Directory: | ./ |
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File: | src/steering-method/car-like.cc |
Date: | 2024-08-10 11:29:48 |
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Lines: | 35 | 60 | 58.3% |
Branches: | 27 | 76 | 35.5% |
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1 | // Copyright (c) 2017, CNRS | ||
2 | // Authors: Florent Lamiraux | ||
3 | // | ||
4 | |||
5 | // Redistribution and use in source and binary forms, with or without | ||
6 | // modification, are permitted provided that the following conditions are | ||
7 | // met: | ||
8 | // | ||
9 | // 1. Redistributions of source code must retain the above copyright | ||
10 | // notice, this list of conditions and the following disclaimer. | ||
11 | // | ||
12 | // 2. Redistributions in binary form must reproduce the above copyright | ||
13 | // notice, this list of conditions and the following disclaimer in the | ||
14 | // documentation and/or other materials provided with the distribution. | ||
15 | // | ||
16 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
17 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
18 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
19 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
20 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
21 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
22 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
23 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
24 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
26 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
27 | // DAMAGE. | ||
28 | |||
29 | #include <boost/algorithm/string.hpp> | ||
30 | #include <hpp/core/problem.hh> | ||
31 | #include <hpp/core/steering-method/car-like.hh> | ||
32 | #include <hpp/pinocchio/device.hh> | ||
33 | #include <hpp/pinocchio/joint-collection.hh> | ||
34 | #include <hpp/pinocchio/joint.hh> | ||
35 | #include <pinocchio/multibody/joint/joint-generic.hpp> | ||
36 | #include <pinocchio/spatial/se3.hpp> | ||
37 | |||
38 | namespace hpp { | ||
39 | namespace core { | ||
40 | namespace steeringMethod { | ||
41 | 3 | CarLike::CarLike(const ProblemConstPtr_t& problem) | |
42 | : SteeringMethod(problem), | ||
43 | 3 | device_(problem->robot()), | |
44 | 3 | rho_(1.), | |
45 | 3 | xyId_(0), | |
46 | 6 | rzId_(2) { | |
47 | 3 | DevicePtr_t d(device_.lock()); | |
48 |
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3 | xy_ = d->getJointAtConfigRank(0); |
49 |
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3 | rz_ = d->getJointAtConfigRank(2); |
50 |
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3 | wheels_ = getWheelsFromParameter(problem, rz_); |
51 |
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6 | turningRadius(problem->getParameter("SteeringMethod/Carlike/turningRadius") |
52 |
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3 | .floatValue()); |
53 | 3 | } | |
54 | |||
55 | ✗ | CarLike::CarLike(const ProblemConstPtr_t& problem, | |
56 | const value_type turningRadius, JointPtr_t xyJoint, | ||
57 | ✗ | JointPtr_t rzJoint, std::vector<JointPtr_t> wheels) | |
58 | : SteeringMethod(problem), | ||
59 | ✗ | device_(problem->robot()), | |
60 | ✗ | rho_(turningRadius), | |
61 | ✗ | xy_(xyJoint), | |
62 | ✗ | rz_(rzJoint), | |
63 | ✗ | xyId_(xy_->rankInConfiguration()), | |
64 | ✗ | wheels_(wheels), | |
65 | ✗ | weak_() { | |
66 | ✗ | if (rz_->jointModel().shortname() == "JointModelPlanar") { | |
67 | ✗ | rzId_ = rz_->rankInConfiguration() + 2; | |
68 | } else { | ||
69 | ✗ | rzId_ = rz_->rankInConfiguration(); | |
70 | } | ||
71 | } | ||
72 | |||
73 | /// Copy constructor | ||
74 | ✗ | CarLike::CarLike(const CarLike& other) | |
75 | : SteeringMethod(other), | ||
76 | ✗ | device_(other.device_), | |
77 | ✗ | rho_(other.rho_), | |
78 | ✗ | xy_(other.xy_), | |
79 | ✗ | rz_(other.rz_), | |
80 | ✗ | xyId_(other.xyId_), | |
81 | ✗ | rzId_(other.rzId_) {} | |
82 | |||
83 | 3 | void CarLike::turningRadius(const value_type& rho) { | |
84 |
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3 | if (rho <= 0) |
85 | ✗ | throw std::invalid_argument("Turning radius must be strictly positive."); | |
86 | 3 | rho_ = rho; | |
87 | 3 | } | |
88 | |||
89 | 4 | std::vector<JointPtr_t> getWheelsFromParameter(const ProblemConstPtr_t& problem, | |
90 | const JointPtr_t& rz) { | ||
91 | 4 | std::vector<JointPtr_t> wheels; | |
92 | std::string p( | ||
93 |
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8 | problem->getParameter("SteeringMethod/Carlike/wheels").stringValue()); |
94 | 4 | std::vector<std::string> wheelNames; | |
95 |
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92 | boost::split(wheelNames, p, [](char c) { return c == ','; }); |
96 | |||
97 | 4 | wheels.clear(); | |
98 |
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10 | for (const std::string& name : wheelNames) { |
99 |
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6 | if (name == "") continue; |
100 | 4 | bool found(false); | |
101 |
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12 | for (std::size_t i = 0; i < rz->numberChildJoints(); ++i) { |
102 |
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8 | JointPtr_t j = rz->childJoint(i); |
103 |
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8 | if (j->name() == name) { |
104 | 4 | found = true; | |
105 |
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4 | if (j->configSize() != 1) { |
106 | ✗ | throw std::runtime_error( | |
107 | ✗ | "Carlike: wheel joint should be of dimension 1."); | |
108 | } | ||
109 |
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4 | wheels.push_back(j); |
110 | hppDout(info, "wheel: " << name); | ||
111 | } | ||
112 | 8 | } | |
113 |
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4 | if (!found) { |
114 | ✗ | std::ostringstream os; | |
115 | ✗ | os << "CarLike: no joint with name \"" << name << "\"."; | |
116 | ✗ | throw std::runtime_error(os.str()); | |
117 | } | ||
118 | } | ||
119 | 8 | return wheels; | |
120 | 4 | } | |
121 | |||
122 | } // namespace steeringMethod | ||
123 | } // namespace core | ||
124 | } // namespace hpp | ||
125 |