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File: | include/hpp/core/path/hermite.hh |
Date: | 2024-08-10 11:29:48 |
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1 | // Copyright (c) 2016 CNRS | ||
2 | // Authors: Joseph Mirabel | ||
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 | #ifndef HPP_CORE_PATH_HERMITE_HH | ||
30 | #define HPP_CORE_PATH_HERMITE_HH | ||
31 | |||
32 | #include <hpp/core/config.hh> | ||
33 | #include <hpp/core/fwd.hh> | ||
34 | #include <hpp/core/path/spline.hh> | ||
35 | |||
36 | namespace hpp { | ||
37 | namespace core { | ||
38 | namespace path { | ||
39 | /// \addtogroup path | ||
40 | /// \{ | ||
41 | |||
42 | class HPP_CORE_DLLAPI Hermite : public Spline<BernsteinBasis, 3> { | ||
43 | public: | ||
44 | typedef Spline<BernsteinBasis, 3> parent_t; | ||
45 | |||
46 | /// Destructor | ||
47 | 14820644 | virtual ~Hermite() {} | |
48 | |||
49 | 1852569 | static HermitePtr_t create(const DevicePtr_t& device, ConfigurationIn_t init, | |
50 | ConfigurationIn_t end, | ||
51 | ConstraintSetPtr_t constraints) { | ||
52 |
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1852569 | Hermite* ptr = new Hermite(device, init, end, constraints); |
53 | 1852569 | HermitePtr_t shPtr(ptr); | |
54 |
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1852569 | ptr->init(shPtr); |
55 | 1852569 | return shPtr; | |
56 | } | ||
57 | |||
58 | /// Create copy and return shared pointer | ||
59 | /// \param path path to copy | ||
60 | 1852592 | static HermitePtr_t createCopy(const HermitePtr_t& path) { | |
61 |
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1852592 | Hermite* ptr = new Hermite(*path); |
62 | 1852592 | HermitePtr_t shPtr(ptr); | |
63 |
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1852592 | ptr->init(shPtr); |
64 | 1852592 | return shPtr; | |
65 | } | ||
66 | |||
67 | /// Create copy and return shared pointer | ||
68 | /// \param path path to copy | ||
69 | /// \param constraints the path is subject to | ||
70 | ✗ | static HermitePtr_t createCopy(const HermitePtr_t& path, | |
71 | const ConstraintSetPtr_t& constraints) { | ||
72 | ✗ | Hermite* ptr = new Hermite(*path, constraints); | |
73 | ✗ | HermitePtr_t shPtr(ptr); | |
74 | ✗ | ptr->init(shPtr); | |
75 | ✗ | return shPtr; | |
76 | } | ||
77 | |||
78 | /// Return a shared pointer to this | ||
79 | /// | ||
80 | /// As StaightPath are immutable, and refered to by shared pointers, | ||
81 | /// they do not need to be copied. | ||
82 |
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1852592 | virtual PathPtr_t copy() const { return createCopy(weak_.lock()); } |
83 | |||
84 | /// Return a shared pointer to a copy of this and set constraints | ||
85 | /// | ||
86 | /// \param constraints constraints to apply to the copy | ||
87 | /// \pre *this should not have constraints. | ||
88 | ✗ | virtual PathPtr_t copy(const ConstraintSetPtr_t& constraints) const { | |
89 | ✗ | return createCopy(weak_.lock(), constraints); | |
90 | } | ||
91 | |||
92 | /// Return the internal robot. | ||
93 | DevicePtr_t device() const; | ||
94 | |||
95 | 3705105 | void v0(const vectorIn_t& speed) { | |
96 |
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3705105 | parameters_.row(1) = parameters_.row(0) + speed.transpose() / 3; |
97 | 3705105 | hermiteLength_ = -1; | |
98 | 3705105 | } | |
99 | |||
100 | 3705105 | void v1(const vectorIn_t& speed) { | |
101 |
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3705105 | parameters_.row(2) = parameters_.row(3) - speed.transpose() / 3; |
102 | 3705105 | hermiteLength_ = -1; | |
103 | 3705105 | } | |
104 | |||
105 | 926268 | vector_t v0() const { | |
106 |
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1852536 | return 3 * (parameters_.row(1) - parameters_.row(0)); |
107 | // TODO Should be equivalent to | ||
108 | // vector_t res (outputDerivativeSize()); | ||
109 | // derivative (res, timeRange().first, 1); | ||
110 | // return res; | ||
111 | } | ||
112 | |||
113 |
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1852536 | vector_t v1() const { return 3 * (parameters_.row(3) - parameters_.row(2)); } |
114 | |||
115 | 4631585 | virtual Configuration_t initial() const { return init_; } | |
116 | |||
117 | 4631551 | virtual Configuration_t end() const { return end_; } | |
118 | |||
119 | 4631532 | const value_type& hermiteLength() const { return hermiteLength_; } | |
120 | |||
121 | void computeHermiteLength(); | ||
122 | |||
123 | vector_t velocity(const value_type& t) const; | ||
124 | |||
125 | protected: | ||
126 | /// Print path in a stream | ||
127 | ✗ | virtual std::ostream& print(std::ostream& os) const { | |
128 | ✗ | os << "Hermite:" << std::endl; | |
129 | ✗ | Path::print(os); | |
130 | ✗ | os << "initial configuration: " << initial().transpose() << std::endl; | |
131 | ✗ | os << "final configuration: " << end().transpose() << std::endl; | |
132 | ✗ | return os; | |
133 | } | ||
134 | |||
135 | /// Constructor | ||
136 | Hermite(const DevicePtr_t& robot, ConfigurationIn_t init, | ||
137 | ConfigurationIn_t end); | ||
138 | |||
139 | /// Constructor with constraints | ||
140 | Hermite(const DevicePtr_t& robot, ConfigurationIn_t init, | ||
141 | ConfigurationIn_t end, ConstraintSetPtr_t constraints); | ||
142 | |||
143 | /// Copy constructor | ||
144 | Hermite(const Hermite& path); | ||
145 | |||
146 | /// Copy constructor with constraints | ||
147 | Hermite(const Hermite& path, const ConstraintSetPtr_t& constraints); | ||
148 | |||
149 | void init(HermitePtr_t self); | ||
150 | |||
151 | private: | ||
152 | // void computeVelocities (); | ||
153 | void projectVelocities(ConfigurationIn_t qi, ConfigurationIn_t qe); | ||
154 | |||
155 | DevicePtr_t device_; | ||
156 | Configuration_t init_, end_; | ||
157 | value_type hermiteLength_; | ||
158 | |||
159 | HermiteWkPtr_t weak_; | ||
160 | }; // class Hermite | ||
161 | /// \} | ||
162 | } // namespace path | ||
163 | } // namespace core | ||
164 | } // namespace hpp | ||
165 | #endif // HPP_CORE_PATH_HERMITE_HH | ||
166 |