feat:finsh joint space planner

2025-11-11 11:33:55 +08:00 · 2025-11-11 11:33:55 +08:00 · d22fe1053e
commit d22fe1053e
parent 61b0161218
17 changed files with 704 additions and 8 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -67,6 +67,7 @@ include_directories(
        ${PROJECT_SOURCE_DIR}/src/utils
        ${PROJECT_SOURCE_DIR}/third_party
        ${PROJECT_SOURCE_DIR}/src
        ${PROJECT_SOURCE_DIR}/third_party/toppra/0.6.2/include
 )
@ -75,7 +76,7 @@ include_directories(
 ############################################################
 add_subdirectory(src)
-add_subdirectory(example)
+#add_subdirectory(example)
 #add_subdirectory(test)
 ############################################################
@ -100,4 +101,5 @@ target_link_libraries(cmvr_es PRIVATE
        cmvr_es::ctrl::controller
        cmvr_es::data_center
        cmvr_es::ik_solver
        cmvr_es::planner
 )
--- a/data/ik/ik_psi_sweep.csv
+++ b/data/ik/ik_psi_sweep.csv
--- a/data/ik/plot_joint_data.py
+++ b/data/ik/plot_joint_data.py
--- a/data/ik/plot_joint_traj.py
+++ b/data/ik/plot_joint_traj.py
--- a/data/ik/plot_psi_data.py
+++ b/data/ik/plot_psi_data.py
--- a/data/planner/plot_traj.py
+++ b/data/planner/plot_traj.py
@ -0,0 +1,63 @@
 import os
 import re
 import sys
 import pandas as pd
 import matplotlib.pyplot as plt
 def main(csv_path: str):
    # 更健壮的读取
    df = pd.read_csv(csv_path, sep=None, engine="python", comment="#")
    if 't' not in df.columns:
        raise RuntimeError("CSV missing 't' column")
    # ——严格区分列名——
    # 允许列名形如：q0, q1, ... | qd0, qd1, ... | qdd0, qdd1, ...
    def grep(pattern):
        r = re.compile(pattern)
        return [c for c in df.columns if r.fullmatch(c)]
    q_cols   = grep(r"q\d+")
    qd_cols  = grep(r"qd\d+")
    qdd_cols = grep(r"qdd\d+")
    # 如果你的列名不是纯数字后缀（比如 q_joint1），把上面的正则改成更宽松的：
    # q_cols   = [c for c in df.columns if c.startswith("q")   and not c.startswith(("qd","qdd"))]
    # qd_cols  = [c for c in df.columns if c.startswith("qd")  and not c.startswith("qdd")]
    # qdd_cols = [c for c in df.columns if c.startswith("qdd")]
    t = df['t'].values
    # 位置
    plt.figure()
    for c in q_cols:
        plt.plot(t, df[c].values, label=c)
    plt.xlabel('time [s]')
    plt.ylabel('position [rad]')
    plt.title('Joint Positions')
    plt.legend()
    plt.grid(True)
    # 速度（只画 qd*）
    plt.figure()
    for c in qd_cols:
        plt.plot(t, df[c].values, label=c)
    plt.xlabel('time [s]')
    plt.ylabel('velocity [rad/s]')
    plt.title('Joint Velocities')
    plt.legend()
    plt.grid(True)
    # 加速度（只画 qdd*）
    plt.figure()
    for c in qdd_cols:
        plt.plot(t, df[c].values, label=c)
    plt.xlabel('time [s]')
    plt.ylabel('acceleration [rad/s^2]')
    plt.title('Joint Accelerations')
    plt.legend()
    plt.grid(True)
    plt.show()
 if __name__ == '__main__':
    main("/home/lgv/cmvr/cmvr-es/data/planner/traj.csv")
--- a/data/planner/traj.csv
+++ b/data/planner/traj.csv
@ -0,0 +1,148 @@
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 0.9100000000,0.8366491838,-0.0119546428,-0.1760907144,0.4880453572,-0.2183245919,0.2577661225,-0.1091622959,1.2858606794,0.7500853963,-1.5001707926,0.7500853963,-0.6429303397,0.8572404529,-0.3214651698,0.0299936294,0.0174962838,-0.0349925677,0.0174962838,-0.0149968147,0.0199957530,-0.0074984074
 0.9200000000,0.8495075359,-0.0044539374,-0.1910921252,0.4955460626,-0.2247537679,0.2663383572,-0.1123768840,1.2858494625,0.7500788531,-1.5001577062,0.7500788531,-0.6429247312,0.8572329750,-0.3214623656,0.0392324386,0.0228855892,-0.0457711784,0.0228855892,-0.0196162193,0.0261549591,-0.0098081096
 0.9300000000,0.8623659570,0.0030468083,-0.2060936165,0.5030468083,-0.2311829785,0.2749106380,-0.1155914893,1.2858387981,0.7500726322,-1.5001452645,0.7500726322,-0.6429193991,0.8572258654,-0.3214596995,0.0478220500,0.0278961958,-0.0557923917,0.0278961958,-0.0239110250,0.0318813667,-0.0119555125
 0.9400000000,0.8752214871,0.0105458675,-0.2210917349,0.5105458675,-0.2376107435,0.2834809914,-0.1188053718,1.2823483150,0.7480365171,-1.4960730342,0.7480365171,-0.6411741575,0.8548988767,-0.3205870788,-1.9883869907,-1.1598924113,2.3197848225,-1.1598924113,0.9941934954,-1.3255913271,0.4970967477
 0.9500000000,0.8879438235,0.0179672304,-0.2359344608,0.5179672304,-0.2439719118,0.2919625490,-0.1219859559,1.2614071813,0.7358208557,-1.4716417115,0.7358208557,-0.6307035906,0.8409381209,-0.3153517953,-2.5295909024,-1.4755946930,2.9511893861,-1.4755946930,1.2647954512,-1.6863939349,0.6323977256
 0.9600000000,0.9004306434,0.0252512086,-0.2505024173,0.5252512086,-0.2502153217,0.3002870956,-0.1251076608,1.2359282906,0.7209581695,-1.4419163390,0.7209581695,-0.6179641453,0.8239521937,-0.3089820726,-2.5299285135,-1.4757916329,2.9515832658,-1.4757916329,1.2649642568,-1.6866190090,0.6324821284
 0.9700000000,0.9126626739,0.0323865598,-0.2647731195,0.5323865598,-0.2563313369,0.3084417826,-0.1281656685,1.2104396979,0.7060898238,-1.4121796475,0.7060898238,-0.6052198489,0.8069597986,-0.3026099245,-2.5299985479,-1.4758324863,2.9516649726,-1.4758324863,1.2649992740,-1.6866656986,0.6324996370
 0.9800000000,0.9246398321,0.0393732354,-0.2787464707,0.5393732354,-0.2623199160,0.3164265547,-0.1311599580,1.1849421216,0.6912162376,-1.3824324752,0.6912162376,-0.5924710608,0.7899614144,-0.2962355304,-2.5298324081,-1.4757355714,2.9514711428,-1.4757355714,1.2649162040,-1.6865549387,0.6324581020
 0.9900000000,0.9363620426,0.0462111915,-0.2924223831,0.5462111915,-0.2681810213,0.3242413617,-0.1340905107,1.1594362237,0.6763377971,-1.3526755943,0.6763377971,-0.5797181118,0.7729574824,-0.2898590559,-2.5294551323,-1.4755154939,2.9510309877,-1.4755154939,1.2647275662,-1.6863034216,0.6323637831
 1.0000000000,0.9478292357,0.0529003875,-0.3058007750,0.5529003875,-0.2739146179,0.3318861571,-0.1369573089,1.1339342694,0.6614616572,-1.3229233143,0.6614616572,-0.5669671347,0.7559561796,-0.2834835674,-2.5703310519,-1.4993597803,2.9987195605,-1.4993597803,1.2851655259,-1.7135540346,0.6425827630
 1.0100000000,0.9590413433,0.0594407836,-0.3188815672,0.5594407836,-0.2795206716,0.3393608955,-0.1397603358,1.1084324370,0.6465855883,-1.2931711765,0.6465855883,-0.5542162185,0.7389549580,-0.2771081093,-2.5685655748,-1.4983299187,2.9966598373,-1.4983299187,1.2842827874,-1.7123770499,0.6421413937
 1.0200000000,0.9699983086,0.0658323467,-0.3316646933,0.5658323467,-0.2849991543,0.3466655390,-0.1424995771,1.0829244674,0.6317059393,-1.2634118786,0.6317059393,-0.5414622337,0.7219496449,-0.2707311168,-2.5667757347,-1.4972858452,2.9945716905,-1.4972858452,1.2833878673,-1.7111838231,0.6416939337
 1.0300000000,0.9807000815,0.0720750476,-0.3441500951,0.5720750476,-0.2903500408,0.3538000544,-0.1451750204,1.0574108312,0.6168229849,-1.2336459698,0.6168229849,-0.5287054156,0.7049405542,-0.2643527078,-2.5649647508,-1.4962294380,2.9924588760,-1.4962294380,1.2824823754,-1.7099765006,0.6412411877
 1.0400000000,0.9911466182,0.0781688606,-0.3563377212,0.5781688606,-0.2955733091,0.3607644121,-0.1477866545,1.0318919990,0.6019369994,-1.2038739988,0.6019369994,-0.5159459995,0.6879279993,-0.2579729998,-2.5631334425,-1.4951611748,2.9903223496,-1.4951611748,1.2815667213,-1.7087556283,0.6407833606
 1.0500000000,1.0013378802,0.0841137635,-0.3682275269,0.5841137635,-0.3006689401,0.3675585868,-0.1503344701,1.0063684401,0.5870482567,-1.1740965135,0.5870482567,-0.5031842201,0.6709122934,-0.2515921100,-2.5612806272,-1.4940803659,2.9881607317,-1.4940803659,1.2806403136,-1.7075204181,0.6403201568
 1.0600000000,1.0112738348,0.0899097370,-0.3798194739,0.5899097370,-0.3056369174,0.3741825565,-0.1528184587,0.9808406229,0.5721570300,-1.1443140601,0.5721570300,-0.4904203115,0.6538937486,-0.2452101557,-2.5594034703,-1.4929853576,2.9859707153,-1.4929853576,1.2797017351,-1.7062689802,0.6398508676
 1.0700000000,1.0209544544,0.0955567651,-0.3911135302,0.5955567651,-0.3104772272,0.3806363029,-0.1552386136,0.9553090146,0.5572635919,-1.1145271837,0.5572635919,-0.4776545073,0.6368726764,-0.2388272537,-2.5574977952,-1.4918737138,2.9837474277,-1.4918737138,1.2787488976,-1.7049985301,0.6393744488
 1.0800000000,1.0303797167,0.1010548347,-0.4021096695,0.6010548347,-0.3151898583,0.3869198111,-0.1575949292,0.9297740819,0.5423682144,-1.0847364289,0.5423682144,-0.4648870410,0.6198493879,-0.2324435205,-2.5555583643,-1.4907423792,2.9814847584,-1.4907423792,1.2777791822,-1.7037055762,0.6388895911
 1.0900000000,1.0395496042,0.1064039358,-0.4128078715,0.6064039358,-0.3197748021,0.3930330694,-0.1598874010,0.9042362922,0.5274711704,-1.0549423409,0.5274711704,-0.4521181461,0.6028241948,-0.2260590730,-2.5535791389,-1.4895878310,2.9791756620,-1.4895878310,1.2767895694,-1.7023860926,0.6383947847
 1.1000000000,1.0484641043,0.1116040608,-0.4232081217,0.6116040608,-0.3242320521,0.3989760695,-0.1621160261,0.8786961153,0.5125727339,-1.0251454679,0.5125727339,-0.4393480577,0.5857974102,-0.2196740288,-2.5515535262,-1.4884062236,2.9768124472,-1.4884062236,1.2757767631,-1.7010356841,0.6378883815
 1.1100000000,1.0571232093,0.1166552054,-0.4333104108,0.6166552054,-0.3285616046,0.4047488062,-0.1642808023,0.8531540263,0.4976731820,-0.9953463640,0.4976731820,-0.4265770132,0.5687693509,-0.2132885066,-2.5494746240,-1.4871935307,2.9743870614,-1.4871935307,1.2747373120,-1.6996497494,0.6373686560
 1.1200000000,1.0655269161,0.1215573677,-0.4431147354,0.6215573677,-0.3327634580,0.4103512774,-0.1663817290,0.8276105090,0.4827727969,-0.9655455938,0.4827727969,-0.4138052545,0.5517403393,-0.2069026273,-2.5473354715,-1.4859456917,2.9718913835,-1.4859456917,1.2736677358,-1.6982236477,0.6368338679
 1.1300000000,1.0736752262,0.1263105486,-0.4526210973,0.6263105486,-0.3368376131,0.4157834841,-0.1684188066,0.8020660604,0.4678718685,-0.9357437371,0.4678718685,-0.4010330302,0.5347107069,-0.2005165151,-2.5451293159,-1.4846587676,2.9693175352,-1.4846587676,1.2725646579,-1.6967528772,0.6362823290
 1.1400000000,1.0815681460,0.1309147519,-0.4618295037,0.6309147519,-0.3407840730,0.4210454307,-0.1703920365,0.7765211961,0.4529706977,-0.9059413954,0.4529706977,-0.3882605980,0.5176807974,-0.1941302990,-2.5428499083,-1.4833291132,2.9666582264,-1.4833291132,1.2714249542,-1.6952332722,0.6357124771
 1.1500000000,1.0892056864,0.1353699837,-0.4707399675,0.6353699837,-0.3446028432,0.4261371243,-0.1723014216,0.7509764575,0.4380696002,-0.8761392004,0.4380696002,-0.3754882287,0.5006509716,-0.1877441144,-2.5404918423,-1.4819535747,2.9639071494,-1.4819535747,1.2702459212,-1.6936612282,0.6351229606
 1.1600000000,1.0965878630,0.1396762534,-0.4793525069,0.6396762534,-0.3482939315,0.4310585754,-0.1741469658,0.7254324190,0.4231689111,-0.8463378222,0.4231689111,-0.3627162095,0.4836216127,-0.1813581048,-2.5380509508,-1.4805297213,2.9610594425,-1.4805297213,1.2690254754,-1.6920339672,0.6345127377
 1.1700000000,1.1037146963,0.1438335729,-0.4876671457,0.6438335729,-0.3518573482,0.4358097975,-0.1759286741,0.6998896978,0.4082689904,-0.8165379808,0.4082689904,-0.3499448489,0.4665931319,-0.1749724245,-2.5355247826,-1.4790561232,2.9581122464,-1.4790561232,1.2677623913,-1.6903498551,0.6338811957
 1.1800000000,1.1105862113,0.1478419566,-0.4956839132,0.6478419566,-0.3552931056,0.4403908075,-0.1776465528,0.6743542226,0.3933732965,-0.7867465930,0.3933732965,-0.3371771113,0.4495694817,-0.1685885556,-2.5709641289,-1.4997290752,2.9994581504,-1.4997290752,1.2854820644,-1.7139760859,0.6427410322
 1.1900000000,1.1172024324,0.1517014189,-0.5034028378,0.6517014189,-0.3586012162,0.4448016216,-0.1793006081,0.6488344346,0.3784867535,-0.7569735070,0.3784867535,-0.3244172173,0.4325562897,-0.1622086087,-2.5693566763,-1.4987913945,2.9975827890,-1.4987913945,1.2846783381,-1.7129044508,0.6423391691
 1.2000000000,1.1235633946,0.1554119802,-0.5108239603,0.6554119802,-0.3617816973,0.4490422630,-0.1808908486,0.6233173954,0.3636018140,-0.7272036280,0.3636018140,-0.3116586977,0.4155449303,-0.1558293488,-2.5678204583,-1.4978952674,2.9957905347,-1.4978952674,1.2839102292,-1.7118803055,0.6419551146
 1.2100000000,1.1296691411,0.1589736657,-0.5179473313,0.6589736657,-0.3648345706,0.4531127608,-0.1824172853,0.5978037924,0.3487188789,-0.6974377578,0.3487188789,-0.2989018962,0.3985358616,-0.1494509481,-2.5663727128,-1.4970507491,2.9941014982,-1.4970507491,1.2831863564,-1.7109151418,0.6415931782
 1.2200000000,1.1355197216,0.1623865043,-0.5247730085,0.6623865043,-0.3677598608,0.4570131477,-0.1838799304,0.5722943469,0.3338383690,-0.6676767380,0.3338383690,-0.2861471734,0.3815295646,-0.1430735867,-2.5650370136,-1.4962715913,2.9925431826,-1.4962715913,1.2825185068,-1.7100246758,0.6412592534
 1.2300000000,1.1411151920,0.1656505287,-0.5313010574,0.6656505287,-0.3705575960,0.4607434614,-0.1852787980,0.5467898141,0.3189607249,-0.6379214498,0.3189607249,-0.2733949071,0.3645265427,-0.1366974535,-2.5638446591,-1.4955760511,2.9911521022,-1.4955760511,1.2819223295,-1.7092297727,0.6409611648
 1.2400000000,1.1464556158,0.1687657759,-0.5375315518,0.6687657759,-0.3732278079,0.4643037439,-0.1866139040,0.5212909808,0.3040864055,-0.6081728110,0.3040864055,-0.2606454904,0.3475273206,-0.1303227452,-2.5628363543,-1.4949878733,2.9899757467,-1.4949878733,1.2814181771,-1.7085575695,0.6407090886
 1.2500000000,1.1515410639,0.1717322873,-0.5434645746,0.6717322873,-0.3757705320,0.4676940426,-0.1878852660,0.4957986575,0.2892158835,-0.5784317670,0.2892158835,-0.2478993287,0.3305324383,-0.1239496644,-2.5620642437,-1.4945374755,2.9890749510,-1.4945374755,1.2810321218,-1.7080428291,0.6405160609
 1.2600000000,1.1563716160,0.1745501093,-0.5491002187,0.6745501093,-0.3781858080,0.4709144107,-0.1890929040,0.4703136626,0.2743496365,-0.5486992730,0.2743496365,-0.2351568313,0.3135424417,-0.1175784157,-2.5615943430,-1.4942633668,2.9885267336,-1.4942633668,1.2807971715,-1.7077295620,0.6403985858
 1.2700000000,1.1609473610,0.1772192939,-0.5544385879,0.6772192939,-0.3804736805,0.4739649073,-0.1902368403,0.4448367972,0.2594881317,-0.5189762634,0.2594881317,-0.2224183986,0.2965578648,-0.1112091993,-2.5615094112,-1.4942138232,2.9884276464,-1.4942138232,1.2807547056,-1.7076729408,0.6403773528
 1.2800000000,1.1652683983,0.1797398990,-0.5594797980,0.6797398990,-0.3826341992,0.4768455989,-0.1913170996,0.4193688029,0.2446318017,-0.4892636034,0.2446318017,-0.2096844014,0.2795792019,-0.1048422007,-2.5619122633,-1.4944488203,2.9888976406,-1.4944488203,1.2809561317,-1.7079415089,0.6404780658
 1.2900000000,1.1693348387,0.1821119892,-0.5642239785,0.6821119892,-0.3846674194,0.4795565591,-0.1923337097,0.3939102985,0.2297810075,-0.4595620149,0.2297810075,-0.1969551492,0.2626068657,-0.0984775746,-2.5629294456,-1.4950421766,2.9900843532,-1.4950421766,1.2814647228,-1.7086196304,0.6407323614
 1.3000000000,1.1731468056,0.1843356366,-0.5686712733,0.6843356366,-0.3865734028,0.4820978704,-0.1932867014,0.3684616868,0.2149359840,-0.4298719679,0.2149359840,-0.1842308434,0.2456411245,-0.0921154217,-2.5647150151,-1.4960837588,2.9921675177,-1.4960837588,1.2823575076,-1.7098100101,0.6411787538
 1.3100000000,1.1767044364,0.1864109213,-0.5728218425,0.6864109213,-0.3883522182,0.4844696243,-0.1941761091,0.3430230200,0.2000967617,-0.4001935233,0.2000967617,-0.1715115100,0.2286820133,-0.0857557550,-2.5674538230,-1.4976813968,2.9953627935,-1.4976813968,1.2837269115,-1.7116358820,0.6418634558
 1.3200000000,1.1800078833,0.1883379319,-0.5766758638,0.6883379319,-0.3900039416,0.4866719222,-0.1950019708,0.3175938120,0.1852630570,-0.3705261140,0.1852630570,-0.1587969060,0.2117292080,-0.0793984530,-2.5713630021,-1.4999617513,2.9999235025,-1.4999617513,1.2856815011,-1.7142420014,0.6428407505
 1.3300000000,1.1830573374,0.1901167802,-0.5802335603,0.6901167802,-0.3915286687,0.4887048916,-0.1957643344,0.2922301694,0.1704675988,-0.3409351976,0.1704675988,-0.1461150847,0.1948201129,-0.0730575423,-2.5074936059,-1.4627046034,2.9254092069,-1.4627046034,1.2537468030,-1.6716624039,0.6268734015
 1.3400000000,1.1858530327,0.1917476024,-0.5834952048,0.6917476024,-0.3929265163,0.4905686885,-0.1964632582,0.2668903566,0.1556860413,-0.3113720827,0.1556860413,-0.1334451783,0.1779269044,-0.0667225891,-2.5125593872,-1.4656596425,2.9313192851,-1.4656596425,1.2562796936,-1.6750395915,0.6281398468
 1.3500000000,1.1883952177,0.1932305437,-0.5864610873,0.6932305437,-0.3941976088,0.4922634785,-0.1970988044,0.2415719662,0.1409169803,-0.2818339606,0.1409169803,-0.1207859831,0.1610479775,-0.0603929916,-2.5203825534,-1.4702231562,2.9404463123,-1.4702231562,1.2601912767,-1.6802550356,0.6300956384
 1.3600000000,1.1906841715,0.1945657667,-0.5891315334,0.6945657667,-0.3953420858,0.4937894477,-0.1976710429,0.2162706052,0.1261578530,-0.2523157061,0.1261578530,-0.1081353026,0.1441804035,-0.0540676513,-2.5316526468,-1.4767973773,2.9535947546,-1.4767973773,1.2658263234,-1.6877684312,0.6329131617
 1.3700000000,1.1927201997,0.1957534498,-0.5915068996,0.6957534498,-0.3963600998,0.4951467998,-0.1981800499,0.1909778832,0.1114037652,-0.2228075304,0.1114037652,-0.0954889416,0.1273185888,-0.0477444708,-2.5470729502,-1.4857925543,2.9715851086,-1.4857925543,1.2735364751,-1.6980486335,0.6367682376
 1.3800000000,1.1945036227,0.1967937799,-0.5935875598,0.6967937799,-0.3972518113,0.4963357484,-0.1986259057,0.1656799741,0.0966466516,-0.1932933031,0.0966466516,-0.0828399870,0.1104533161,-0.0414199935,-2.5671424118,-1.4974997402,2.9949994805,-1.4974997402,1.2835712059,-1.7114282746,0.6417856030
 1.3900000000,1.1960349526,0.1976870557,-0.5953741114,0.6976870557,-0.3980174763,0.4973566351,-0.1990087381,0.1405702472,0.0819993109,-0.1639986217,0.0819993109,-0.0702851236,0.0937134981,-0.0351425618,-2.4826683511,-1.4482232048,2.8964464096,-1.4482232048,1.2413341755,-1.6551122341,0.6206670878
 1.4000000000,1.1973150119,0.1984337569,-0.5968675139,0.6984337569,-0.3986575059,0.4982100079,-0.1993287530,0.1154845751,0.0673660022,-0.1347320043,0.0673660022,-0.0577422876,0.0769897168,-0.0288711438,-2.5245291779,-1.4726420205,2.9452840409,-1.4726420205,1.2622645890,-1.6830194520,0.6311322945
 1.4100000000,1.1983442694,0.1990341572,-0.5980683143,0.6990341572,-0.3991721347,0.4988961796,-0.1995860674,0.0903598362,0.0527099045,-0.1054198089,0.0527099045,-0.0451799181,0.0602398908,-0.0225899591,-2.4050999542,-1.4029749733,2.8059499465,-1.4029749733,1.2025499771,-1.6033999695,0.6012749885
 1.4200000000,1.1991241143,0.1994890667,-0.5989781333,0.6994890667,-0.3995620571,0.4994160762,-0.1997810286,0.0655913792,0.0382616379,-0.0765232757,0.0382616379,-0.0327956896,0.0437275861,-0.0163978448,-2.5086534154,-1.4633811590,2.9267623180,-1.4633811590,1.2543267077,-1.6724356103,0.6271633539
 1.4300000000,1.1996560710,0.1997993748,-0.5995987496,0.6997993748,-0.3998280355,0.4997707140,-0.1999140178,0.0410822945,0.0239646718,-0.0479293436,0.0239646718,-0.0205411473,0.0273881964,-0.0102705736,-2.3550691592,-1.3737903429,2.7475806858,-1.3737903429,1.1775345796,-1.5700461062,0.5887672898
 1.4400000000,1.1999416939,0.1999659881,-0.5999319762,0.6999659881,-0.3999708469,0.4999611292,-0.1999854235,0.0165914466,0.0096783439,-0.0193566877,0.0096783439,-0.0082957233,0.0110609644,-0.0041478617,-2.2426221572,-1.3081962584,2.6163925167,-1.3081962584,1.1213110786,-1.4950814381,0.5606555393
 1.4500000000,1.1999999970,0.1999999983,-0.5999999965,0.6999999983,-0.3999999985,0.4999999980,-0.1999999993,0.0000091079,0.0000053129,-0.0000106259,0.0000053129,-0.0000045540,0.0000060719,-0.0000022770,-0.0232361933,-0.0135544461,0.0271088922,-0.0135544461,0.0116180966,-0.0154907955,0.0058090483
 1.4519588665,1.2000000000,0.2000000000,-0.6000000000,0.7000000000,-0.4000000000,0.5000000000,-0.2000000000,0.0000000000,-0.0000000000,0.0000000000,-0.0000000000,0.0000000000,0.0000000000,0.0000000000,0.0000000000,0.0000000000,-0.0000000000,0.0000000000,0.0000000000,-0.0000000000,0.0000000000
--- a/src/devices/robot/humanoid_robot/humanoid_robot.cpp
+++ b/src/devices/robot/humanoid_robot/humanoid_robot.cpp
@ -51,6 +51,11 @@ HumanoidRobot<DOF>::HumanoidRobot(const XmlNode &cfg) : AbstractRobot(cfg) {
 template<int DOF>
 void HumanoidRobot<DOF>::init() {
    motor_manager_ = MotorsInfo::getInstance()->getMotorManager();
    joint_space_planner_ = JointSpacePlannerCreator::create(TOPPRA_BSPLINE);
    joint_space_planner_->setPathType(PathType::Quintic);
    joint_space_planner_->setSymmetricLimits(std::vector<double>(7, 1.0),
                               std::vector<double>(7, 1.0));
    rsm_.store(ROBOT_ESTOP);
 }
--- a/src/devices/robot/humanoid_robot/humanoid_robot.h
+++ b/src/devices/robot/humanoid_robot/humanoid_robot.h
@ -31,6 +31,8 @@
 #include <Eigen/Dense>
 #include <Eigen/Geometry>
 #include "planner/joint_space_planner/include/joint_space_planner_creator.h"
 #include "planner/joint_space_planner/include/joint_space_planner.h"
 namespace cmvr::device{
@ -190,7 +192,7 @@ namespace cmvr::device{
        std::shared_ptr<MotorManager>  motor_manager_{nullptr};
-
+        std::shared_ptr<JointSpacePlanner> joint_space_planner_{nullptr};
    };
--- a/src/planner/CMakeLists.txt
+++ b/src/planner/CMakeLists.txt
@ -10,15 +10,72 @@ include_directories(${TINYXML2_INCLUDE_DIRS})
 add_library(planner STATIC
    joint_space_planner/src/joint_space_planner.cpp
    joint_space_planner/src/joint_space_planner_creator.cpp
        joint_space_planner/src/toppra_bspline.cpp
 )
 target_include_directories(planner PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 include_directories(
        ${CMAKE_SOURCE_DIR}/third_party/toppra/0.6.2/include
 )
 link_directories(
        ${CMAKE_SOURCE_DIR}/third_party/toppra/0.6.2/lib
 )
 target_link_libraries(planner PRIVATE
        Eigen3::Eigen
        OsqpEigen::OsqpEigen
        ${TINYXML2_LIBRARIES}
        fcl
        toppra
 )
-add_library(cmvr_es::planner ALIAS planner)
+add_library(cmvr_es::planner ALIAS planner)
 # --------------------------------------------------------
 # Unit test
 # --------------------------------------------------------
 find_package(glog REQUIRED)
 find_package(PkgConfig REQUIRED)
 find_package(fcl REQUIRED)
 find_package(OpenCV REQUIRED)
 include_directories(
        ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/include
 )
 link_directories(
        ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/lib
 )
 add_executable(joint_space_planner_test
        ${CMAKE_CURRENT_SOURCE_DIR}/joint_space_planner/src/joint_space_planner_test.cpp
 )
 target_link_libraries(joint_space_planner_test
        PRIVATE
        gtest
        gtest_main
        pthread
        glog::glog
        proto-objects
        ccd
        fcl
        ${OpenCV_LIBS}
        Eigen3::Eigen
        OsqpEigen::OsqpEigen
        cmvr_es::utils
        cmvr_es::data_center
        cmvr_es::planner
 )
--- a/src/planner/joint_space_planner/include/joint_space_planner.h
+++ b/src/planner/joint_space_planner/include/joint_space_planner.h
@ -4,14 +4,70 @@
 #pragma once
-#include "joint_space_planner/include/joint_space_planner_creator.h"
+#include <vector>
 #include "common/consts/constant.h"
 #include <toppra/geometric_path/piecewise_poly_path.hpp>
 #include <toppra/parametrizer/const_accel.hpp>
 #include <toppra/parametrizer/spline.hpp>
 namespace cmvr {
    // 统一轨迹接口
    struct ITrajectory {
        virtual ~ITrajectory() = default;
        virtual toppra::Bound timeInterval() const = 0;
        virtual Eigen::VectorXd q(double t)   const = 0;
        virtual Eigen::VectorXd qd(double t)  const = 0;
        virtual Eigen::VectorXd qdd(double t) const = 0;
    };
    using TrajPtr = std::shared_ptr<ITrajectory>;
    struct TrajSample {
        double t{};
        Eigen::VectorXd q;    // DoF x 1
        Eigen::VectorXd qd;   // DoF x 1
        Eigen::VectorXd qdd;  // DoF x 1
    };
    // 三种几何路径
    enum class PathType { Linear, CubicHermite, Quintic };
    class JointSpacePlanner {
    public:
-        JointSpacePlanner();
+        explicit JointSpacePlanner(PathType p):path_type_(p){};
        JointSpacePlanner()=default;
        virtual ~JointSpacePlanner() = default;
-        virtual ~JointSpacePlanner();
+        virtual bool plan(const std::vector<double>& start_joints,
                         const std::vector<double>& goal_joints,
                         TrajPtr& traj) {
            UNUSED_VARIABLE(start_joints, goal_joints,traj);
        }
        // 采样函数：从 ITrajectory 生成采样序列 dt(s)
        virtual std::vector<TrajSample> sampleTrajectory(const TrajPtr& traj, double dt) {
            UNUSED_VARIABLE(traj,dt);
            return {};
        }
        virtual bool writeTrajectoryCsv(const std::string& filename,const std::vector<TrajSample>& samples) {
            UNUSED_VARIABLE(filename,samples);
            return false;
        }
        // 对称限：[-v_max, v_max]、[-a_max, a_max]
        virtual void setSymmetricLimits(const std::vector<double> &v_max,
                                const std::vector<double> &a_max);
        // 可调网格密度（默认 150/300）
        virtual void setGridSizes(int N, int N_high);
        // 切换几何路径类型
        virtual void setPathType(PathType p);
    protected:
        PathType path_type_{PathType::Quintic};
        int N_grid_ = 150;
        int N_grid_high_ = 300;
        std::vector<double> v_max_, a_max_;
    };
 }
--- a/src/planner/joint_space_planner/include/joint_space_planner_creator.h
+++ b/src/planner/joint_space_planner/include/joint_space_planner_creator.h
@ -7,6 +7,7 @@
 #include <memory>
 #include <unordered_map>
 #include <joint_space_planner/include/joint_space_planner.h>
 namespace cmvr
 {
    enum JointSpacePlannerType
--- a/src/planner/joint_space_planner/include/toppra_bspline.h
+++ b/src/planner/joint_space_planner/include/toppra_bspline.h
@ -0,0 +1,81 @@
 #pragma once
 #include <memory>
 #include <vector>
 #include <Eigen/Dense>
 #include "planner/joint_space_planner/include/joint_space_planner.h"
 #include <toppra/geometric_path/piecewise_poly_path.hpp>
 #include <toppra/parametrizer/const_accel.hpp>
 #include <toppra/parametrizer/spline.hpp>
 namespace cmvr {
    // 适配器：ConstAccel
    class ConstAccelTraj : public ITrajectory {
    public:
        explicit ConstAccelTraj(std::shared_ptr<toppra::parametrizer::ConstAccel> p);
        toppra::Bound timeInterval() const override;
        Eigen::VectorXd q(double t) const override;
        Eigen::VectorXd qd(double t) const override;
        Eigen::VectorXd qdd(double t) const override;
    private:
        std::shared_ptr<toppra::parametrizer::ConstAccel> impl_;
    };
    // 适配器：Spline
    class SplineTraj : public ITrajectory {
    public:
        SplineTraj(const std::shared_ptr<toppra::PiecewisePolyPath> &path,
                   const toppra::Vector &grid,
                   const toppra::Vector &vsq);
        toppra::Bound timeInterval() const override;
        Eigen::VectorXd q(double t) const override;
        Eigen::VectorXd qd(double t) const override;
        Eigen::VectorXd qdd(double t) const override;
    private:
        toppra::parametrizer::Spline impl_;
    };
    // 具体规划器：一次/三次/五次可切换；ConstAccel 校验失败自动回退 Spline
    class ToppraBSpline : public JointSpacePlanner {
    public:
        explicit ToppraBSpline(PathType type = PathType::Quintic);
        // 主入口：尽量保证返回轨迹（失败回退到 Spline）
        bool plan(const std::vector<double> &start_joints,
                  const std::vector<double> &goal_joints,
                  TrajPtr &traj_out) override;
        std::vector<TrajSample> sampleTrajectory(const TrajPtr& traj, double dt) override;
        bool writeTrajectoryCsv(const std::string& filename,const std::vector<TrajSample>& samples) override;
    private:
        // 几何路径构造
        static std::shared_ptr<toppra::PiecewisePolyPath>
        buildLinear(const Eigen::VectorXd &q0, const Eigen::VectorXd &q1);
        static std::shared_ptr<toppra::PiecewisePolyPath>
        buildCubicHermiteRest(const Eigen::VectorXd &q0, const Eigen::VectorXd &q1);
        static std::shared_ptr<toppra::PiecewisePolyPath>
        buildQuinticRestToRest(const Eigen::VectorXd &q0, const Eigen::VectorXd &q1);
        static std::shared_ptr<toppra::PiecewisePolyPath>
        buildPath(const Eigen::VectorXd &q0, const Eigen::VectorXd &q1, PathType t);
        static void sanitizeVsq(toppra::Vector &vsq);
        bool ensureLimitsSized(std::size_t DoF);
    };
 } // namespace cmvr
--- a/src/planner/joint_space_planner/src/joint_space_planner.cpp
+++ b/src/planner/joint_space_planner/src/joint_space_planner.cpp
@ -1,3 +1,18 @@
 //
 // Created by lgv on 11/7/25.
-//
+//
 #include "planner/joint_space_planner/include/joint_space_planner.h"
 using namespace cmvr;
 void JointSpacePlanner::setSymmetricLimits(const std::vector<double> &v_max,
                                       const std::vector<double> &a_max) {
    v_max_ = v_max;
    a_max_ = a_max;
 }
 void JointSpacePlanner::setGridSizes(int N, int N_high) {
    N_grid_ = N;
    N_grid_high_ = N_high;
 }
 void JointSpacePlanner::setPathType(PathType p) { path_type_ = p; }
--- a/src/planner/joint_space_planner/src/joint_space_planner_creator.cpp
+++ b/src/planner/joint_space_planner/src/joint_space_planner_creator.cpp
@ -3,6 +3,7 @@
 //
 #include "joint_space_planner/include/joint_space_planner_creator.h"
 #include "planner/joint_space_planner/include/toppra_bspline.h"
 namespace cmvr
 {
@ -31,7 +32,7 @@ namespace cmvr
        case JOINT_SPACE_PLANNER_UNKNOWN:
            return nullptr;
        case TOPPRA_BSPLINE:
-            // return std::make_shared<HybridAstarParkIn>();
+            return std::make_shared<ToppraBSpline>();
        default:
            return nullptr;
        }
--- a/src/planner/joint_space_planner/src/joint_space_planner_test.cpp
+++ b/src/planner/joint_space_planner/src/joint_space_planner_test.cpp
@ -0,0 +1,31 @@
 //
 // Created by lgv on 11/11/25.
 //
 #include "gtest/gtest.h"
 #include "planner/joint_space_planner/include/toppra_bspline.h"
 #include "planner/joint_space_planner/include/joint_space_planner_creator.h"
 using namespace cmvr;
 TEST(JOINT_SPACE_PLANNER_TEST,TOPPRA_TEST) {
    auto planner = JointSpacePlannerCreator::create(JointSpacePlannerType::TOPPRA_BSPLINE);
    planner->setPathType(PathType::Quintic);
    planner->setSymmetricLimits(std::vector<double>(7, 1.5),
                               std::vector<double>(7, 3.0));
    TrajPtr traj;
    std::vector<double> q0{0.0,-0.5,0.8,0.0,0.2,-0.3,0.1};
    std::vector<double> q1{1.2,0.2,-0.6,0.7,-0.4,0.5,-0.2};
    if (!planner->plan(q0, q1, traj)) { std::cerr << "plan failed\n"; }
    // 2) 采样 0.01 s
    auto samples = planner->sampleTrajectory(traj, 0.01);
    // 3) 写 CSV
    if (!planner->writeTrajectoryCsv("/home/lgv/cmvr/cmvr-es/data/planner/traj.csv", samples)) {
        std::cerr << "write csv failed\n";
    }
    std::cout << "CSV saved: traj.csv\n";
 }
--- a/src/planner/joint_space_planner/src/toppra_bspline.cpp
+++ b/src/planner/joint_space_planner/src/toppra_bspline.cpp
@ -0,0 +1,234 @@
 #include <toppra/algorithm/toppra.hpp>
 #include <toppra/constraint/linear_joint_velocity.hpp>
 #include <toppra/constraint/linear_joint_acceleration.hpp>
 #include <toppra/solver/seidel.hpp>
 #include <toppra/toppra.hpp>
 #include "planner/joint_space_planner/include/toppra_bspline.h"
 #include <fstream>
 #include <iomanip>
 namespace cmvr {
    // ===== ConstAccelTraj =====
    ConstAccelTraj::ConstAccelTraj(std::shared_ptr<toppra::parametrizer::ConstAccel> p)
        : impl_(std::move(p)) {
    }
    toppra::Bound ConstAccelTraj::timeInterval() const { return impl_->pathInterval(); }
    Eigen::VectorXd ConstAccelTraj::q(double t) const { return impl_->eval_single(t, 0); }
    Eigen::VectorXd ConstAccelTraj::qd(double t) const { return impl_->eval_single(t, 1); }
    Eigen::VectorXd ConstAccelTraj::qdd(double t) const { return impl_->eval_single(t, 2); }
    // ===== SplineTraj =====
    SplineTraj::SplineTraj(const std::shared_ptr<toppra::PiecewisePolyPath> &path,
                           const toppra::Vector &grid,
                           const toppra::Vector &vsq)
        : impl_(path, grid, vsq) {
    }
    toppra::Bound SplineTraj::timeInterval() const { return impl_.pathInterval(); }
    Eigen::VectorXd SplineTraj::q(double t) const { return impl_.eval_single(t, 0); }
    Eigen::VectorXd SplineTraj::qd(double t) const { return impl_.eval_single(t, 1); }
    Eigen::VectorXd SplineTraj::qdd(double t) const { return impl_.eval_single(t, 2); }
    // ===== ToppraBSpline =====
    ToppraBSpline::ToppraBSpline(PathType type) :JointSpacePlanner(type) {
    }
    bool ToppraBSpline::ensureLimitsSized(std::size_t DoF) {
        if (v_max_.size() != DoF) v_max_.assign(DoF, 1.5);
        if (a_max_.size() != DoF) a_max_.assign(DoF, 3.0);
        return true;
    }
    void ToppraBSpline::sanitizeVsq(toppra::Vector &v) {
        for (int i = 0; i < v.size(); ++i) if (v[i] < 0 && v[i] > -1e-10) v[i] = 0;
        if (v.size() > 0) {
            v[0] = 0;
            v[v.size() - 1] = 0;
        }
    }
    std::shared_ptr<toppra::PiecewisePolyPath>
    ToppraBSpline::buildLinear(const Eigen::VectorXd &q0, const Eigen::VectorXd &q1) {
        // q(s) = b + a*s, s∈[0,1]。系数矩阵行0=一次项，行1=常数项
        toppra::Matrix seg(2, q0.size());
        seg.row(0) = (q1 - q0).transpose();
        seg.row(1) = q0.transpose();
        return std::make_shared<toppra::PiecewisePolyPath>(
            toppra::Matrices{seg}, std::vector<double>{0.0, 1.0});
    }
    std::shared_ptr<toppra::PiecewisePolyPath>
    ToppraBSpline::buildCubicHermiteRest(const Eigen::VectorXd &q0, const Eigen::VectorXd &q1) {
        // 起止速度 0 的三次 Hermite
        toppra::Vectors pos{q0, q1};
        toppra::Vectors vel{Eigen::VectorXd::Zero(q0.size()), Eigen::VectorXd::Zero(q1.size())};
        std::vector<toppra::value_type> s{0.0, 1.0};
        auto herm = toppra::PiecewisePolyPath::CubicHermiteSpline(pos, vel, s);
        return std::make_shared<toppra::PiecewisePolyPath>(herm);
    }
    std::shared_ptr<toppra::PiecewisePolyPath>
    ToppraBSpline::buildQuinticRestToRest(const Eigen::VectorXd &q0, const Eigen::VectorXd &q1) {
        // q(0)=q0, q'(0)=q''(0)=0; q(1)=q1, q'(1)=q''(1)=0 的闭式解
        Eigen::VectorXd dq = q1 - q0;
        toppra::Matrix seg(6, q0.size()); // x^5..x^0
        seg.row(0) = (6.0 * dq).transpose(); // a5
        seg.row(1) = (-15.0 * dq).transpose(); // a4
        seg.row(2) = (10.0 * dq).transpose(); // a3
        seg.row(3).setZero(); // a2
        seg.row(4).setZero(); // a1
        seg.row(5) = q0.transpose(); // a0
        return std::make_shared<toppra::PiecewisePolyPath>(
            toppra::Matrices{seg}, std::vector<double>{0.0, 1.0});
    }
    std::shared_ptr<toppra::PiecewisePolyPath>
    ToppraBSpline::buildPath(const Eigen::VectorXd &q0, const Eigen::VectorXd &q1, PathType t) {
        switch (t) {
            case PathType::Linear: return buildLinear(q0, q1);
            case PathType::CubicHermite: return buildCubicHermiteRest(q0, q1);
            case PathType::Quintic: return buildQuinticRestToRest(q0, q1);
            default: return buildQuinticRestToRest(q0, q1);
        }
    }
    bool ToppraBSpline::plan(const std::vector<double> &start_joints,
                             const std::vector<double> &goal_joints,
                             TrajPtr &traj_out) {
        if (start_joints.empty() || start_joints.size() != goal_joints.size())
            return false;
        const std::size_t DoF = start_joints.size();
        if (!ensureLimitsSized(DoF)) return false;
        // 构造几何路径
        Eigen::VectorXd q0 = Eigen::Map<const Eigen::VectorXd>(start_joints.data(), DoF);
        Eigen::VectorXd q1 = Eigen::Map<const Eigen::VectorXd>(goal_joints.data(), DoF);
        auto path = buildPath(q0, q1, path_type_);
        // 约束
        Eigen::VectorXd vmax(DoF), amax(DoF);
        for (std::size_t i = 0; i < DoF; ++i) {
            vmax[i] = v_max_[i];
            amax[i] = a_max_[i];
        }
        auto vel = std::make_shared<toppra::constraint::LinearJointVelocity>(-vmax, vmax);
        auto acc = std::make_shared<toppra::constraint::LinearJointAcceleration>(-amax, amax);
        vel->discretizationType(toppra::DiscretizationType::Collocation);
        acc->discretizationType(toppra::DiscretizationType::Interpolation);
        toppra::LinearConstraintPtrs constraints{vel, acc};
        // TOPPRA
        toppra::algorithm::TOPPRA algo{constraints, path};
        algo.setN(N_grid_);
        algo.solver(std::make_shared<toppra::solver::Seidel>());
        auto solve_once = [&](int N)-> bool {
            algo.setN(N);
            auto rc = algo.computePathParametrization(0.0, 0.0);
            return rc == toppra::ReturnCode::OK;
        };
        if (!solve_once(N_grid_)) {
            if (!solve_once(N_grid_high_)) return false;
        }
        const auto data = algo.getParameterizationData();
        toppra::Vector grid = data.gridpoints;
        toppra::Vector vsq = data.parametrization;
        // 首选 ConstAccel
        auto ca = std::make_shared<toppra::parametrizer::ConstAccel>(path, grid, vsq);
        if (ca->validate()) {
            traj_out = std::make_shared<ConstAccelTraj>(std::move(ca));
            return true;
        }
        // 回退到 Spline（去毛刺）
        sanitizeVsq(vsq);
        try {
            traj_out = std::make_shared<SplineTraj>(path, grid, vsq);
            (void) traj_out->timeInterval();
            return true;
        } catch (...) {
            return false;
        }
    }
    std::vector<TrajSample> ToppraBSpline::sampleTrajectory(const TrajPtr &traj, double dt) {
        std::vector<TrajSample> out;
        if (!traj) return out;
        auto I = traj->timeInterval();
        const double t0 = I[0];
        const double t1 = I[1];
        if (!(t1 > t0)) return out;
        // 2) 生成时间序列（含端点，考虑浮点误差）
        constexpr double EPS = 1e-12;
        std::vector<double> ts;
        ts.reserve(static_cast<size_t>(std::max(2.0, std::ceil((t1 - t0) / dt) + 1.0)));
        // 起点
        ts.push_back(t0);
        // 中间等间隔点
        for (double t = t0 + dt; t <= t1 - EPS; t += dt) {
            // 防守式：避免因累积误差越过 t1
            ts.push_back((t > t1) ? t1 : t);
        }
        // 终点（若未加入）
        if (ts.empty() || std::fabs(ts.back() - t1) > EPS) {
            ts.push_back(t1);
        } else {
            // 若最后一个点因误差“很接近 t1”，直接覆盖为 t1
            ts.back() = t1;
        }
        // 3) 采样
        out.reserve(ts.size());
        for (double t: ts) {
            TrajSample s;
            s.t = t;
            s.q = traj->q(t);
            s.qd = traj->qd(t);
            s.qdd = traj->qdd(t);
            out.emplace_back(std::move(s));
        }
        return out;
    }
    bool ToppraBSpline::writeTrajectoryCsv(const std::string &filename, const std::vector<TrajSample> &samples) {
        if (samples.empty()) return false;
        const int dof = static_cast<int>(samples.front().q.size());
        std::ofstream ofs(filename);
        if (!ofs) return false;
        ofs.setf(std::ios::fixed);
        ofs << std::setprecision(10);
        // 表头
        ofs << "t";
        for (int j=1;j<=dof;++j) ofs << ",q"   << j;
        for (int j=1;j<=dof;++j) ofs << ",qd"  << j;
        for (int j=1;j<=dof;++j) ofs << ",qdd" << j;
        ofs << "\n";
        // 内容
        for (const auto& s : samples) {
            ofs << s.t;
            for (int j=0;j<dof;++j) ofs << "," << s.q[j];
            for (int j=0;j<dof;++j) ofs << "," << s.qd[j];
            for (int j=0;j<dof;++j) ofs << "," << s.qdd[j];
            ofs << "\n";
        }
        return true;
    }
 } // namespace cmvr