| Directory: | ./ |
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| File: | include/hpp/core/steering-method/spline.hh |
| Date: | 2024-12-13 16:14:03 |
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| 1 | // | ||
| 2 | // Copyright (c) 2017 CNRS | ||
| 3 | // Authors: Joseph Mirabel | ||
| 4 | // | ||
| 5 | |||
| 6 | // Redistribution and use in source and binary forms, with or without | ||
| 7 | // modification, are permitted provided that the following conditions are | ||
| 8 | // met: | ||
| 9 | // | ||
| 10 | // 1. Redistributions of source code must retain the above copyright | ||
| 11 | // notice, this list of conditions and the following disclaimer. | ||
| 12 | // | ||
| 13 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 14 | // notice, this list of conditions and the following disclaimer in the | ||
| 15 | // documentation and/or other materials provided with the distribution. | ||
| 16 | // | ||
| 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 18 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 19 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 20 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 21 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 22 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 23 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 24 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 25 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 26 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 27 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 28 | // DAMAGE. | ||
| 29 | |||
| 30 | #ifndef HPP_CORE_STEERING_METHOD_SPLINE_HH | ||
| 31 | #define HPP_CORE_STEERING_METHOD_SPLINE_HH | ||
| 32 | |||
| 33 | #include <hpp/core/config.hh> | ||
| 34 | #include <hpp/core/fwd.hh> | ||
| 35 | #include <hpp/core/steering-method.hh> | ||
| 36 | #include <hpp/util/debug.hh> | ||
| 37 | #include <hpp/util/pointer.hh> | ||
| 38 | |||
| 39 | namespace hpp { | ||
| 40 | namespace core { | ||
| 41 | namespace steeringMethod { | ||
| 42 | /// \addtogroup steering_method | ||
| 43 | /// \{ | ||
| 44 | |||
| 45 | /// Steering method that creates path::Spline instances | ||
| 46 | /// | ||
| 47 | template <int _PolynomeBasis, int _SplineOrder> | ||
| 48 | class HPP_CORE_DLLAPI Spline : public SteeringMethod { | ||
| 49 | public: | ||
| 50 | enum { PolynomeBasis = _PolynomeBasis, SplineOrder = _SplineOrder }; | ||
| 51 | typedef path::Spline<PolynomeBasis, SplineOrder> SplinePath; | ||
| 52 | typedef typename SplinePath::Ptr_t SplinePathPtr_t; | ||
| 53 | |||
| 54 | typedef shared_ptr<Spline> Ptr_t; | ||
| 55 | typedef weak_ptr<Spline> WkPtr_t; | ||
| 56 | |||
| 57 | 41 | static Ptr_t create(const ProblemConstPtr_t& problem) { | |
| 58 |
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41 | Spline* ptr = new Spline(problem); |
| 59 | 41 | Ptr_t shPtr(ptr); | |
| 60 |
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41 | ptr->init(shPtr); |
| 61 | 41 | return shPtr; | |
| 62 | } | ||
| 63 | |||
| 64 | /// Copy instance and return shared pointer | ||
| 65 | ✗ | static Ptr_t createCopy(const Ptr_t& other) { | |
| 66 | ✗ | Spline* ptr = new Spline(*other); | |
| 67 | ✗ | Ptr_t shPtr(ptr); | |
| 68 | ✗ | ptr->init(shPtr); | |
| 69 | ✗ | return shPtr; | |
| 70 | } | ||
| 71 | |||
| 72 | /// Copy instance and return shared pointer | ||
| 73 | ✗ | virtual SteeringMethodPtr_t copy() const { return createCopy(weak_.lock()); } | |
| 74 | |||
| 75 | /// create a path between two configurations | ||
| 76 | virtual PathPtr_t impl_compute(ConfigurationIn_t q1, | ||
| 77 | ConfigurationIn_t q2) const; | ||
| 78 | |||
| 79 | /// create a path between two configurations with desired derivatives at the | ||
| 80 | /// limits | ||
| 81 | /// \param q1, q2 robot configuration at each end | ||
| 82 | /// \param order1, order2 list of derivative orders | ||
| 83 | /// \param derivatives1, derivatives2 desired derivatives at each end | ||
| 84 | /// \param length if positive, this is the length of the returned path. | ||
| 85 | /// Otherwise, the length is computed using \r Problem::distance | ||
| 86 | PathPtr_t steer(ConfigurationIn_t q1, std::vector<int> order1, | ||
| 87 | matrixIn_t derivatives1, ConfigurationIn_t q2, | ||
| 88 | std::vector<int> order2, matrixIn_t derivatives2, | ||
| 89 | value_type length = -1) const; | ||
| 90 | |||
| 91 | protected: | ||
| 92 | /// Constructor | ||
| 93 | Spline(const ProblemConstPtr_t& problem); | ||
| 94 | |||
| 95 | /// Copy constructor | ||
| 96 | Spline(const Spline& other); | ||
| 97 | |||
| 98 | /// Store weak pointer to itself | ||
| 99 | 41 | void init(WkPtr_t weak) { | |
| 100 | 41 | SteeringMethod::init(weak); | |
| 101 | 41 | weak_ = weak; | |
| 102 | 41 | } | |
| 103 | |||
| 104 | private: | ||
| 105 | /// create a path between two configurations | ||
| 106 | template <typename Derived> | ||
| 107 | PathPtr_t impl_compute(ConfigurationIn_t q1, std::vector<int> order1, | ||
| 108 | const Eigen::MatrixBase<Derived>& derivatives1, | ||
| 109 | ConfigurationIn_t q2, std::vector<int> order2, | ||
| 110 | const Eigen::MatrixBase<Derived>& derivatives2, | ||
| 111 | value_type length) const; | ||
| 112 | |||
| 113 | DeviceWkPtr_t device_; | ||
| 114 | WkPtr_t weak_; | ||
| 115 | }; // Spline | ||
| 116 | /// \} | ||
| 117 | } // namespace steeringMethod | ||
| 118 | } // namespace core | ||
| 119 | } // namespace hpp | ||
| 120 | #endif // HPP_CORE_STEERING_METHOD_REEDS_SHEPP_HH | ||
| 121 |