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// |
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// Copyright (c) 2019 - 2024 CNRS |
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// |
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// Author: 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_PATH_OPTIMIZATION_REEDS_SHEPP_PIECEWISE_QUADRATIC_HH |
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#define HPP_CORE_PATH_OPTIMIZATION_REEDS_SHEPP_PIECEWISE_QUADRATIC_HH |
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#include <hpp/core/time-parameterization.hh> |
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namespace hpp { |
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namespace core { |
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namespace pathOptimization { |
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namespace reedsShepp { |
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using hpp::core::interval_t; |
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HPP_PREDEF_CLASS(PiecewiseQuadratic); |
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typedef hpp::shared_ptr<PiecewiseQuadratic> PiecewiseQuadraticPtr_t; |
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/// Piecewise quadratic time parameterization |
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/// |
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/// On each interval \f$[t_i,t_{i+1}], f (t) = a_i (t-t_i) + b_i(t-t_i) + |
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/// c_i^2\f$. |
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class PiecewiseQuadratic : public hpp::core::TimeParameterization { |
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public: |
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/// Create an instance |
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/// \param initVel initial velocity |
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static PiecewiseQuadraticPtr_t create(const value_type& initVel); |
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static PiecewiseQuadraticPtr_t createCopy( |
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const PiecewiseQuadraticPtr_t& other); |
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virtual hpp::core::TimeParameterizationPtr_t copy() const; |
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interval_t definitionInterval() const; |
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virtual value_type value(const value_type& t) const; |
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virtual value_type derivative(const value_type& t, |
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const size_type& order) const; |
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virtual value_type derivativeBound(const value_type& low, |
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const value_type& up) const; |
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/// Add up to 3 constant acceleration segments |
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/// |
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/// \param distance distance travelled on these segments, |
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/// \param accel constant acceleration on the first segment, |
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/// \param decel constant negative acceleration on the last segment, |
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/// \param maxVel constant velocity on the middle segment |
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/// \param targetVel velocity at the end of the segment |
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/// \note depending on the distance, one of the above segment might be |
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/// of size 0, and therefore not represented. |
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void addSegments(const value_type& distance, const value_type& accel, |
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const value_type& decel, const value_type& maxVel, |
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const value_type& targetVel); |
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protected: |
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PiecewiseQuadratic(const value_type& initVel) : initVel_(initVel) { |
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times_.push_back(0); |
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} |
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PiecewiseQuadratic(const PiecewiseQuadratic& other) |
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: hpp::core::TimeParameterization(other), |
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times_(other.times_), |
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a_(other.a_), |
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b_(other.b_), |
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c_(other.c_), |
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initVel_(other.initVel_) {} |
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void init(const PiecewiseQuadraticWkPtr_t& weak); |
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private: |
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size_type findInterval(value_type t) const; |
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std::vector<value_type> times_; |
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std::vector<value_type> a_, b_, c_; |
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value_type initVel_; |
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PiecewiseQuadraticWkPtr_t weak_; |
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}; // class PiecewiseQuadratic |
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} // namespace reedsShepp |
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} // namespace pathOptimization |
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} // namespace core |
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} // namespace hpp |
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#endif // HPP_CORE_PATH_OPTIMIZATION_REEDS_SHEPP_PIECEWISE_QUADRATIC_HH |
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