| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// Copyright (c) 2017, CNRS |
| 2 |
|
|
// Authors: Florent Lamiraux |
| 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/dubins-path.hh> |
| 31 |
|
|
#include <hpp/core/problem.hh> |
| 32 |
|
|
#include <hpp/core/steering-method/snibud.hh> |
| 33 |
|
|
#include <hpp/pinocchio/device.hh> |
| 34 |
|
|
#include <hpp/pinocchio/joint.hh> |
| 35 |
|
|
|
| 36 |
|
|
namespace hpp { |
| 37 |
|
|
namespace core { |
| 38 |
|
|
namespace steeringMethod { |
| 39 |
|
✗ |
PathPtr_t Snibud::impl_compute(ConfigurationIn_t q1, |
| 40 |
|
|
ConfigurationIn_t q2) const { |
| 41 |
|
✗ |
Configuration_t qEnd(q2); |
| 42 |
|
✗ |
qEnd.segment<2>(xyId_) = q1.segment<2>(xyId_); |
| 43 |
|
✗ |
qEnd.segment<2>(rzId_) = q1.segment<2>(rzId_); |
| 44 |
|
|
// Do not take into account wheel joints in additional distance. |
| 45 |
|
✗ |
for (std::vector<JointPtr_t>::const_iterator it = wheels_.begin(); |
| 46 |
|
✗ |
it != wheels_.end(); ++it) { |
| 47 |
|
✗ |
size_type i = (*it)->rankInConfiguration(); |
| 48 |
|
✗ |
qEnd[i] = q1[i]; |
| 49 |
|
|
} |
| 50 |
|
|
// The length corresponding to the non RS DoF |
| 51 |
|
✗ |
DistancePtr_t d(problem()->distance()); |
| 52 |
|
✗ |
value_type extraL = (*d)(q1, qEnd); |
| 53 |
|
|
DubinsPathPtr_t path = |
| 54 |
|
✗ |
DubinsPath::create(device_.lock(), q2, q1, extraL, rho_, xyId_, rzId_, |
| 55 |
|
✗ |
wheels_, constraints()); |
| 56 |
|
|
|
| 57 |
|
✗ |
return path->reverse(); |
| 58 |
|
|
} |
| 59 |
|
|
|
| 60 |
|
✗ |
Snibud::Snibud(const ProblemConstPtr_t& problem) : CarLike(problem), weak_() {} |
| 61 |
|
|
|
| 62 |
|
✗ |
Snibud::Snibud(const ProblemConstPtr_t& problem, const value_type turningRadius, |
| 63 |
|
|
JointPtr_t xyJoint, JointPtr_t rzJoint, |
| 64 |
|
✗ |
std::vector<JointPtr_t> wheels) |
| 65 |
|
✗ |
: CarLike(problem, turningRadius, xyJoint, rzJoint, wheels) {} |
| 66 |
|
|
|
| 67 |
|
|
/// Copy constructor |
| 68 |
|
✗ |
Snibud::Snibud(const Snibud& other) : CarLike(other) {} |
| 69 |
|
|
|
| 70 |
|
|
} // namespace steeringMethod |
| 71 |
|
|
} // namespace core |
| 72 |
|
|
} // namespace hpp |
| 73 |
|
|
|