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Merge Develop into Master #3

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Merged
korbinianmoller merged 4 commits into from
Jun 3, 2025
Merged

Merge Develop into Master #3

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3b22fe6
fixed yaw rate constraint
korbinianmoller May 21, 2025
0bb67b4
updated .gitignore
korbinianmoller Jun 3, 2025
dc73ee2
update CI pipeline
korbinianmoller Jun 3, 2025
4e9e76e
Merge pull request #2 from TUM-AVS/master
korbinianmoller Jun 3, 2025
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57 changes: 50 additions & 7 deletions .gitignore
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Original file line number Diff line number Diff line change
@@ -1,11 +1,54 @@
/src/python/frenetix/_version.py
/build-python
/dist

*.egg-info
# =====================
# Python Build Artifacts
# =====================
__pycache__/
*.py[cod]
*.pyd
*.so
*.egg-info/
dist/
wheelhouse/
_deps/

# =====================
# Project-specific
# =====================
/src/python/frenetix/_version.py
/build-python/
/venv*/
*.vscode

/venv*
# =====================
# CMake Build Artifacts
# =====================
build/
build-*/
CMakeFiles/
CMakeCache.txt
cmake_install.cmake
Makefile
CTestTestfile.cmake
CTestCostData.txt
DartConfiguration.tcl
Testing/
install/
_install/

__pycache__
# =====================
# OS / Editor Metadata
# =====================
.DS_Store
*.swp
*.swo
*.bak
*.tmp
Thumbs.db

# =====================
# Generated C++ Files
# =====================
*.cxx
*.o
*.obj
*.a
*.out
2 changes: 1 addition & 1 deletion cmake/ci-prefetch-dependencies.cmake
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Expand Up @@ -7,7 +7,7 @@ message(STATUS "Prefetching dependencies")
file(MAKE_DIRECTORY ${_fetch_prefix})

file(DOWNLOAD
https://boostorg.jfrog.io/artifactory/main/release/1.85.0/source/boost_1_85_0.tar.gz
https://archives.boost.io/release/1.85.0/source/boost_1_85_0.tar.gz
${_fetch_prefix}/boost_1_85_0.tar.gz
EXPECTED_HASH SHA256=be0d91732d5b0cc6fbb275c7939974457e79b54d6f07ce2e3dfdd68bef883b0b
)
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2 changes: 1 addition & 1 deletion src/strategies/FeasabilityFunctions/CheckYawRateConstraint.cpp
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Expand Up @@ -24,7 +24,7 @@ void CheckYawRateConstraint::evaluateTrajectory(TrajectorySample& trajectory)

for (size_t iii = 0; iii < lengthToCheck; ++iii)
{
double yawRate = (iii > 0) ? (trajectory.m_cartesianSample.theta[iii] - trajectory.m_cartesianSample.theta[iii - 1]) / trajectory.m_dT : 0.0;
double yawRate = (iii > 0) ? (std::abs(trajectory.m_cartesianSample.theta[iii]) - std::abs(trajectory.m_cartesianSample.theta[iii - 1])) / trajectory.m_dT : 0.0;
double thetaDotMax = m_kappaMax * trajectory.m_cartesianSample.velocity[iii];

if (std::abs(std::round(yawRate * 100000) / 100000.0) > thetaDotMax) inFeasability++;
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