Kino-dynamic straight path. More...

#include <hpp/core/kinodynamic-path.hh>

Inheritance diagram for hpp::core::KinodynamicPath:

Collaboration diagram for hpp::core::KinodynamicPath:

Public Types
typedef StraightPath	parent_t

Public Types inherited from hpp::core::StraightPath
typedef Path	parent_t

Public Member Functions
virtual	~KinodynamicPath () throw ()
	Destructor. More...

virtual PathPtr_t	copy () const
	Return a shared pointer to this. More...

virtual PathPtr_t	copy (const ConstraintSetPtr_t &constraints) const
	Return a shared pointer to a copy of this and set constraints. More...

virtual PathPtr_t	impl_extract (const interval_t &paramInterval) const throw (projection_error)
	Extraction/Reversion of a sub-path. More...

vector_t	getT0 ()

vector_t	getT1 ()

vector_t	getT2 ()

vector_t	getTv ()

vector_t	getA1 ()

Public Member Functions inherited from hpp::core::StraightPath
virtual	~StraightPath () throw ()
	Destructor. More...

void	initialConfig (ConfigurationIn_t initial)
	Modify initial configuration. More...

void	endConfig (ConfigurationIn_t end)
	Modify end configuration. More...

DevicePtr_t	device () const
	Return the internal robot. More...

Configuration_t	initial () const
	Get the initial configuration. More...

Configuration_t	end () const
	Get the final configuration. More...

Public Member Functions inherited from hpp::core::Path
virtual	~Path () throw ()
	Destructor. More...

template<class T >
boost::shared_ptr< T >	as (void)
	Static cast into a derived type. More...

template<class T >
boost::shared_ptr< const T >	as (void) const
	Static cast into a derived type. More...

PathPtr_t	extract (const interval_t &subInterval) const throw (projection_error)

PathPtr_t	extract (const value_type &tmin, const value_type &tmax) const throw (projection_error)

virtual PathPtr_t	reverse () const
	Reversion of a path. More...

Configuration_t	operator() (const value_type &time) const HPP_CORE_DEPRECATED

Configuration_t	operator() (const value_type &time, bool &success) const

bool	operator() (ConfigurationOut_t result, const value_type &time) const throw ()

Configuration_t	eval (const value_type &time, bool &success) const

bool	eval (ConfigurationOut_t result, const value_type &time) const throw ()

bool	at (const value_type &time, ConfigurationOut_t result) const
	Get the configuration at a parameter without applying the constraints. More...

void	derivative (vectorOut_t result, const value_type &time, size_type order) const
	Get derivative with respect to parameter at given parameter. More...

void	velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const
	Get an upper bound of the velocity on a sub-interval. More...

size_type	outputSize () const
	Get size of configuration space. More...

size_type	outputDerivativeSize () const
	Get size of velocity. More...

const interval_t &	timeRange () const
	Get interval of definition. More...

virtual value_type	length () const
	Get length of definition interval. More...

const ConstraintSetPtr_t &	constraints () const
	Get constraints the path is subject to. More...

const interval_t &	paramRange () const
	Get interval of parameters. More...

void	timeParameterization (const TimeParameterizationPtr_t &tp, const interval_t &tr)
	Set the time parameterization function. More...

Static Public Member Functions
static KinodynamicPathPtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim)
	Create instance and return shared pointer. More...

static KinodynamicPathPtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim, ConstraintSetPtr_t constraints)
	Create instance and return shared pointer. More...

static KinodynamicPathPtr_t	createCopy (const KinodynamicPathPtr_t &path)
	Create copy and return shared pointer. More...

static KinodynamicPathPtr_t	createCopy (const KinodynamicPathPtr_t &path, const ConstraintSetPtr_t &constraints)
	Create copy and return shared pointer. More...

Static Public Member Functions inherited from hpp::core::StraightPath
static StraightPathPtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length)
	Create instance and return shared pointer. More...

static StraightPathPtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, interval_t interval)
	Create instance and return shared pointer. More...

static StraightPathPtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConstraintSetPtr_t constraints)
	Create instance and return shared pointer. More...

static StraightPathPtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, interval_t interval, ConstraintSetPtr_t constraints)
	Create instance and return shared pointer. More...

static StraightPathPtr_t	createCopy (const StraightPathPtr_t &path)
	Create copy and return shared pointer. More...

static StraightPathPtr_t	createCopy (const StraightPathPtr_t &path, const ConstraintSetPtr_t &constraints)
	Create copy and return shared pointer. More...

Protected Member Functions
virtual std::ostream &	print (std::ostream &os) const
	Print path in a stream. More...

	KinodynamicPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim)
	Constructor. More...

	KinodynamicPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim, ConstraintSetPtr_t constraints)
	Constructor with constraints. More...

	KinodynamicPath (const KinodynamicPath &path)
	Copy constructor. More...

	KinodynamicPath (const KinodynamicPath &path, const ConstraintSetPtr_t &constraints)
	Copy constructor with constraints. More...

void	init (KinodynamicPathPtr_t self)

virtual bool	impl_compute (ConfigurationOut_t result, value_type t) const
	Function evaluation without applying constraints. More...

double	sgnenum (double val) const

int	sgn (double d) const

double	sgnf (double d) const

Protected Member Functions inherited from hpp::core::StraightPath
	StraightPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type length)
	Constructor. More...

	StraightPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, interval_t interval)
	Constructor. More...

	StraightPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConstraintSetPtr_t constraints)
	Constructor with constraints. More...

	StraightPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, interval_t interval, ConstraintSetPtr_t constraints)
	Constructor with constraints. More...

	StraightPath (const StraightPath &path)
	Copy constructor. More...

	StraightPath (const StraightPath &path, const ConstraintSetPtr_t &constraints)
	Copy constructor with constraints. More...

void	init (StraightPathPtr_t self)

virtual void	impl_derivative (vectorOut_t result, const value_type &t, size_type order) const
	Virtual implementation of derivative. More...

virtual void	impl_velocityBound (vectorOut_t result, const value_type &, const value_type &) const
	Virtual implementation of velocityBound. More...

PathPtr_t	impl_extract (const interval_t &subInterval) const throw (projection_error)
	Extraction/Reversion of a sub-path. More...

Protected Member Functions inherited from hpp::core::Path
	Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints)
	Constructor. More...

	Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize)
	Constructor. More...

	Path (const Path &path)
	Copy constructor. More...

	Path (const Path &path, const ConstraintSetPtr_t &constraints)
	Copy constructor with constraints. More...

void	init (const PathWkPtr_t &self)
	Store weak pointer to itself. More...

void	constraints (const ConstraintSetPtr_t &constraint)
	Set the constraints. More...

virtual void	checkPath () const
	Should be called by child classes after having init. More...

void	timeRange (const interval_t &timeRange)

const TimeParameterizationPtr_t &	timeParameterization () const

value_type	paramLength () const

Configuration_t	configAtParam (const value_type &param, bool &success) const

Additional Inherited Members
Protected Attributes inherited from hpp::core::StraightPath
DevicePtr_t	device_

Configuration_t	initial_

Configuration_t	end_

Protected Attributes inherited from hpp::core::Path
interval_t	paramRange_
	Interval of parameters. More...

Detailed Description

Kino-dynamic straight path.

This Path has the same behavior as the StraightPath class except for the translation part of the free-flyer. For the translation part of the free-flyer KinodynamicPath store a "bang-bang" trajectory dependent on time with either 2 segment of constant acceleration or 3 segments with a constant velocity segment

In current implementation, only the translation part of the freeflyer joint is considered by this class. The value of all other joint are interpolated between the initial and end value using the interpolate() method.

The current implementation assume that :

The first joint of the robot is a freeflyer
The robot have an extra Config Space of dimension >= 6. The first 3 values of the extraConfig are the velocity of the root and the 3 other values are the aceleration.

Member Typedef Documentation

◆ parent_t

typedef StraightPath hpp::core::KinodynamicPath::parent_t

Constructor & Destructor Documentation

◆ ~KinodynamicPath()

virtual hpp::core::KinodynamicPath::~KinodynamicPath	(	)
throw	(
	)

inlinevirtual

Destructor.

◆ KinodynamicPath() [1/4]

hpp::core::KinodynamicPath::KinodynamicPath	(	const DevicePtr_t &	robot,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		value_type	length,
		ConfigurationIn_t	a1,
		ConfigurationIn_t	t0,
		ConfigurationIn_t	t1,
		ConfigurationIn_t	tv,
		ConfigurationIn_t	t2,
		ConfigurationIn_t	vLim
	)

protected

Constructor.

◆ KinodynamicPath() [2/4]

hpp::core::KinodynamicPath::KinodynamicPath	(	const DevicePtr_t &	robot,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		value_type	length,
		ConfigurationIn_t	a1,
		ConfigurationIn_t	t0,
		ConfigurationIn_t	t1,
		ConfigurationIn_t	tv,
		ConfigurationIn_t	t2,
		ConfigurationIn_t	vLim,
		ConstraintSetPtr_t	constraints
	)

protected

Constructor with constraints.

◆ KinodynamicPath() [3/4]

hpp::core::KinodynamicPath::KinodynamicPath ( const KinodynamicPath & path )

protected

Copy constructor.

◆ KinodynamicPath() [4/4]

hpp::core::KinodynamicPath::KinodynamicPath	(	const KinodynamicPath &	path,
		const ConstraintSetPtr_t &	constraints
	)

protected

Copy constructor with constraints.

Member Function Documentation

◆ copy() [1/2]

virtual PathPtr_t hpp::core::KinodynamicPath::copy ( ) const

inlinevirtual

Return a shared pointer to this.

As StaightPath are immutable, and refered to by shared pointers, they do not need to be copied.

Reimplemented from hpp::core::StraightPath.

Reimplemented in hpp::core::KinodynamicOrientedPath.

◆ copy() [2/2]

virtual PathPtr_t hpp::core::KinodynamicPath::copy ( const ConstraintSetPtr_t & constraints ) const

inlinevirtual

Return a shared pointer to a copy of this and set constraints.

Parameters

constraints constraints to apply to the copy

Precondition: *this should not have constraints.

Reimplemented from hpp::core::StraightPath.

Reimplemented in hpp::core::KinodynamicOrientedPath.

◆ create() [1/2]

static KinodynamicPathPtr_t hpp::core::KinodynamicPath::create	(	const DevicePtr_t &	device,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		value_type	length,
		ConfigurationIn_t	a1,
		ConfigurationIn_t	t0,
		ConfigurationIn_t	t1,
		ConfigurationIn_t	tv,
		ConfigurationIn_t	t2,
		ConfigurationIn_t	vLim
	)

inlinestatic

Create instance and return shared pointer.

Parameters

device	Robot corresponding to configurations
init,end	Start and end configurations of the path
length	Distance between the configurations.

References hpp::core::Path::checkPath(), and init().

◆ create() [2/2]

static KinodynamicPathPtr_t hpp::core::KinodynamicPath::create	(	const DevicePtr_t &	device,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		value_type	length,
		ConfigurationIn_t	a1,
		ConfigurationIn_t	t0,
		ConfigurationIn_t	t1,
		ConfigurationIn_t	tv,
		ConfigurationIn_t	t2,
		ConfigurationIn_t	vLim,
		ConstraintSetPtr_t	constraints
	)

inlinestatic

Create instance and return shared pointer.

Parameters

device	Robot corresponding to configurations
init,end	Start and end configurations of the path
length	Distance between the configurations.
constraints	the path is subject to

References hpp::core::Path::checkPath(), and init().

◆ createCopy() [1/2]

static KinodynamicPathPtr_t hpp::core::KinodynamicPath::createCopy ( const KinodynamicPathPtr_t & path )

inlinestatic

Create copy and return shared pointer.

Parameters

path	path to copy

References hpp::core::Path::checkPath(), and init().

◆ createCopy() [2/2]

static KinodynamicPathPtr_t hpp::core::KinodynamicPath::createCopy	(	const KinodynamicPathPtr_t &	path,
		const ConstraintSetPtr_t &	constraints
	)

inlinestatic

Create copy and return shared pointer.

Parameters

path	path to copy
constraints	the path is subject to

References hpp::core::Path::checkPath(), and init().

◆ getA1()

vector_t hpp::core::KinodynamicPath::getA1 ( )

inline

◆ getT0()

vector_t hpp::core::KinodynamicPath::getT0 ( )

inline

◆ getT1()

vector_t hpp::core::KinodynamicPath::getT1 ( )

inline

◆ getT2()

vector_t hpp::core::KinodynamicPath::getT2 ( )

inline

◆ getTv()

vector_t hpp::core::KinodynamicPath::getTv ( )

inline

◆ impl_compute()

virtual bool hpp::core::KinodynamicPath::impl_compute	(	ConfigurationOut_t	configuration,
		value_type	param
	)		const

protectedvirtual

Function evaluation without applying constraints.

Returns: true if everything went good.

Reimplemented from hpp::core::StraightPath.

Reimplemented in hpp::core::KinodynamicOrientedPath.

◆ impl_extract()

virtual PathPtr_t hpp::core::KinodynamicPath::impl_extract	(	const interval_t &	paramInterval	)	const
throw	(	projection_error
	)

virtual

Extraction/Reversion of a sub-path.

Parameters

subInterval interval of definition of the extract path If upper bound of subInterval is smaller than lower bound, return an empty path

Reimplemented from hpp::core::Path.

Reimplemented in hpp::core::KinodynamicOrientedPath.

◆ init()

void hpp::core::KinodynamicPath::init ( KinodynamicPathPtr_t self )

inlineprotected

Referenced by create(), and createCopy().

◆ print()

virtual std::ostream& hpp::core::KinodynamicPath::print ( std::ostream & os ) const

inlineprotectedvirtual

Print path in a stream.

Reimplemented from hpp::core::StraightPath.

Reimplemented in hpp::core::KinodynamicOrientedPath.

◆ sgn()

int hpp::core::KinodynamicPath::sgn ( double d ) const

inlineprotected

◆ sgnenum()

double hpp::core::KinodynamicPath::sgnenum ( double val ) const

inlineprotected

◆ sgnf()

double hpp::core::KinodynamicPath::sgnf ( double d ) const

inlineprotected

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ parent_t

Constructor & Destructor Documentation

◆ ~KinodynamicPath()

◆ KinodynamicPath() [1/4]

◆ KinodynamicPath() [2/4]

◆ KinodynamicPath() [3/4]

◆ KinodynamicPath() [4/4]

Member Function Documentation

◆ copy() [1/2]

◆ copy() [2/2]

◆ create() [1/2]

◆ create() [2/2]

◆ createCopy() [1/2]

◆ createCopy() [2/2]

◆ getA1()

◆ getT0()

◆ getT1()

◆ getT2()

◆ getTv()

◆ impl_compute()

◆ impl_extract()

◆ init()

◆ print()

◆ sgn()

◆ sgnenum()

◆ sgnf()