hpp::core::steeringMethod::Kinodynamic Class Reference

Steering method that creates KinodynamicPath instances. More...

#include <hpp/core/steering-method/steering-kinodynamic.hh>

Inheritance diagram for hpp::core::steeringMethod::Kinodynamic:

Collaboration diagram for hpp::core::steeringMethod::Kinodynamic:

Public Member Functions
virtual SteeringMethodPtr_t	copy () const
	Copy instance and return shared pointer. More...
virtual PathPtr_t	impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const
	create a path between two configurations More...
double	computeMinTime (int index, double p1, double p2, double v1, double v2, interval_t *infInterval) const
	computeMinTime compute the minimum time required to go from state (p1,v1) to (p2,v2) More...
virtual void	fixedTimeTrajectory (int index, double T, double p1, double p2, double v1, double v2, double *a1, double *t0, double *t1, double *tv, double *t2, double *vLim) const
	fixedTimeTrajectory compute the minimum acceleration trajectory for desired time T (1 dimension) More...
void	setAmax (Vector3 aMax)
void	setVmax (Vector3 vMax)
Public Member Functions inherited from hpp::core::SteeringMethod
PathPtr_t	operator() (ConfigurationIn_t q1, ConfigurationIn_t q2) const
	create a path between two configurations More...
PathPtr_t	steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const
virtual	~SteeringMethod ()
const Problem &	problem () const
void	constraints (const ConstraintSetPtr_t &constraints)
	Set constraint set. More...
const ConstraintSetPtr_t &	constraints () const
	Get constraint set. More...

Static Public Member Functions
static KinodynamicPtr_t	create (const Problem &problem)
	Create an instance. More...
static KinodynamicPtr_t	createCopy (const KinodynamicPtr_t &other)
	Copy instance and return shared pointer. More...

Protected Member Functions
	Kinodynamic (const Problem &problem)
	Constructor. More...
	Kinodynamic (const Kinodynamic &other)
	Copy constructor. More...
void	init (KinodynamicWkPtr_t weak)
	Store weak pointer to itself. More...
Protected Member Functions inherited from hpp::core::SteeringMethod
	SteeringMethod (const Problem &problem)
	Constructor. More...
	SteeringMethod (const SteeringMethod &other)
	Copy constructor. More...
void	init (SteeringMethodWkPtr_t weak)
	Store weak pointer to itself. More...

Protected Attributes
Vector3	aMax_
Vector3	vMax_
double	aMaxFixed_
double	aMaxFixed_Z_
bool	synchronizeVerticalAxis_
bool	orientedPath_
bool	orientationIgnoreZValue_
Protected Attributes inherited from hpp::core::SteeringMethod
const Problem &	problem_

Detailed Description

Steering method that creates KinodynamicPath instances.

It produce a "bang-bang" trajectory connecting exactly the two given state (position and velocity) which respect velocity and acceleration bounds defined by the user (see Problem parameters : Kinodynamic/velocityBound and Kinodynamic/accelerationBound)

Implementation based on the equation of the article https://ieeexplore.ieee.org/document/6943083

Constructor & Destructor Documentation

Kinodynamic() [1/2]

hpp::core::steeringMethod::Kinodynamic::Kinodynamic ( const Problem &  problem )

protected

Constructor.

Kinodynamic() [2/2]

hpp::core::steeringMethod::Kinodynamic::Kinodynamic ( const Kinodynamic &  other )

protected

Copy constructor.

Member Function Documentation

computeMinTime()

double hpp::core::steeringMethod::Kinodynamic::computeMinTime	(	int	index,
		double	p1,
		double	p2,
		double	v1,
		double	v2,
		interval_t *	infInterval
	)		const

computeMinTime compute the minimum time required to go from state (p1,v1) to (p2,v2)

Parameters

p1	position at state 1
p2	position at state 2
v1	velocity at state 1
v2	velocity at state 2
infInterval	: infeasible interval

Returns

T the minimal time

copy()

virtual SteeringMethodPtr_t hpp::core::steeringMethod::Kinodynamic::copy ( ) const

inlinevirtual

Copy instance and return shared pointer.

Implements hpp::core::SteeringMethod.

create()

static KinodynamicPtr_t hpp::core::steeringMethod::Kinodynamic::create ( const Problem &  problem )

inlinestatic

Create an instance.

References init().

createCopy()

static KinodynamicPtr_t hpp::core::steeringMethod::Kinodynamic::createCopy ( const KinodynamicPtr_t &  other )

inlinestatic

Copy instance and return shared pointer.

References init().

fixedTimeTrajectory()

virtual void hpp::core::steeringMethod::Kinodynamic::fixedTimeTrajectory ( int  index, double  T, double  p1, double  p2, double  v1, double  v2, double *  a1, double *  t0, double *  t1, double *  tv, double *  t2, double *  vLim  ) const

virtual

fixedTimeTrajectory compute the minimum acceleration trajectory for desired time T (1 dimension)

Parameters

T	lenght of the trajectory
p1	position at state 1
p2	position at state 2
v1	velocity at state 1
v2	velocity at state 2 output :
a1	acceleration during first phase
t1	time of the first segment
tv	time of constant velocity segment (can be = 0)
t2	time of the last segment

Returns

T the minimal time

impl_compute()

virtual PathPtr_t hpp::core::steeringMethod::Kinodynamic::impl_compute ( ConfigurationIn_t  q1, ConfigurationIn_t  q2  ) const

virtual

create a path between two configurations

Implements hpp::core::SteeringMethod.

init()

void hpp::core::steeringMethod::Kinodynamic::init ( KinodynamicWkPtr_t  weak )

inlineprotected

Store weak pointer to itself.

References hpp::core::SteeringMethod::init().

Referenced by create(), and createCopy().

setAmax()

void hpp::core::steeringMethod::Kinodynamic::setAmax ( Vector3  aMax )

inline

setVmax()

void hpp::core::steeringMethod::Kinodynamic::setVmax ( Vector3  vMax )

inline

Member Data Documentation

aMax_

Vector3 hpp::core::steeringMethod::Kinodynamic::aMax_

protected

aMaxFixed_

double hpp::core::steeringMethod::Kinodynamic::aMaxFixed_

protected

aMaxFixed_Z_

double hpp::core::steeringMethod::Kinodynamic::aMaxFixed_Z_

protected

orientationIgnoreZValue_

bool hpp::core::steeringMethod::Kinodynamic::orientationIgnoreZValue_

protected

orientedPath_

bool hpp::core::steeringMethod::Kinodynamic::orientedPath_

protected

synchronizeVerticalAxis_

bool hpp::core::steeringMethod::Kinodynamic::synchronizeVerticalAxis_

protected

vMax_

Vector3 hpp::core::steeringMethod::Kinodynamic::vMax_

protected