| Directory: | ./ |
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| File: | src/distance/reeds-shepp.cc |
| Date: | 2024-08-10 11:29:48 |
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| Lines: | 22 | 69 | 31.9% |
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| 1 | // | ||
| 2 | // Copyright (c) 2016 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 | #include <hpp/core/distance/reeds-shepp.hh> | ||
| 31 | #include <hpp/core/problem.hh> | ||
| 32 | #include <hpp/core/steering-method/reeds-shepp.hh> | ||
| 33 | #include <hpp/core/weighed-distance.hh> | ||
| 34 | #include <hpp/pinocchio/device.hh> | ||
| 35 | #include <hpp/pinocchio/joint-collection.hh> | ||
| 36 | #include <hpp/pinocchio/joint.hh> | ||
| 37 | #include <pinocchio/multibody/joint/joint-generic.hpp> | ||
| 38 | |||
| 39 | namespace hpp { | ||
| 40 | namespace core { | ||
| 41 | namespace distance { | ||
| 42 | |||
| 43 | ✗ | DistancePtr_t ReedsShepp::clone() const { return createCopy(weak_.lock()); } | |
| 44 | |||
| 45 | 1 | ReedsSheppPtr_t ReedsShepp::create(const ProblemConstPtr_t& problem) { | |
| 46 |
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1 | ReedsShepp* ptr(new ReedsShepp(problem)); |
| 47 | 1 | ReedsSheppPtr_t shPtr(ptr); | |
| 48 |
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1 | ptr->init(shPtr); |
| 49 | 1 | return shPtr; | |
| 50 | } | ||
| 51 | ✗ | ReedsSheppPtr_t ReedsShepp::create(const ProblemConstPtr_t& problem, | |
| 52 | const value_type& turningRadius, | ||
| 53 | JointPtr_t xyJoint, JointPtr_t rzJoint, | ||
| 54 | std::vector<JointPtr_t> wheels) { | ||
| 55 | ReedsShepp* ptr( | ||
| 56 | ✗ | new ReedsShepp(problem, turningRadius, xyJoint, rzJoint, wheels)); | |
| 57 | ✗ | ReedsSheppPtr_t shPtr(ptr); | |
| 58 | ✗ | ptr->init(shPtr); | |
| 59 | ✗ | return shPtr; | |
| 60 | } | ||
| 61 | |||
| 62 | ✗ | ReedsSheppPtr_t ReedsShepp::createCopy(const ReedsSheppPtr_t& distance) { | |
| 63 | ✗ | ReedsShepp* ptr(new ReedsShepp(*distance)); | |
| 64 | ✗ | ReedsSheppPtr_t shPtr(ptr); | |
| 65 | ✗ | ptr->init(shPtr); | |
| 66 | ✗ | return shPtr; | |
| 67 | } | ||
| 68 | |||
| 69 | 1 | ReedsShepp::ReedsShepp(const ProblemConstPtr_t& problem) | |
| 70 | : Distance(), | ||
| 71 |
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1 | weighedDistance_(WeighedDistance::create(problem->robot())), |
| 72 | 1 | device_(problem->robot()), | |
| 73 | 1 | xyId_(0), | |
| 74 | 2 | rzId_(2) { | |
| 75 | 1 | DevicePtr_t d(device_.lock()); | |
| 76 |
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1 | xy_ = d->getJointAtConfigRank(xyId_); |
| 77 |
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1 | rz_ = d->getJointAtConfigRank(rzId_); |
| 78 |
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1 | wheels_ = steeringMethod::getWheelsFromParameter(problem, rz_); |
| 79 |
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2 | turningRadius(problem->getParameter("SteeringMethod/Carlike/turningRadius") |
| 80 |
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1 | .floatValue()); |
| 81 | 1 | } | |
| 82 | |||
| 83 | ✗ | ReedsShepp::ReedsShepp(const ProblemConstPtr_t& problem, | |
| 84 | const value_type& turningRadius, JointPtr_t xyJoint, | ||
| 85 | ✗ | JointPtr_t rzJoint, std::vector<JointPtr_t> wheels) | |
| 86 | : Distance(), | ||
| 87 | ✗ | weighedDistance_(WeighedDistance::create(problem->robot())), | |
| 88 | ✗ | device_(problem->robot()), | |
| 89 | ✗ | rho_(turningRadius), | |
| 90 | ✗ | xy_(xyJoint), | |
| 91 | ✗ | rz_(rzJoint), | |
| 92 | ✗ | xyId_(xy_->rankInConfiguration()), | |
| 93 | ✗ | wheels_(wheels), | |
| 94 | ✗ | weak_() { | |
| 95 | ✗ | if (rz_->jointModel().shortname() == "JointModelPlanar") { | |
| 96 | ✗ | rzId_ = rz_->rankInConfiguration() + 2; | |
| 97 | } else { | ||
| 98 | ✗ | rzId_ = rz_->rankInConfiguration(); | |
| 99 | } | ||
| 100 | } | ||
| 101 | |||
| 102 | ✗ | ReedsShepp::ReedsShepp(const ReedsShepp& other) | |
| 103 | : Distance(other), | ||
| 104 | ✗ | weighedDistance_(WeighedDistance::createCopy(other.weighedDistance_)), | |
| 105 | ✗ | device_(other.device_), | |
| 106 | ✗ | rho_(other.rho_), | |
| 107 | ✗ | xy_(other.xy_), | |
| 108 | ✗ | rz_(other.rz_), | |
| 109 | ✗ | xyId_(other.xyId_), | |
| 110 | ✗ | rzId_(other.rzId_), | |
| 111 | ✗ | wheels_(other.wheels_), | |
| 112 | ✗ | weak_() {} | |
| 113 | |||
| 114 | 1 | void ReedsShepp::turningRadius(const value_type& rho) { | |
| 115 |
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1 | if (rho <= 0) |
| 116 | ✗ | throw std::invalid_argument("Turning radius must be strictly positive."); | |
| 117 | 1 | rho_ = rho; | |
| 118 | 1 | } | |
| 119 | |||
| 120 | ✗ | value_type ReedsShepp::impl_distance(ConfigurationIn_t q1, | |
| 121 | ConfigurationIn_t q2) const { | ||
| 122 | // TODO this should not be done here. | ||
| 123 | // See todo in class ConstantCurvature | ||
| 124 | ✗ | Configuration_t qEnd(q2); | |
| 125 | ✗ | qEnd.segment<2>(xyId_) = q1.segment<2>(xyId_); | |
| 126 | ✗ | qEnd.segment<2>(rzId_) = q1.segment<2>(rzId_); | |
| 127 | // Do not take into account wheel joints in additional distance. | ||
| 128 | ✗ | for (std::vector<JointPtr_t>::const_iterator it = wheels_.begin(); | |
| 129 | ✗ | it != wheels_.end(); ++it) { | |
| 130 | ✗ | size_type i = (*it)->rankInConfiguration(); | |
| 131 | ✗ | qEnd[i] = q1[i]; | |
| 132 | } | ||
| 133 | // The length corresponding to the non RS DoF | ||
| 134 | ✗ | value_type extraL = (*weighedDistance_)(q1, qEnd); | |
| 135 | |||
| 136 | value_type distance; | ||
| 137 | PathVectorPtr_t path(steeringMethod::reedsSheppPathOrDistance( | ||
| 138 | ✗ | device_.lock(), q1, q2, extraL, rho_, xyId_, rzId_, wheels_, | |
| 139 | ✗ | ConstraintSetPtr_t(), true, distance)); | |
| 140 | ✗ | return distance; | |
| 141 | } | ||
| 142 | |||
| 143 | 1 | void ReedsShepp::init(const ReedsSheppWkPtr_t& weak) { weak_ = weak; } | |
| 144 | |||
| 145 | } // namespace distance | ||
| 146 | } // namespace core | ||
| 147 | } // namespace hpp | ||
| 148 |