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// Copyright (c) 2017 CNRS |
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// Authors: Florent Lamiraux |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#ifndef HPP_CORE_DUBINS_PATH_HH |
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#define HPP_CORE_DUBINS_PATH_HH |
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#include <hpp/core/config.hh> |
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#include <hpp/core/fwd.hh> |
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#include <hpp/core/path-vector.hh> |
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#include <hpp/pinocchio/device.hh> |
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namespace hpp { |
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namespace core { |
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/// \addtogroup path |
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/// \{ |
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/// Car like motion going only forward |
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/// |
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/// Implement a Dubins motion generation on the base joint. |
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/// Degrees of freedom are interpolated depending on the type of |
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/// \link hpp::pinocchio::Joint joint \endlink |
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/// they parameterize: |
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/// The following interpolation is made: |
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/// \li Reeds and Shepp interpolation for the base_joint_xy and |
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/// base_joint_rz |
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/// \li If the wheel joints are passed using setWheelJoints, |
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/// the configuration parameter of those joints are computed so that |
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/// the wheel is aligned with the velocity. |
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/// \li linear interpolation for the other joints |
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class DubinsPath : public PathVector { |
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public: |
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typedef core::PathVector parent_t; |
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/// Destructor |
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virtual ~DubinsPath() {} |
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/// Create instance and return shared pointer |
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/// \param device Robot corresponding to configurations |
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/// \param init, end Start and end configurations of the path |
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/// \param extraLength Part of path length due to non Dubins degrees of |
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/// freedom, |
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/// \param rho The radius of a turn, |
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/// \param xyId, rzId indices in configuration vector of translation |
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/// and rotation of the car, |
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/// \param wheels vector of joints that represent turning wheels. |
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static DubinsPathPtr_t create(const DevicePtr_t& device, |
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ConfigurationIn_t init, ConfigurationIn_t end, |
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value_type extraLength, value_type rho, |
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size_type xyId, size_type rzId, |
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const std::vector<JointPtr_t> wheels); |
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/// Create instance and return shared pointer |
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/// \param device Robot corresponding to configurations |
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/// \param init, end Start and end configurations of the path |
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/// \param extraLength Part of path length due to non Dubins degrees of |
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/// freedom, |
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/// \param rho The radius of a turn. |
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/// \param xyId, rzId indices in configuration vector of translation |
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/// and rotation of the car, |
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/// \param wheels vector of joints that represent turning wheels, |
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/// \param constraints the path is subject to |
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static DubinsPathPtr_t create(const DevicePtr_t& device, |
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ConfigurationIn_t init, ConfigurationIn_t end, |
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value_type extraLength, value_type rho, |
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size_type xyId, size_type rzId, |
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const std::vector<JointPtr_t> wheels, |
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ConstraintSetPtr_t constraints); |
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/// Create copy and return shared pointer |
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/// \param path path to copy |
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static DubinsPathPtr_t createCopy(const DubinsPathPtr_t& path) { |
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DubinsPath* ptr = new DubinsPath(*path); |
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DubinsPathPtr_t shPtr(ptr); |
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ptr->init(shPtr); |
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return shPtr; |
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} |
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/// Create copy and return shared pointer |
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/// \param path path to copy |
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/// \param constraints the path is subject to |
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static DubinsPathPtr_t createCopy(const DubinsPathPtr_t& path, |
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const ConstraintSetPtr_t& constraints) { |
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DubinsPath* ptr = new DubinsPath(*path, constraints); |
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DubinsPathPtr_t shPtr(ptr); |
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ptr->init(shPtr); |
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return shPtr; |
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} |
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/// Return a shared pointer to a copy of this object |
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virtual PathPtr_t copy() const { return createCopy(weak_.lock()); } |
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/// Return a shared pointer to a copy of this and set constraints |
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/// |
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/// \param constraints constraints to apply to the copy |
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/// \pre *this should not have constraints. |
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virtual PathPtr_t copy(const ConstraintSetPtr_t& constraints) const { |
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return createCopy(weak_.lock(), constraints); |
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} |
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/// Return the internal robot. |
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inline DevicePtr_t device() const { return device_; } |
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/// Get the initial configuration |
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inline Configuration_t initial() const { return initial_; } |
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/// Get the final configuration |
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inline Configuration_t end() const { return end_; } |
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protected: |
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/// Print path in a stream |
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virtual std::ostream& print(std::ostream& os) const { |
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os << "DubinsPath:" << std::endl; |
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Path::print(os); |
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os << "initial configuration: " << initial_.transpose() << std::endl; |
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os << "final configuration: " << end_.transpose() << std::endl; |
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return os; |
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} |
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/// Constructor |
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DubinsPath(const DevicePtr_t& robot, ConfigurationIn_t init, |
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ConfigurationIn_t end, value_type extraLength, value_type rho, |
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size_type xyId, size_type rzId, |
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const std::vector<JointPtr_t> wheels); |
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/// Constructor with constraints |
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DubinsPath(const DevicePtr_t& robot, ConfigurationIn_t init, |
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ConfigurationIn_t end, value_type extraLength, value_type rho, |
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size_type xyId, size_type rzId, |
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const std::vector<JointPtr_t> wheels, |
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ConstraintSetPtr_t constraints); |
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/// Copy constructor |
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DubinsPath(const DubinsPath& path); |
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/// Copy constructor with constraints |
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DubinsPath(const DubinsPath& path, const ConstraintSetPtr_t& constraints); |
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void init(DubinsPathPtr_t self); |
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/// For serialization only. |
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DubinsPath() : xyId_(0), rzId_(0) {} |
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private: |
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void dubins_init_normalised(double alpha, double beta, double d); |
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void dubins_init(vector3_t q0, vector3_t q1); |
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typedef Eigen::Matrix<value_type, 3, 1> Lengths_t; |
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DevicePtr_t device_; |
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Configuration_t initial_; |
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Configuration_t end_; |
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const size_type xyId_, rzId_; |
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size_type dxyId_, drzId_; |
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std::vector<JointPtr_t> wheels_; |
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std::size_t typeId_; |
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Lengths_t lengths_; |
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value_type extraLength_, rho_; |
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vector3_t qi_; // the initial configuration |
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DubinsPathWkPtr_t weak_; |
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HPP_SERIALIZABLE(); |
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}; // class DubinsPath |
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/// \} |
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} // namespace core |
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} // namespace hpp |
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BOOST_CLASS_EXPORT_KEY(hpp::core::DubinsPath) |
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#endif // HPP_CORE_DUBINS_PATH_HH |
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