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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_RS_TIME_PARAMETERIZATION_HH |
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#define HPP_CORE_PATH_OPTIMIZATION_RS_TIME_PARAMETERIZATION_HH |
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#include <hpp/core/path-optimizer.hh> |
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#include <hpp/core/steering-method/constant-curvature.hh> |
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namespace hpp { |
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namespace core { |
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namespace pathOptimization { |
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/// Time parameterization of Reeds and Shepp paths |
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/// |
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/// This class computes a time parameterization for a concatentation |
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/// of Reeds and Shepp paths (in fact of constant curvature paths) |
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class HPP_CORE_DLLAPI RSTimeParameterization : public PathOptimizer { |
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public: |
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/// Create instance and return shared pointer |
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static RSTimeParameterizationPtr_t create(const ProblemConstPtr_t& problem); |
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/// Compute the time parameterization of a path |
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/// |
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/// \param path input path, |
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/// \precond path should be a concatenation of |
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/// hpp::core::ConstantCurvature instances |
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/// |
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/// The parameterized path starts and ends with velocity equal to 0. |
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/// On each segment, it accelerates, moves at maximal speed and |
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/// decelerates to the minimal velocity to pass curvature discontinuity. |
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virtual PathVectorPtr_t optimize(const PathVectorPtr_t& path); |
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protected: |
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/// Constructor |
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/// \param minLinVel, maxLinVel minimal and maximal velocity. |
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/// Minimal velocity is the linear velocity allowed when |
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/// switching discontinuously the radius of curvature, |
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/// \param maxAngVel maximal angular velocity, |
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/// \param linearAcceletion linearDeceleration linear acceleration and |
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/// deceleration that can be different. |
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RSTimeParameterization(const ProblemConstPtr_t& problem) |
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: PathOptimizer(problem) {} |
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}; // class 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_RS_TIME_PARAMETERIZATION_HH |
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