| Line |
Branch |
Exec |
Source |
| 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_DUBINS_HH |
| 31 |
|
|
#define HPP_CORE_STEERING_METHOD_DUBINS_HH |
| 32 |
|
|
|
| 33 |
|
|
#include <hpp/core/config.hh> |
| 34 |
|
|
#include <hpp/core/fwd.hh> |
| 35 |
|
|
#include <hpp/core/steering-method/car-like.hh> |
| 36 |
|
|
#include <hpp/core/steering-method/fwd.hh> |
| 37 |
|
|
#include <hpp/util/debug.hh> |
| 38 |
|
|
#include <hpp/util/pointer.hh> |
| 39 |
|
|
|
| 40 |
|
|
namespace hpp { |
| 41 |
|
|
namespace core { |
| 42 |
|
|
namespace steeringMethod { |
| 43 |
|
|
/// \addtogroup steering_method |
| 44 |
|
|
/// \{ |
| 45 |
|
|
|
| 46 |
|
|
/// Steering method that creates DubinsPath instances |
| 47 |
|
|
/// |
| 48 |
|
|
class HPP_CORE_DLLAPI Dubins : public CarLike { |
| 49 |
|
|
public: |
| 50 |
|
|
/// Create an instance |
| 51 |
|
|
/// |
| 52 |
|
|
/// This constructor assumes that: |
| 53 |
|
|
/// - the 2 parameters of the configurations corresponds to the XY |
| 54 |
|
|
/// translation joint, |
| 55 |
|
|
/// - the 2 following parameters corresponds to the RZ unbounded |
| 56 |
|
|
/// rotation joint. |
| 57 |
|
|
/// Use CarLike::setWheelJoints to set the wheel joints. |
| 58 |
|
✗ |
static DubinsPtr_t createWithGuess(const ProblemConstPtr_t& problem) { |
| 59 |
|
✗ |
Dubins* ptr = new Dubins(problem); |
| 60 |
|
✗ |
DubinsPtr_t shPtr(ptr); |
| 61 |
|
✗ |
ptr->init(shPtr); |
| 62 |
|
✗ |
return shPtr; |
| 63 |
|
|
} |
| 64 |
|
|
|
| 65 |
|
|
/// Create an instance |
| 66 |
|
|
/// |
| 67 |
|
|
/// This constructor does no assumption. |
| 68 |
|
|
static DubinsPtr_t create( |
| 69 |
|
|
const ProblemConstPtr_t& problem, const value_type turningRadius, |
| 70 |
|
|
JointPtr_t xyJoint, JointPtr_t rzJoint, |
| 71 |
|
|
std::vector<JointPtr_t> wheels = std::vector<JointPtr_t>()) { |
| 72 |
|
|
Dubins* ptr = new Dubins(problem, turningRadius, xyJoint, rzJoint, wheels); |
| 73 |
|
|
DubinsPtr_t shPtr(ptr); |
| 74 |
|
|
ptr->init(shPtr); |
| 75 |
|
|
return shPtr; |
| 76 |
|
|
} |
| 77 |
|
|
|
| 78 |
|
|
/// Copy instance and return shared pointer |
| 79 |
|
✗ |
static DubinsPtr_t createCopy(const DubinsPtr_t& other) { |
| 80 |
|
✗ |
Dubins* ptr = new Dubins(*other); |
| 81 |
|
✗ |
DubinsPtr_t shPtr(ptr); |
| 82 |
|
✗ |
ptr->init(shPtr); |
| 83 |
|
✗ |
return shPtr; |
| 84 |
|
|
} |
| 85 |
|
|
|
| 86 |
|
|
/// Copy instance and return shared pointer |
| 87 |
|
✗ |
virtual SteeringMethodPtr_t copy() const { return createCopy(weak_.lock()); } |
| 88 |
|
|
|
| 89 |
|
|
/// create a path between two configurations |
| 90 |
|
|
virtual PathPtr_t impl_compute(ConfigurationIn_t q1, |
| 91 |
|
|
ConfigurationIn_t q2) const; |
| 92 |
|
|
|
| 93 |
|
|
protected: |
| 94 |
|
|
/// Constructor |
| 95 |
|
|
Dubins(const ProblemConstPtr_t& problem); |
| 96 |
|
|
|
| 97 |
|
|
/// Constructor |
| 98 |
|
|
Dubins(const ProblemConstPtr_t& problem, const value_type turningRadius, |
| 99 |
|
|
JointPtr_t xyJoint, JointPtr_t rzJoint, |
| 100 |
|
|
std::vector<JointPtr_t> wheels); |
| 101 |
|
|
|
| 102 |
|
|
/// Copy constructor |
| 103 |
|
|
Dubins(const Dubins& other); |
| 104 |
|
|
|
| 105 |
|
|
/// Store weak pointer to itself |
| 106 |
|
✗ |
void init(DubinsWkPtr_t weak) { |
| 107 |
|
✗ |
CarLike::init(weak); |
| 108 |
|
✗ |
weak_ = weak; |
| 109 |
|
|
} |
| 110 |
|
|
|
| 111 |
|
|
private: |
| 112 |
|
|
DubinsWkPtr_t weak_; |
| 113 |
|
|
}; // Dubins |
| 114 |
|
|
/// \} |
| 115 |
|
|
} // namespace steeringMethod |
| 116 |
|
|
} // namespace core |
| 117 |
|
|
} // namespace hpp |
| 118 |
|
|
#endif // HPP_CORE_STEERING_METHOD_DUBINS_HH |
| 119 |
|
|
|