GCC Code Coverage Report

Directory: ./
File: include/hpp/core/steering-method/constant-curvature.hh
Date: 2024-12-13 16:14:03
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1 //
2 // Copyright (c) 2017 CNRS
3 // Authors: Florent Lamiraux
4 //
5
6 // Redistribution and use in source and binary forms, with or without
7 // modification, are permitted provided that the following conditions are
8 // met:
9 //
10 // 1. Redistributions of source code must retain the above copyright
11 // notice, this list of conditions and the following disclaimer.
12 //
13 // 2. Redistributions in binary form must reproduce the above copyright
14 // notice, this list of conditions and the following disclaimer in the
15 // documentation and/or other materials provided with the distribution.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18 // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19 // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
20 // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21 // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
22 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
23 // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
24 // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
25 // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
26 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
28 // DAMAGE.
29
30 #ifndef HPP_CORE_STEERING_METHOD_CONSTANT_CURVATURE_HH
31 #define HPP_CORE_STEERING_METHOD_CONSTANT_CURVATURE_HH
32
33 #include <hpp/core/fwd.hh>
34 #include <hpp/core/path.hh>
35 #include <hpp/core/steering-method/fwd.hh>
36
37 namespace hpp {
38 namespace core {
39 namespace steeringMethod {
40 /// Path of constant curvature for a carlike robot
41 class ConstantCurvature : public Path {
42 public:
43 typedef Path parent_t;
44 52 virtual ~ConstantCurvature() {}
45 /// Create instance and return shared pointer.
46 /// \param robot the carlike robot,
47 /// \param init, end Initial and final configurations of the path,
48 /// \param curveLength distance traveled by the middle of the rear
49 /// wheel axis, negative values correspond to backward motions
50 /// \param pathLength length of the interval of definition. Should be
51 /// positive,
52 /// \param curvature curvature of the path,
53 /// \param xyId id of degrees of freedom corresponding to (x,y)
54 /// coordinates of robot,
55 /// \param rzId id of degrees of freedom corresponding to orientation
56 /// of robot.
57 /// \param rz joint corresponding to orientation of robot,
58 /// \param wheels vector of joints corresponding to wheels,
59 /// \param constraints set of contraints the path is suject to.
60 static ConstantCurvaturePtr_t create(
61 const DevicePtr_t& robot, ConfigurationIn_t init, ConfigurationIn_t end,
62 value_type curveLength, value_type pathLength, value_type curvature,
63 size_type xyId, size_type rzId, const JointPtr_t rz,
64 const std::vector<JointPtr_t> wheels,
65 const ConstraintSetPtr_t& constraints);
66
67 /// Create instance and return shared pointer.
68 static ConstantCurvaturePtr_t createCopy(const ConstantCurvaturePtr_t& other);
69
70 /// Create instance and return shared pointer.
71 static ConstantCurvaturePtr_t createCopy(
72 const ConstantCurvaturePtr_t& other,
73 const ConstraintSetPtr_t& constraints);
74
75 /// Return a shared pointer to a copy of this
76 virtual PathPtr_t copy() const;
77
78 /// Return a shared pointer to a copy of this with constraints
79 /// \param constraints constraints to apply to the copy
80 /// \pre *this should not have constraints.
81 ✗ virtual PathPtr_t copy(const ConstraintSetPtr_t& constraints) const {
82 ✗ return createCopy(weak_.lock(), constraints);
83 }
84
85 /// Get the initial configuration
86 ✗ inline Configuration_t initial() const { return initial_; }
87
88 /// Get the final configuration
89 18 inline Configuration_t end() const { return end_; }
90
91 virtual PathPtr_t reverse() const;
92
93 struct Wheels_t {
94 value_type value; // Constant value of the wheel angle
95 JointPtr_t j;
96 2 Wheels_t() : j() {}
97 };
98
99 protected:
100 /// Print path in a stream
101 virtual std::ostream& print(std::ostream& os) const;
102
103 /// Constructor
104 /// \param robot the carlike robot,
105 /// \param init, end Initial and final configurations of the path,
106 /// \param curveLength distance traveled by the middle of the rear
107 /// wheel axis, negative values correspond to backward motions
108 /// \param pathLength length of the interval of definition. Should be
109 /// positive,
110 /// \param curvature curvature of the path,
111 /// \param xyId id of degrees of freedom corresponding to (x,y)
112 /// coordinates of robot,
113 /// \param rzId id of degrees of freedom corresponding to orientation
114 /// of robot.
115 /// \param rz joint corresponding to orientation of robot,
116 /// \param wheels vector of joints corresponding to wheels.
117 ConstantCurvature(const DevicePtr_t& robot, ConfigurationIn_t init,
118 ConfigurationIn_t end, value_type curveLength,
119 value_type pathLength, value_type curvature, size_type xyId,
120 size_type rzId, const JointPtr_t rz,
121 const std::vector<JointPtr_t> wheels);
122
123 /// Constructor
124 /// \param robot the carlike robot,
125 /// \param init, end Initial and final configurations of the path,
126 /// \param curveLength distance traveled by the middle of the rear
127 /// wheel axis, negative values correspond to backward motions
128 /// \param pathLength length of the interval of definition. Should be
129 /// positive,
130 /// \param curvature curvature of the path,
131 /// \param xyId id of degrees of freedom corresponding to (x,y)
132 /// coordinates of robot,
133 /// \param rzId id of degrees of freedom corresponding to orientation
134 /// of robot.
135 /// \param rz joint corresponding to orientation of robot,
136 /// \param wheels vector of joints corresponding to wheels,
137 /// \param constraints set of contraints the path is suject to.
138 ConstantCurvature(const DevicePtr_t& robot, ConfigurationIn_t init,
139 ConfigurationIn_t end, value_type curveLength,
140 value_type pathLength, value_type curvature, size_type xyId,
141 size_type rzId, const JointPtr_t rz,
142 const std::vector<JointPtr_t> wheels,
143 ConstraintSetPtr_t constraints);
144
145 /// Copy constructor
146 ConstantCurvature(const ConstantCurvature& other);
147
148 /// Copy constructor with constraints
149 ConstantCurvature(const ConstantCurvature& other,
150 const ConstraintSetPtr_t& constraints);
151
152 virtual bool impl_compute(ConfigurationOut_t result, value_type param) const;
153 /// Virtual implementation of derivative
154 virtual void impl_derivative(vectorOut_t result, const value_type& param,
155 size_type order) const;
156 /// Virtual implementation of velocity bound
157 virtual void impl_velocityBound(vectorOut_t bound, const value_type& param0,
158 const value_type& param1) const;
159
160 /// Virtual implementation of path extraction
161 virtual PathPtr_t impl_extract(const interval_t& paramInterval) const;
162
163 /// store weak pointer to itself
164 29 void init(const ConstantCurvatureWkPtr_t& weak) {
165
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 29 parent_t::init(weak);
166 29 weak_ = weak;
167 29 }
168
169 /// For serialization only.
170 ✗ ConstantCurvature() : curvature_(0), xyId_(0), rzId_(0) {}
171
172 private:
173 /// Set the wheel joints for a car-like vehicle.
174 ///
175 /// \param rz joint from which the turning radius was computed.
176 /// \param wheels bounded rotation joints.
177 void setWheelJoints(const JointPtr_t rz,
178 const std::vector<JointPtr_t> wheels);
179
180 DevicePtr_t robot_;
181 Configuration_t initial_;
182 Configuration_t end_;
183 value_type curveLength_;
184 const value_type curvature_;
185 const size_type xyId_, rzId_;
186 size_type dxyId_, drzId_;
187 value_type forward_;
188 std::vector<Wheels_t> wheels_;
189 ConstantCurvatureWkPtr_t weak_;
190
191 HPP_SERIALIZABLE();
192 }; // class ConstantCurvature
193 } // namespace steeringMethod
194 } // namespace core
195 } // namespace hpp
196
197 #endif // HPP_CORE_STEERING_METHOD_CONSTANT_CURVATURE_HH
198