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File: | include/hpp/core/interpolated-path.hh |
Date: | 2024-12-13 16:14:03 |
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1 | // Copyright (c) 2015 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_INTERPOLATED_PATH_HH | ||
30 | #define HPP_CORE_INTERPOLATED_PATH_HH | ||
31 | |||
32 | #include <hpp/core/config.hh> | ||
33 | #include <hpp/core/fwd.hh> | ||
34 | #include <hpp/core/path.hh> | ||
35 | |||
36 | namespace hpp { | ||
37 | namespace core { | ||
38 | /// \addtogroup path | ||
39 | /// \{ | ||
40 | |||
41 | /// Piecewise linear interpolation between two configurations | ||
42 | /// | ||
43 | /// This type of path is the return type of PathProjector algorithms. | ||
44 | /// | ||
45 | /// Degrees of freedom are interpolated depending on the type of | ||
46 | /// \link hpp::pinocchio::Joint joint \endlink | ||
47 | /// they parameterize: | ||
48 | /// \li linear interpolation for translation joints, bounded rotation | ||
49 | /// joints, and translation part of freeflyer joints, | ||
50 | /// \li angular interpolation for unbounded rotation joints, | ||
51 | /// \li constant angular velocity for SO(3) part of freeflyer joints. | ||
52 | class HPP_CORE_DLLAPI InterpolatedPath : public Path { | ||
53 | public: | ||
54 | typedef std::pair<const value_type, Configuration_t> InterpolationPoint_t; | ||
55 | typedef std::map<value_type, Configuration_t, std::less<value_type>, | ||
56 | Eigen::aligned_allocator<InterpolationPoint_t> > | ||
57 | InterpolationPoints_t; | ||
58 | typedef Path parent_t; | ||
59 | |||
60 | /// Destructor | ||
61 | 424 | virtual ~InterpolatedPath() {} | |
62 | |||
63 | /// Create instance and return shared pointer | ||
64 | /// \param device Robot corresponding to configurations | ||
65 | /// \param init, end Start and end configurations of the path | ||
66 | /// \param timeRange interval of definition | ||
67 | static InterpolatedPathPtr_t create(const DevicePtr_t& device, | ||
68 | ConfigurationIn_t init, | ||
69 | ConfigurationIn_t end, | ||
70 | interval_t timeRange) { | ||
71 | InterpolatedPath* ptr = new InterpolatedPath(device, init, end, timeRange); | ||
72 | InterpolatedPathPtr_t shPtr(ptr); | ||
73 | ptr->init(shPtr); | ||
74 | return shPtr; | ||
75 | } | ||
76 | |||
77 | /// Create instance and return shared pointer | ||
78 | /// \param device Robot corresponding to configurations | ||
79 | /// \param init, end Start and end configurations of the path | ||
80 | /// \param timeRange interval of definition | ||
81 | /// \param constraints the path is subject to | ||
82 | 106 | static InterpolatedPathPtr_t create(const DevicePtr_t& device, | |
83 | ConfigurationIn_t init, | ||
84 | ConfigurationIn_t end, | ||
85 | interval_t timeRange, | ||
86 | ConstraintSetPtr_t constraints) { | ||
87 | InterpolatedPath* ptr = | ||
88 |
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106 | new InterpolatedPath(device, init, end, timeRange, constraints); |
89 | 106 | InterpolatedPathPtr_t shPtr(ptr); | |
90 |
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106 | ptr->init(shPtr); |
91 | 106 | return shPtr; | |
92 | } | ||
93 | |||
94 | /// Create instance and return shared pointer | ||
95 | /// \param device Robot corresponding to configurations | ||
96 | /// \param init, end Start and end configurations of the path | ||
97 | /// \param length Distance between the configurations. | ||
98 | static InterpolatedPathPtr_t create(const DevicePtr_t& device, | ||
99 | ConfigurationIn_t init, | ||
100 | ConfigurationIn_t end, | ||
101 | value_type length) { | ||
102 | return create(device, init, end, interval_t(0, length)); | ||
103 | } | ||
104 | |||
105 | /// Create instance and return shared pointer | ||
106 | /// \param device Robot corresponding to configurations | ||
107 | /// \param init, end Start and end configurations of the path | ||
108 | /// \param length Distance between the configurations. | ||
109 | /// \param constraints the path is subject to | ||
110 | 106 | static InterpolatedPathPtr_t create(const DevicePtr_t& device, | |
111 | ConfigurationIn_t init, | ||
112 | ConfigurationIn_t end, value_type length, | ||
113 | ConstraintSetPtr_t constraints) { | ||
114 |
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106 | return create(device, init, end, interval_t(0, length), constraints); |
115 | } | ||
116 | |||
117 | /// Create copy and return shared pointer | ||
118 | /// \param path path to copy | ||
119 | ✗ | static InterpolatedPathPtr_t createCopy(const InterpolatedPathPtr_t& path) { | |
120 | ✗ | InterpolatedPath* ptr = new InterpolatedPath(*path); | |
121 | ✗ | InterpolatedPathPtr_t shPtr(ptr); | |
122 | ✗ | ptr->initCopy(shPtr); | |
123 | ✗ | return shPtr; | |
124 | } | ||
125 | |||
126 | /// Create an interpolation of this path | ||
127 | /// \param path path to interpolate | ||
128 | /// \param nbSamples number of samples between the initial and end | ||
129 | /// configuration | ||
130 | /// \note it is assume that the constraints are constant along the path | ||
131 | static InterpolatedPathPtr_t create(const PathPtr_t& path, | ||
132 | const DevicePtr_t& device, | ||
133 | const std::size_t& nbSamples); | ||
134 | |||
135 | /// Create copy and return shared pointer | ||
136 | /// \param path path to copy | ||
137 | /// \param constraints the path is subject to | ||
138 | ✗ | static InterpolatedPathPtr_t createCopy( | |
139 | const InterpolatedPathPtr_t& path, | ||
140 | const ConstraintSetPtr_t& constraints) { | ||
141 | ✗ | InterpolatedPath* ptr = new InterpolatedPath(*path, constraints); | |
142 | ✗ | InterpolatedPathPtr_t shPtr(ptr); | |
143 | ✗ | ptr->initCopy(shPtr); | |
144 | ✗ | return shPtr; | |
145 | } | ||
146 | |||
147 | /// Return a shared pointer to this | ||
148 | /// | ||
149 | /// As StaightPath are immutable, and refered to by shared pointers, | ||
150 | /// they do not need to be copied. | ||
151 | ✗ | virtual PathPtr_t copy() const { return createCopy(weak_.lock()); } | |
152 | |||
153 | /// Return a shared pointer to a copy of this and set constraints | ||
154 | /// | ||
155 | /// \param constraints constraints to apply to the copy | ||
156 | /// \pre *this should not have constraints. | ||
157 | ✗ | virtual PathPtr_t copy(const ConstraintSetPtr_t& constraints) const { | |
158 | ✗ | return createCopy(weak_.lock(), constraints); | |
159 | } | ||
160 | |||
161 | virtual PathPtr_t reverse() const; | ||
162 | |||
163 | /// Return the internal robot. | ||
164 | DevicePtr_t device() const; | ||
165 | |||
166 | /// Insert interpolation point | ||
167 | 3018 | void insert(const value_type& time, ConfigurationIn_t config) { | |
168 |
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3018 | configs_.insert(InterpolationPoint_t(time, config)); |
169 | 3018 | } | |
170 | |||
171 | /// Get the initial configuration | ||
172 |
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648 | Configuration_t initial() const { return configs_.begin()->second; } |
173 | |||
174 | /// Get the final configuration | ||
175 |
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628 | Configuration_t end() const { return configs_.rbegin()->second; } |
176 | |||
177 | ✗ | const InterpolationPoints_t& interpolationPoints() const { return configs_; } | |
178 | |||
179 | protected: | ||
180 | /// Print path in a stream | ||
181 | ✗ | virtual std::ostream& print(std::ostream& os) const { | |
182 | ✗ | os << "InterpolatedPath:" << std::endl; | |
183 | ✗ | Path::print(os); | |
184 | ✗ | os << "initial configuration: " << initial().transpose() << std::endl; | |
185 | ✗ | os << "final configuration: " << end().transpose() << std::endl; | |
186 | ✗ | return os; | |
187 | } | ||
188 | |||
189 | /// Constructor | ||
190 | InterpolatedPath(const DevicePtr_t& robot, ConfigurationIn_t init, | ||
191 | ConfigurationIn_t end, interval_t timeRange); | ||
192 | |||
193 | /// Constructor with constraints | ||
194 | InterpolatedPath(const DevicePtr_t& robot, ConfigurationIn_t init, | ||
195 | ConfigurationIn_t end, interval_t timeRange, | ||
196 | ConstraintSetPtr_t constraints); | ||
197 | |||
198 | /// DIscretization of a given path. | ||
199 | InterpolatedPath(const PathPtr_t& path, const DevicePtr_t& device, | ||
200 | const std::size_t& nbSamples); | ||
201 | |||
202 | /// Copy constructor | ||
203 | InterpolatedPath(const InterpolatedPath& path); | ||
204 | |||
205 | /// Copy constructor with constraints | ||
206 | InterpolatedPath(const InterpolatedPath& path, | ||
207 | const ConstraintSetPtr_t& constraints); | ||
208 | |||
209 | void init(InterpolatedPathPtr_t self); | ||
210 | |||
211 | void initCopy(InterpolatedPathPtr_t self); | ||
212 | |||
213 | virtual bool impl_compute(ConfigurationOut_t result, value_type param) const; | ||
214 | /// Virtual implementation of derivative | ||
215 | virtual void impl_derivative(vectorOut_t result, const value_type& t, | ||
216 | size_type order) const; | ||
217 | virtual void impl_velocityBound(vectorOut_t result, const value_type& t0, | ||
218 | const value_type& t1) const; | ||
219 | |||
220 | /// Extraction/Reversion of a sub-path | ||
221 | /// See Path::extract | ||
222 | PathPtr_t impl_extract(const interval_t& subInterval) const; | ||
223 | |||
224 | private: | ||
225 | DevicePtr_t device_; | ||
226 | InterpolationPoints_t configs_; | ||
227 | InterpolatedPathWkPtr_t weak_; | ||
228 | }; // class InterpolatedPath | ||
229 | /// \} | ||
230 | } // namespace core | ||
231 | } // namespace hpp | ||
232 | #endif // HPP_CORE_INTERPOLATED_PATH_HH | ||
233 |