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// |
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// Copyright (c) 2017 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_STEERING_METHOD_SNIBUD_HH |
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#define HPP_CORE_STEERING_METHOD_SNIBUD_HH |
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#include <hpp/core/config.hh> |
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#include <hpp/core/fwd.hh> |
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#include <hpp/core/steering-method/car-like.hh> |
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#include <hpp/util/debug.hh> |
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#include <hpp/util/pointer.hh> |
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namespace hpp { |
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namespace core { |
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namespace steeringMethod { |
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/// \addtogroup steering_method |
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/// \{ |
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/// Steering method that creates backward Dubins paths |
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/// |
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class HPP_CORE_DLLAPI Snibud : public CarLike { |
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public: |
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/// Create an instance |
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/// |
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/// This constructor assumes that: |
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/// - the 2 parameters of the configurations corresponds to the XY |
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/// translation joint, |
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/// - the 2 following parameters corresponds to the RZ unbounded |
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/// rotation joint. |
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/// Use CarLike::setWheelJoints to set the wheel joints. |
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static SnibudPtr_t createWithGuess(const ProblemConstPtr_t& problem) { |
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Snibud* ptr = new Snibud(problem); |
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SnibudPtr_t shPtr(ptr); |
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ptr->init(shPtr); |
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return shPtr; |
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} |
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/// Create an instance |
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/// |
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/// This constructor does no assumption. |
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static SnibudPtr_t create( |
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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 = std::vector<JointPtr_t>()) { |
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Snibud* ptr = new Snibud(problem, turningRadius, xyJoint, rzJoint, wheels); |
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SnibudPtr_t shPtr(ptr); |
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ptr->init(shPtr); |
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return shPtr; |
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} |
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/// Copy instance and return shared pointer |
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static SnibudPtr_t createCopy(const SnibudPtr_t& other) { |
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Snibud* ptr = new Snibud(*other); |
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SnibudPtr_t shPtr(ptr); |
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ptr->init(shPtr); |
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return shPtr; |
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} |
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/// Copy instance and return shared pointer |
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virtual SteeringMethodPtr_t copy() const { return createCopy(weak_.lock()); } |
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/// create a path between two configurations |
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virtual PathPtr_t impl_compute(ConfigurationIn_t q1, |
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ConfigurationIn_t q2) const; |
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protected: |
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/// Constructor |
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Snibud(const ProblemConstPtr_t& problem); |
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/// Constructor |
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Snibud(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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/// Copy constructor |
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Snibud(const Snibud& other); |
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/// Store weak pointer to itself |
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void init(SnibudWkPtr_t weak) { |
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CarLike::init(weak); |
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weak_ = weak; |
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} |
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private: |
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SnibudWkPtr_t weak_; |
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}; // Snibud |
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/// \} |
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} // namespace steeringMethod |
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} // namespace core |
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} // namespace hpp |
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#endif // HPP_CORE_STEERING_METHOD_SNIBUD_HH |
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