Directory: | ./ |
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File: | src/steering-method/reeds-shepp.cc |
Date: | 2024-08-10 11:29:48 |
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1 | // Copyright (c) 2016, Joseph Mirabel | ||
2 | // Authors: Joseph Mirabel (joseph.mirabel@laas.fr) | ||
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 | #include <hpp/core/distance.hh> | ||
30 | #include <hpp/core/path-vector.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.hh> | ||
36 | #include <pinocchio/multibody/joint/fwd.hpp> | ||
37 | |||
38 | namespace hpp { | ||
39 | namespace core { | ||
40 | namespace steeringMethod { | ||
41 | 6 | PathPtr_t ReedsShepp::impl_compute(ConfigurationIn_t q1, | |
42 | ConfigurationIn_t q2) const { | ||
43 | // TODO this should not be done here. | ||
44 | // See todo in class ConstantCurvature | ||
45 |
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6 | Configuration_t qEnd(q2); |
46 |
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6 | qEnd.segment<2>(xyId_) = q1.segment<2>(xyId_); |
47 |
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6 | qEnd.segment<2>(rzId_) = q1.segment<2>(rzId_); |
48 | // Do not take into account wheel joints in additional distance. | ||
49 | 6 | for (std::vector<JointPtr_t>::const_iterator it = wheels_.begin(); | |
50 |
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8 | it != wheels_.end(); ++it) { |
51 |
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2 | size_type i = (*it)->rankInConfiguration(); |
52 |
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2 | qEnd[i] = q1[i]; |
53 | } | ||
54 | // The length corresponding to the non RS DoF | ||
55 |
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6 | value_type extraL = (*weighedDistance_)(q1, qEnd); |
56 | |||
57 | value_type distance; | ||
58 | PathVectorPtr_t path( | ||
59 | 12 | reedsSheppPathOrDistance(device_.lock(), q1, q2, extraL, rho_, xyId_, | |
60 |
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18 | rzId_, wheels_, constraints(), false, distance)); |
61 | 12 | return path; | |
62 | 6 | } | |
63 | |||
64 | 3 | ReedsShepp::ReedsShepp(const ProblemConstPtr_t& problem) | |
65 | : CarLike(problem), | ||
66 |
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3 | weighedDistance_(WeighedDistance::create(problem->robot())), |
67 | 6 | weak_() {} | |
68 | |||
69 | ✗ | ReedsShepp::ReedsShepp(const ProblemConstPtr_t& problem, | |
70 | const value_type turningRadius, JointPtr_t xyJoint, | ||
71 | ✗ | JointPtr_t rzJoint, std::vector<JointPtr_t> wheels) | |
72 | : CarLike(problem, turningRadius, xyJoint, rzJoint, wheels), | ||
73 | ✗ | weighedDistance_(WeighedDistance::create(problem->robot())) {} | |
74 | |||
75 | /// Copy constructor | ||
76 | ✗ | ReedsShepp::ReedsShepp(const ReedsShepp& other) | |
77 | ✗ | : CarLike(other), weighedDistance_(other.weighedDistance_) {} | |
78 | |||
79 | } // namespace steeringMethod | ||
80 | } // namespace core | ||
81 | } // namespace hpp | ||
82 |