-workspace/MotionProfiling/bin/KinematicsTester$InvalidVelocityException.class b/eclipse-workspace/MotionProfiling/bin/KinematicsTester$InvalidVelocityException.class
index 6349e1cb45be848f0cba037881bafb6b1ad2fe03..ba93379e7ff1a80add52318a3dc1895bf0c783fa 100644
GIT binary patch
delta 22
dcmeyv@`q)E4HFlu00S$lAOjbx&}26zGXOzO1X}<A

delta 22
ecmeyv@`q)E4HFm3YX(-9Hw;`XZzsDknE?P;Ne1Zv

diff --git a/eclipse-workspace/MotionProfiling/bin/KinematicsTester.class b/eclipse-workspace/MotionProfiling/bin/KinematicsTester.class
index 1390c1191259abe67dd52ad1581104fb76824af3..804fe889592ff6fb020b7f72ea6232c46663a2b7 100644
GIT binary patch
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diff --git a/eclipse-workspace/MotionProfiling/bin/kinematics/KinematicsSimpler.class b/eclipse-workspace/MotionProfiling/bin/kinematics/KinematicsSimpler.class
index f0a457b782a3b6b9a08516b9ff3a0343dde70f24..635a2643734a560efeaf210231b4a100993381cf 100644
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diff --git a/eclipse-workspace/MotionProfiling/src/KinematicsTester.java b/eclipse-workspace/MotionProfiling/src/KinematicsTester.java
index de0208a..484f29d 100644
--- a/eclipse-workspace/MotionProfiling/src/KinematicsTester.java
+++ b/eclipse-workspace/MotionProfiling/src/KinematicsTester.java
@@ -127,7 +127,9 @@ public static void main(String[] args) {
 
 			TestCases9();
 			
-			// createRandomTestCases();
+			TestCases10();
+			
+			createRandomTestCases();
 		} catch (InvalidDimentionException | InvalidVelocityException | InvalidNextVelocityFromLastAcceleration
 				| InvalidAccelerationException | InvalidFinalPosition | InvalidTrajectoryLogic e) {
 			// TODO Auto-generated catch block
@@ -1009,6 +1011,31 @@ private static void TestCases9()
 
 		m_kinematicsSimpler.createTrajectory(myPath, 4.080024724815174, 1.680675105230724);
 
+		
+		checkTrajectoryPath(myPath, kinematicsTester1);
+
+	}
+	private static void TestCases10()
+			throws InvalidDimentionException, InvalidVelocityException, InvalidNextVelocityFromLastAcceleration,
+			InvalidAccelerationException, InvalidFinalPosition, InvalidTrajectoryLogic {
+		Path myPath = m_kinematicsSimpler.new Path();
+		KinematicsTester kinematicsTester1 = new KinematicsTester();
+
+		m_kinematicsSimpler.addPointToPath(myPath, m_kinematicsSimpler.new Point(-43.77381014821977));
+		m_kinematicsSimpler.addPointToPath(myPath, m_kinematicsSimpler.new Point(-45.977336529920905));
+		m_kinematicsSimpler.addPointToPath(myPath, m_kinematicsSimpler.new Point(-0.5933286514858669),
+				0.3755657126204104);
+		m_kinematicsSimpler.addPointToPath(myPath, m_kinematicsSimpler.new Point(-0.6156752310157565),
+				0.206984809559303);
+		m_kinematicsSimpler.addPointToPath(myPath, m_kinematicsSimpler.new Point(5.839746189755365),
+				3.6765475776912986);
+		m_kinematicsSimpler.addPointToPath(myPath, m_kinematicsSimpler.new Point(-49.84878486860723),
+				2.5066914438499);
+		m_kinematicsSimpler.addPointToPath(myPath, m_kinematicsSimpler.new Point(6.004674385512021),
+				2.825519975231435);
+	
+		m_kinematicsSimpler.createTrajectory(myPath, 0.3929169767434745, 1.9171932478971456);
+
 		printTrajectory(myPath);
 		checkTrajectoryPath(myPath, kinematicsTester1);
 
@@ -1017,7 +1044,7 @@ private static void TestCases9()
 	private static void createRandomTestCases()
 			throws InvalidDimentionException, InvalidVelocityException, InvalidNextVelocityFromLastAcceleration,
 			InvalidAccelerationException, InvalidFinalPosition, InvalidTrajectoryLogic {
-		for (int i = 0; i < 1000; i++) {
+		for (int i = 0; i < 10000; i++) {
 			Random random = new Random();
 			Path myPath = m_kinematicsSimpler.new Path();
 			KinematicsTester kinematicsTester1 = new KinematicsTester();
@@ -1029,6 +1056,10 @@ private static void createRandomTestCases()
 			if (maxVelocity < 0.1) {
 				maxVelocity += 1;
 			}
+			if (maxAcceleration < 0.01) {
+				maxAcceleration = 0.02;
+			}
+			 Point previousPoint = m_kinematicsSimpler.new Point(0);
 			for (int i1 = 0; i1 < numberOfSetpoints; i1++) {
 				double setpointInt = random.nextInt(50);
 				double setpointDouble = random.nextDouble();
@@ -1036,9 +1067,7 @@ private static void createRandomTestCases()
 				double customMaxVelocity;
 				double directionConstant;
 				if (random.nextBoolean()) {
-					System.out.println("");
-					System.out.println("maxVelocityInt: " + maxVelocityInt);
-					System.out.println("");
+					
 					try {
 						customMaxVelocity = random.nextDouble() + random.nextInt(maxVelocityInt);
 					} catch (IllegalArgumentException a) {
@@ -1055,16 +1084,25 @@ private static void createRandomTestCases()
 				} else {
 					directionConstant = -1.0;
 				}
+				if(Math.abs(setpoint - previousPoint.getm_X()) < maxAcceleration*m_kinematicsSimpler.getTrajectoryPointInterval()) {
+					if(setpoint > 0.0) {
+						setpoint += maxAcceleration*KinematicsSimpler.getTrajectoryPointInterval();
+					}else {
+						setpoint -= maxAcceleration*KinematicsSimpler.getTrajectoryPointInterval();
+					}
+				}
 				m_kinematicsSimpler.addPointToPath(myPath, m_kinematicsSimpler.new Point(setpoint * directionConstant),
 						customMaxVelocity);
+				
+				
+				previousPoint = m_kinematicsSimpler.new Point(setpoint*directionConstant);
+				
 			}
-			if (maxAcceleration < 0.01) {
-				maxAcceleration = 0.02;
-			}
+			
 			m_kinematicsSimpler.createTrajectory(myPath, maxVelocity, maxAcceleration);
 
 			printTrajectory(myPath);
-			System.out.println("Number: " + i);
+			System.out.println("Number: " + (i + 1));
 			checkTrajectoryPath(myPath, kinematicsTester1);
 		}
 	}
@@ -1244,8 +1282,7 @@ private static void checkTrajectoryLogic(Path Key, KinematicsTester kinematicsTe
 						&& nextTrajectoryPoint.m_currentVelocity > 0.0)
 						|| (trajectoryPoint.m_currentVelocity < 0.0 && previousTrajectoryPoint.m_currentVelocity < 0.0
 								&& nextTrajectoryPoint.m_currentVelocity < 0.0)) {
-					System.out.println("");
-					System.out.println("setpoint.getm_X(): " + setpoint.getm_X());
+					
 					errMessage = "The point at time: " + trajectoryPoint.m_timestamp
 							+ " is a point in which the direction is changing however the velocity is not 0!";
 					invalidTrajectoryLogic = kinematicsTester.new InvalidTrajectoryLogic(errMessage);
@@ -1302,7 +1339,7 @@ public InvalidTrajectoryLogic(String errMessage) {
 	private static void printTrajectory(Path Key) {
 		System.out.println("Trajectory Point: [vel, acc, pos, time]");
 		for (int i = 0; i < Key.getTrajectoryVector().size(); i++) {
-			if(Key.getTrajectoryVector().get(i).m_timestamp < 200) {
+			if(Key.getTrajectoryVector().get(i).m_timestamp < 150 || Key.getTrajectoryVector().get(i).m_timestamp > 275) {
 				continue;
 			}
 			System.out.println("Trajectory Point: [" + Key.getTrajectoryVector().get(i).m_currentVelocity + ", "
diff --git a/eclipse-workspace/MotionProfiling/src/kinematics/KinematicsSimpler.java b/eclipse-workspace/MotionProfiling/src/kinematics/KinematicsSimpler.java
index 839fb45..aef50d7 100644
--- a/eclipse-workspace/MotionProfiling/src/kinematics/KinematicsSimpler.java
+++ b/eclipse-workspace/MotionProfiling/src/kinematics/KinematicsSimpler.java
@@ -12,7 +12,7 @@ public class KinematicsSimpler {
 
 	// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
 
-	private static double m_trajectoryPointInterval = 0.25;
+	private static double m_trajectoryPointInterval = 0.1;
 
 	public static double getTrajectoryPointInterval() {
 		return m_trajectoryPointInterval;
@@ -770,12 +770,7 @@ private void setTrajectoryVector(Path Key) {
 					for (int a = i1; a < Key.setpointVector.size(); a++) {
 						// If the end time of the setpoint being looked at is greater than the nextTime
 						// set it to lastSetpoint and break out of the for loop
-						if (setpoint.m_x == 19.43488968199528) {
-							System.out.println("");
-							System.out.println("setpointVector.get(a): " + setpointVector.get(a).m_x);
-							System.out.println("nextSetpointsEndTimes: " + nextSetpointsEndTimes);
-							System.out.println("");
-						}
+						
 						if (setpointVector.get(a).endDeltaTime + previousTime + nextSetpointsEndTimes > nextTime) {
 							lastSetpoint = setpointVector.get(a);
 							break;
@@ -830,8 +825,8 @@ private void setTrajectoryVector(Path Key) {
 				// velocity
 				trajectoryPoint.m_acceleration = (nextVelocity * directionConstant) - trajectoryPoint.m_currentVelocity;
 				try {
-					if ((trajectoryPoint.m_timestamp == 230.5 || trajectoryPoint.m_timestamp == 230.25)
-							&& Key.setpointVector.get(0).m_x == -20.32764301488901) {
+					if ((trajectoryPoint.m_timestamp == 238.25)
+							&& Key.setpointVector.get(0).m_x == -43.77381014821977) {
 						System.out.println("");
 						System.out.println(
 								"(lastSetpoint.startCruisingDeltaTime + previousTime + nextSetpointsEndTimes <= nextTime\n"