steering-kinodynamic.hh

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// Copyright (c) 2016, LAAS-CNRS
// Authors: Pierre Fernbach (pierre.fernbach@laas.fr)
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// DAMAGE.
 
#ifndef HPP_CORE_STEERING_METHOD_KINODYNAMIC_HH
#define HPP_CORE_STEERING_METHOD_KINODYNAMIC_HH
 
#include <hpp/core/config.hh>
#include <hpp/core/fwd.hh>
#include <hpp/core/steering-method.hh>
#include <hpp/util/debug.hh>
#include <hpp/util/pointer.hh>
 
namespace hpp {
namespace core {
namespace steeringMethod {
 
typedef Eigen::Matrix<value_type, 3, 1> Vector3;
 
 
class HPP_CORE_DLLAPI Kinodynamic : public SteeringMethod {
 public:
  static KinodynamicPtr_t create(const ProblemConstPtr_t& problem) {
    Kinodynamic* ptr = new Kinodynamic(problem);
    KinodynamicPtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }
 
  static KinodynamicPtr_t createCopy(const KinodynamicPtr_t& other) {
    Kinodynamic* ptr = new Kinodynamic(*other);
    KinodynamicPtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }
 
  virtual SteeringMethodPtr_t copy() const { return createCopy(weak_.lock()); }
 
  virtual PathPtr_t impl_compute(ConfigurationIn_t q1,
                                 ConfigurationIn_t q2) const;
 
  double computeMinTime(int index, double p1, double p2, double v1, double v2,
                        interval_t* infInterval) const;
 
  virtual void fixedTimeTrajectory(int index, double T, double p1, double p2,
                                   double v1, double v2, double* a1, double* t0,
                                   double* t1, double* tv, double* t2,
                                   double* vLim) const;
 
  void setAmax(Vector3 aMax) { aMax_ = aMax; }
 
  void setVmax(Vector3 vMax) { vMax_ = vMax; }
 
 protected:
  Kinodynamic(const ProblemConstPtr_t& problem);
 
  Kinodynamic(const Kinodynamic& other);
 
  void init(KinodynamicWkPtr_t weak) {
    core::SteeringMethod::init(weak);
    weak_ = weak;
  }
 
  Vector3 aMax_;
  Vector3 vMax_;
  double aMaxFixed_;
  double aMaxFixed_Z_;
  bool synchronizeVerticalAxis_;
  bool orientedPath_;
  bool orientationIgnoreZValue_;
 
 private:
  DeviceWkPtr_t device_;
  KinodynamicWkPtr_t weak_;
};  // Kinodynamic
}  // namespace steeringMethod
}  // namespace core
}  // namespace hpp
#endif  // HPP_CORE_STEERING_METHOD_KINODYNAMIC_HH