| Directory: | ./ |
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| File: | src/steering-method/reeds-shepp.cc |
| Date: | 2024-12-13 16:14:03 |
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| Lines: | 16 | 21 | 76.2% |
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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); |
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6 | qEnd.segment<2>(xyId_) = q1.segment<2>(xyId_); |
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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 |