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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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#include <hpp/core/distance.hh> |
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#include <hpp/core/dubins-path.hh> |
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#include <hpp/core/problem.hh> |
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#include <hpp/core/steering-method/dubins.hh> |
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#include <hpp/pinocchio/device.hh> |
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#include <hpp/pinocchio/joint.hh> |
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namespace hpp { |
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namespace core { |
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namespace steeringMethod { |
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PathPtr_t Dubins::impl_compute(ConfigurationIn_t q1, |
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ConfigurationIn_t q2) const { |
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Configuration_t qEnd(q2); |
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qEnd.segment<2>(xyId_) = q1.segment<2>(xyId_); |
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qEnd.segment<2>(rzId_) = q1.segment<2>(rzId_); |
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// Do not take into account wheel joints in additional distance. |
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for (std::vector<JointPtr_t>::const_iterator it = wheels_.begin(); |
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it != wheels_.end(); ++it) { |
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size_type i = (*it)->rankInConfiguration(); |
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qEnd[i] = q1[i]; |
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} |
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// The length corresponding to the non RS DoF |
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DistancePtr_t d(problem()->distance()); |
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value_type extraL = (*d)(q1, qEnd); |
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DubinsPathPtr_t path = |
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DubinsPath::create(device_.lock(), q1, q2, extraL, rho_, xyId_, rzId_, |
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wheels_, constraints()); |
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return path; |
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} |
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Dubins::Dubins(const ProblemConstPtr_t& problem) : CarLike(problem), weak_() {} |
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Dubins::Dubins(const ProblemConstPtr_t& problem, const value_type turningRadius, |
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JointPtr_t xyJoint, JointPtr_t rzJoint, |
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std::vector<JointPtr_t> wheels) |
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: CarLike(problem, turningRadius, xyJoint, rzJoint, wheels) {} |
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/// Copy constructor |
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Dubins::Dubins(const Dubins& other) : CarLike(other) {} |
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} // namespace steeringMethod |
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} // namespace core |
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} // namespace hpp |
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