interpolated-path.hh

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// Copyright (c) 2015 CNRS
// Authors: Joseph Mirabel
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// DAMAGE.
 
#ifndef HPP_CORE_INTERPOLATED_PATH_HH
#define HPP_CORE_INTERPOLATED_PATH_HH
 
#include <hpp/core/config.hh>
#include <hpp/core/fwd.hh>
#include <hpp/core/path.hh>
 
namespace hpp {
namespace core {
 
class HPP_CORE_DLLAPI InterpolatedPath : public Path {
 public:
  typedef std::pair<const value_type, Configuration_t> InterpolationPoint_t;
  typedef std::map<value_type, Configuration_t, std::less<value_type>,
                   Eigen::aligned_allocator<InterpolationPoint_t> >
      InterpolationPoints_t;
  typedef Path parent_t;
 
  virtual ~InterpolatedPath() {}
 
  static InterpolatedPathPtr_t create(const DevicePtr_t& device,
                                      ConfigurationIn_t init,
                                      ConfigurationIn_t end,
                                      interval_t timeRange) {
    InterpolatedPath* ptr = new InterpolatedPath(device, init, end, timeRange);
    InterpolatedPathPtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }
 
  static InterpolatedPathPtr_t create(const DevicePtr_t& device,
                                      ConfigurationIn_t init,
                                      ConfigurationIn_t end,
                                      interval_t timeRange,
                                      ConstraintSetPtr_t constraints) {
    InterpolatedPath* ptr =
        new InterpolatedPath(device, init, end, timeRange, constraints);
    InterpolatedPathPtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }
 
  static InterpolatedPathPtr_t create(const DevicePtr_t& device,
                                      ConfigurationIn_t init,
                                      ConfigurationIn_t end,
                                      value_type length) {
    return create(device, init, end, interval_t(0, length));
  }
 
  static InterpolatedPathPtr_t create(const DevicePtr_t& device,
                                      ConfigurationIn_t init,
                                      ConfigurationIn_t end, value_type length,
                                      ConstraintSetPtr_t constraints) {
    return create(device, init, end, interval_t(0, length), constraints);
  }
 
  static InterpolatedPathPtr_t createCopy(const InterpolatedPathPtr_t& path) {
    InterpolatedPath* ptr = new InterpolatedPath(*path);
    InterpolatedPathPtr_t shPtr(ptr);
    ptr->initCopy(shPtr);
    return shPtr;
  }
 
  static InterpolatedPathPtr_t create(const PathPtr_t& path,
                                      const DevicePtr_t& device,
                                      const std::size_t& nbSamples);
 
  static InterpolatedPathPtr_t createCopy(
      const InterpolatedPathPtr_t& path,
      const ConstraintSetPtr_t& constraints) {
    InterpolatedPath* ptr = new InterpolatedPath(*path, constraints);
    InterpolatedPathPtr_t shPtr(ptr);
    ptr->initCopy(shPtr);
    return shPtr;
  }
 
  virtual PathPtr_t copy() const { return createCopy(weak_.lock()); }
 
  virtual PathPtr_t copy(const ConstraintSetPtr_t& constraints) const {
    return createCopy(weak_.lock(), constraints);
  }
 
  virtual PathPtr_t reverse() const;
 
  DevicePtr_t device() const;
 
  void insert(const value_type& time, ConfigurationIn_t config) {
    configs_.insert(InterpolationPoint_t(time, config));
  }
 
  Configuration_t initial() const { return configs_.begin()->second; }
 
  Configuration_t end() const { return configs_.rbegin()->second; }
 
  const InterpolationPoints_t& interpolationPoints() const { return configs_; }
 
 protected:
  virtual std::ostream& print(std::ostream& os) const {
    os << "InterpolatedPath:" << std::endl;
    Path::print(os);
    os << "initial configuration: " << initial().transpose() << std::endl;
    os << "final configuration:   " << end().transpose() << std::endl;
    return os;
  }
 
  InterpolatedPath(const DevicePtr_t& robot, ConfigurationIn_t init,
                   ConfigurationIn_t end, interval_t timeRange);
 
  InterpolatedPath(const DevicePtr_t& robot, ConfigurationIn_t init,
                   ConfigurationIn_t end, interval_t timeRange,
                   ConstraintSetPtr_t constraints);
 
  InterpolatedPath(const PathPtr_t& path, const DevicePtr_t& device,
                   const std::size_t& nbSamples);
 
  InterpolatedPath(const InterpolatedPath& path);
 
  InterpolatedPath(const InterpolatedPath& path,
                   const ConstraintSetPtr_t& constraints);
 
  void init(InterpolatedPathPtr_t self);
 
  void initCopy(InterpolatedPathPtr_t self);
 
  virtual bool impl_compute(ConfigurationOut_t result, value_type param) const;
  virtual void impl_derivative(vectorOut_t result, const value_type& t,
                               size_type order) const;
  virtual void impl_velocityBound(vectorOut_t result, const value_type& t0,
                                  const value_type& t1) const;
 
  PathPtr_t impl_extract(const interval_t& subInterval) const;
 
 private:
  DevicePtr_t device_;
  InterpolationPoints_t configs_;
  InterpolatedPathWkPtr_t weak_;
};  // class InterpolatedPath
}  //   namespace core
}  // namespace hpp
#endif  // HPP_CORE_INTERPOLATED_PATH_HH