constant-curvature.hh

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//
// Copyright (c) 2017 CNRS
// Authors: Florent Lamiraux
//
 
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// modification, are permitted provided that the following conditions are
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//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright
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#ifndef HPP_CORE_STEERING_METHOD_CONSTANT_CURVATURE_HH
#define HPP_CORE_STEERING_METHOD_CONSTANT_CURVATURE_HH
 
#include <hpp/core/fwd.hh>
#include <hpp/core/path.hh>
#include <hpp/core/steering-method/fwd.hh>
 
namespace hpp {
namespace core {
namespace steeringMethod {
class ConstantCurvature : public Path {
 public:
  typedef Path parent_t;
  virtual ~ConstantCurvature() {}
  static ConstantCurvaturePtr_t create(
      const DevicePtr_t& robot, ConfigurationIn_t init, ConfigurationIn_t end,
      value_type curveLength, value_type pathLength, value_type curvature,
      size_type xyId, size_type rzId, const JointPtr_t rz,
      const std::vector<JointPtr_t> wheels,
      const ConstraintSetPtr_t& constraints);
 
  static ConstantCurvaturePtr_t createCopy(const ConstantCurvaturePtr_t& other);
 
  static ConstantCurvaturePtr_t createCopy(
      const ConstantCurvaturePtr_t& other,
      const ConstraintSetPtr_t& constraints);
 
  virtual PathPtr_t copy() const;
 
  virtual PathPtr_t copy(const ConstraintSetPtr_t& constraints) const {
    return createCopy(weak_.lock(), constraints);
  }
 
  inline Configuration_t initial() const { return initial_; }
 
  inline Configuration_t end() const { return end_; }
 
  virtual PathPtr_t reverse() const;
 
  struct Wheels_t {
    value_type value;  // Constant value of the wheel angle
    JointPtr_t j;
    Wheels_t() : j() {}
  };
 
 protected:
  virtual std::ostream& print(std::ostream& os) const;
 
  ConstantCurvature(const DevicePtr_t& robot, ConfigurationIn_t init,
                    ConfigurationIn_t end, value_type curveLength,
                    value_type pathLength, value_type curvature, size_type xyId,
                    size_type rzId, const JointPtr_t rz,
                    const std::vector<JointPtr_t> wheels);
 
  ConstantCurvature(const DevicePtr_t& robot, ConfigurationIn_t init,
                    ConfigurationIn_t end, value_type curveLength,
                    value_type pathLength, value_type curvature, size_type xyId,
                    size_type rzId, const JointPtr_t rz,
                    const std::vector<JointPtr_t> wheels,
                    ConstraintSetPtr_t constraints);
 
  ConstantCurvature(const ConstantCurvature& other);
 
  ConstantCurvature(const ConstantCurvature& other,
                    const ConstraintSetPtr_t& constraints);
 
  virtual bool impl_compute(ConfigurationOut_t result, value_type param) const;
  virtual void impl_derivative(vectorOut_t result, const value_type& param,
                               size_type order) const;
  virtual void impl_velocityBound(vectorOut_t bound, const value_type& param0,
                                  const value_type& param1) const;
 
  virtual PathPtr_t impl_extract(const interval_t& paramInterval) const;
 
  void init(const ConstantCurvatureWkPtr_t& weak) {
    parent_t::init(weak);
    weak_ = weak;
  }
 
  ConstantCurvature() : curvature_(0), xyId_(0), rzId_(0) {}
 
 private:
  void setWheelJoints(const JointPtr_t rz,
                      const std::vector<JointPtr_t> wheels);
 
  DevicePtr_t robot_;
  Configuration_t initial_;
  Configuration_t end_;
  value_type curveLength_;
  const value_type curvature_;
  const size_type xyId_, rzId_;
  size_type dxyId_, drzId_;
  value_type forward_;
  std::vector<Wheels_t> wheels_;
  ConstantCurvatureWkPtr_t weak_;
 
  HPP_SERIALIZABLE();
};  // class ConstantCurvature
}  // namespace steeringMethod
}  // namespace core
}  // namespace hpp
 
#endif  // HPP_CORE_STEERING_METHOD_CONSTANT_CURVATURE_HH