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// |
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// Copyright (c) 2016 CNRS |
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// Authors: 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_DISTANCE_REEDS_SHEPP_HH |
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#define HPP_CORE_DISTANCE_REEDS_SHEPP_HH |
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#include <hpp/core/distance.hh> |
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#include <hpp/core/steering-method/fwd.hh> |
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namespace hpp { |
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namespace core { |
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namespace distance { |
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/// \addtogroup steering_method |
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/// \{ |
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/// Reeds and Shepp distance |
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/// |
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/// Compute the distance between two configurations of a nonholonomic |
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/// cart-like mobile robot with bounded curvature. |
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class HPP_CORE_DLLAPI ReedsShepp : public Distance { |
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public: |
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virtual DistancePtr_t clone() const; |
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static ReedsSheppPtr_t create(const ProblemConstPtr_t& problem); |
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static ReedsSheppPtr_t create(const ProblemConstPtr_t& problem, |
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const value_type& turningRadius, |
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JointPtr_t xyJoint, JointPtr_t rzJoint, |
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std::vector<JointPtr_t> wheels); |
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static ReedsSheppPtr_t createCopy(const ReedsSheppPtr_t& distance); |
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void turningRadius(const value_type& rho); |
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inline value_type turningRadius() const { return rho_; } |
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protected: |
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ReedsShepp(const ProblemConstPtr_t& problem); |
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ReedsShepp(const ProblemConstPtr_t& problem, const value_type& turningRadius, |
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JointPtr_t xyJoint, JointPtr_t rzJoint, |
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std::vector<JointPtr_t> wheels); |
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ReedsShepp(const ReedsShepp& distance); |
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/// Derived class should implement this function |
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virtual value_type impl_distance(ConfigurationIn_t q1, |
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ConfigurationIn_t q2) const; |
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void init(const ReedsSheppWkPtr_t& weak); |
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private: |
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WeighedDistancePtr_t weighedDistance_; |
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DeviceWkPtr_t device_; |
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/// Turning radius |
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value_type rho_; |
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JointPtr_t xy_, rz_; |
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size_type xyId_, rzId_; |
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std::vector<JointPtr_t> wheels_; |
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ReedsSheppWkPtr_t weak_; |
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✗ |
ReedsShepp() {}; |
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HPP_SERIALIZABLE(); |
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}; // class ReedsShepp |
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/// \} |
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} // namespace distance |
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} // namespace core |
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} // namespace hpp |
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#endif // HPP_CORE_DISTANCE_REEDS_SHEPP_HH |
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