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File: | include/hpp/core/straight-path.hh |
Date: | 2024-12-13 16:14:03 |
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1 | // | ||
2 | // Copyright (c) 2014 CNRS | ||
3 | // Authors: Florent Lamiraux | ||
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_STRAIGHT_PATH_HH | ||
31 | #define HPP_CORE_STRAIGHT_PATH_HH | ||
32 | |||
33 | #include <hpp/core/config.hh> | ||
34 | #include <hpp/core/fwd.hh> | ||
35 | #include <hpp/core/path.hh> | ||
36 | #include <hpp/pinocchio/liegroup-element.hh> | ||
37 | |||
38 | namespace hpp { | ||
39 | namespace core { | ||
40 | /// \addtogroup path | ||
41 | /// \{ | ||
42 | |||
43 | /// Linear interpolation between two configurations | ||
44 | /// | ||
45 | /// Degrees of freedom are interpolated depending on the type of | ||
46 | /// \link hpp::pinocchio::Joint joint \endlink | ||
47 | /// they parameterize: | ||
48 | /// \li linear interpolation for translation joints, bounded rotation | ||
49 | /// joints, and translation part of freeflyer joints, | ||
50 | /// \li angular interpolation for unbounded rotation joints, | ||
51 | /// \li constant angular velocity for SO(3) part of freeflyer joints. | ||
52 | class HPP_CORE_DLLAPI StraightPath : public Path { | ||
53 | public: | ||
54 | typedef Path parent_t; | ||
55 | /// Destructor | ||
56 | 84738 | virtual ~StraightPath() {} | |
57 | |||
58 | /// Create instance and return shared pointer | ||
59 | /// \param init, end Start and end configurations of the path, | ||
60 | /// \param interval interval of definition | ||
61 | /// \param constraints the path is subject to. | ||
62 | 4558 | static StraightPathPtr_t create( | |
63 | LiegroupSpacePtr_t space, vectorIn_t init, vectorIn_t end, | ||
64 | interval_t interval, | ||
65 | ConstraintSetPtr_t constraints = ConstraintSetPtr_t()) { | ||
66 | StraightPath* ptr; | ||
67 |
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4558 | if (constraints) |
68 |
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278 | ptr = new StraightPath(space, init, end, interval, constraints); |
69 | else | ||
70 |
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4280 | ptr = new StraightPath(space, init, end, interval); |
71 | 4558 | StraightPathPtr_t shPtr(ptr); | |
72 |
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4558 | ptr->init(shPtr); |
73 |
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4558 | ptr->checkPath(); |
74 | 4558 | return shPtr; | |
75 | } | ||
76 | |||
77 | /// Create instance and return shared pointer | ||
78 | /// \param init, end Start and end configurations of the path | ||
79 | /// \param interval interval of definition | ||
80 | /// \param constraints the path is subject to. | ||
81 | static StraightPathPtr_t create( | ||
82 | LiegroupElementConstRef init, LiegroupElementConstRef end, | ||
83 | interval_t interval, | ||
84 | ConstraintSetPtr_t constraints = ConstraintSetPtr_t()) { | ||
85 | assert(init.space() == end.space()); | ||
86 | return create(init.space(), init.vector(), end.vector(), interval, | ||
87 | constraints); | ||
88 | } | ||
89 | |||
90 | /// Create instance and return shared pointer | ||
91 | /// \param device Robot corresponding to configurations | ||
92 | /// \param init, end Start and end configurations of the path | ||
93 | /// \param length Distance between the configurations. | ||
94 | 4129 | static StraightPathPtr_t create( | |
95 | const DevicePtr_t& device, ConfigurationIn_t init, ConfigurationIn_t end, | ||
96 | value_type length, | ||
97 | ConstraintSetPtr_t constraints = ConstraintSetPtr_t()) { | ||
98 |
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4129 | return create(device, init, end, interval_t(0, length), constraints); |
99 | } | ||
100 | |||
101 | /// Create instance and return shared pointer | ||
102 | /// \param device Robot corresponding to configurations | ||
103 | /// \param init, end Start and end configurations of the path | ||
104 | /// \param interval interval of definition. | ||
105 | /// \param constraints the path is subject to | ||
106 | static StraightPathPtr_t create( | ||
107 | const DevicePtr_t& device, ConfigurationIn_t init, ConfigurationIn_t end, | ||
108 | interval_t interval, | ||
109 | ConstraintSetPtr_t constraints = ConstraintSetPtr_t()); | ||
110 | |||
111 | /// Create copy and return shared pointer | ||
112 | /// \param path path to copy | ||
113 | 212 | static StraightPathPtr_t createCopy(const StraightPathPtr_t& path) { | |
114 |
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212 | StraightPath* ptr = new StraightPath(*path); |
115 | 212 | StraightPathPtr_t shPtr(ptr); | |
116 |
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212 | ptr->init(shPtr); |
117 |
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212 | ptr->checkPath(); |
118 | 212 | return shPtr; | |
119 | } | ||
120 | |||
121 | /// Create copy and return shared pointer | ||
122 | /// \param path path to copy | ||
123 | /// \param constraints the path is subject to | ||
124 | ✗ | static StraightPathPtr_t createCopy(const StraightPathPtr_t& path, | |
125 | const ConstraintSetPtr_t& constraints) { | ||
126 | ✗ | StraightPath* ptr = new StraightPath(*path, constraints); | |
127 | ✗ | StraightPathPtr_t shPtr(ptr); | |
128 | ✗ | ptr->init(shPtr); | |
129 | ✗ | ptr->checkPath(); | |
130 | ✗ | return shPtr; | |
131 | } | ||
132 | |||
133 | /// Return a shared pointer to this | ||
134 | /// | ||
135 | /// As StaightPath are immutable, and refered to by shared pointers, | ||
136 | /// they do not need to be copied. | ||
137 |
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212 | virtual PathPtr_t copy() const { return createCopy(weak_.lock()); } |
138 | |||
139 | /// Return a shared pointer to a copy of this and set constraints | ||
140 | /// | ||
141 | /// \param constraints constraints to apply to the copy | ||
142 | /// \pre *this should not have constraints. | ||
143 | ✗ | virtual PathPtr_t copy(const ConstraintSetPtr_t& constraints) const { | |
144 | ✗ | return createCopy(weak_.lock(), constraints); | |
145 | } | ||
146 | |||
147 | /// Modify initial configuration | ||
148 | /// \param initial new initial configuration | ||
149 | /// \pre input configuration should be of the same size as current initial | ||
150 | /// configuration | ||
151 | void initialConfig(ConfigurationIn_t initial) { | ||
152 | assert(initial.size() == initial_.size()); | ||
153 | initial_ = initial; | ||
154 | } | ||
155 | |||
156 | /// Modify end configuration | ||
157 | /// \param end new end configuration | ||
158 | /// \pre input configuration should be of the same size as current end | ||
159 | /// configuration | ||
160 | void endConfig(ConfigurationIn_t end) { | ||
161 | assert(end.size() == end_.size()); | ||
162 | end_ = end; | ||
163 | } | ||
164 | |||
165 | /// Get the initial configuration | ||
166 | 30761 | Configuration_t initial() const { return initial_; } | |
167 | |||
168 | /// Get the final configuration | ||
169 | 27367 | Configuration_t end() const { return end_; } | |
170 | |||
171 | protected: | ||
172 | /// Print path in a stream | ||
173 | virtual std::ostream& print(std::ostream& os) const; | ||
174 | |||
175 | /// Constructor | ||
176 | StraightPath(LiegroupSpacePtr_t space, vectorIn_t init, vectorIn_t end, | ||
177 | interval_t interval); | ||
178 | |||
179 | /// Constructor | ||
180 | StraightPath(LiegroupSpacePtr_t space, vectorIn_t init, vectorIn_t end, | ||
181 | interval_t interval, ConstraintSetPtr_t constraints); | ||
182 | |||
183 | /// Copy constructor | ||
184 | StraightPath(const StraightPath& path); | ||
185 | |||
186 | /// Copy constructor with constraints | ||
187 | StraightPath(const StraightPath& path, const ConstraintSetPtr_t& constraints); | ||
188 | |||
189 | 37781 | void init(StraightPathPtr_t self) { | |
190 |
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37781 | parent_t::init(self); |
191 | 37781 | weak_ = self; | |
192 | 37781 | checkPath(); | |
193 | 37781 | } | |
194 | |||
195 | virtual bool impl_compute(ConfigurationOut_t result, value_type param) const; | ||
196 | /// Virtual implementation of derivative | ||
197 | virtual void impl_derivative(vectorOut_t result, const value_type& t, | ||
198 | size_type order) const; | ||
199 | |||
200 | virtual void impl_velocityBound(vectorOut_t result, const value_type&, | ||
201 | const value_type&) const; | ||
202 | |||
203 | /// Extraction/Reversion of a sub-path | ||
204 | /// \param subInterval interval of definition of the extract path | ||
205 | /// If upper bound of subInterval is smaller than lower bound, | ||
206 | /// result is reversed. | ||
207 | PathPtr_t impl_extract(const interval_t& subInterval) const; | ||
208 | |||
209 | protected: | ||
210 | LiegroupSpacePtr_t space_; | ||
211 | Configuration_t initial_; | ||
212 | Configuration_t end_; | ||
213 | |||
214 | private: | ||
215 | StraightPathWkPtr_t weak_; | ||
216 | |||
217 | protected: | ||
218 |
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15 | StraightPath() {} |
219 | |||
220 | private: | ||
221 | HPP_SERIALIZABLE(); | ||
222 | }; // class StraightPath | ||
223 | /// \} | ||
224 | } // namespace core | ||
225 | } // namespace hpp | ||
226 | |||
227 | 18 | BOOST_CLASS_EXPORT_KEY(hpp::core::StraightPath) | |
228 | |||
229 | #endif // HPP_CORE_STRAIGHT_PATH_HH | ||
230 |