kinodynamic-path.hh

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// Copyright (c) 2016, LAAS-CNRS
// Authors: Pierre Fernbach (pierre.fernbach@laas.fr)
//
 
// 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_KINODYNAMIC_PATH_HH
#define HPP_CORE_KINODYNAMIC_PATH_HH
 
#include <hpp/core/config.hh>
#include <hpp/core/fwd.hh>
#include <hpp/core/straight-path.hh>
#include <hpp/pinocchio/configuration.hh>
 
namespace hpp {
namespace core {
 
class HPP_CORE_DLLAPI KinodynamicPath : public StraightPath {
 public:
  typedef StraightPath parent_t;
  virtual ~KinodynamicPath() {}
 
  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) {
    KinodynamicPath* ptr = new KinodynamicPath(device, init, end, length, a1,
                                               t0, t1, tv, t2, vLim);
    KinodynamicPathPtr_t shPtr(ptr);
    ptr->init(shPtr);
    ptr->checkPath();
    return shPtr;
  }
 
  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) {
    KinodynamicPath* ptr = new KinodynamicPath(
        device, init, end, length, a1, t0, t1, tv, t2, vLim, constraints);
    KinodynamicPathPtr_t shPtr(ptr);
    ptr->init(shPtr);
    ptr->checkPath();
    return shPtr;
  }
 
  static KinodynamicPathPtr_t createCopy(const KinodynamicPathPtr_t& path) {
    KinodynamicPath* ptr = new KinodynamicPath(*path);
    KinodynamicPathPtr_t shPtr(ptr);
    ptr->init(shPtr);
    ptr->checkPath();
    return shPtr;
  }
 
  static KinodynamicPathPtr_t createCopy(
      const KinodynamicPathPtr_t& path, const ConstraintSetPtr_t& constraints) {
    KinodynamicPath* ptr = new KinodynamicPath(*path, constraints);
    KinodynamicPathPtr_t shPtr(ptr);
    ptr->init(shPtr);
    ptr->checkPath();
    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 impl_extract(const interval_t& paramInterval) const;
 
  vector_t getT0() { return t0_; }
 
  vector_t getT1() { return t1_; }
 
  vector_t getT2() { return t2_; }
 
  vector_t getTv() { return tv_; }
 
  vector_t getA1() { return a1_; }
 
 protected:
  virtual std::ostream& print(std::ostream& os) const {
    os << "KinodynamicPath:" << std::endl;
    os << "interval: [ " << timeRange().first << ", " << timeRange().second
       << " ]" << std::endl;
    os << "initial configuration: " << pinocchio::displayConfig(initial_)
       << std::endl;
    os << "final configuration:   " << pinocchio::displayConfig(end_)
       << std::endl;
    return os;
  }
  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);
 
  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);
 
  KinodynamicPath(const KinodynamicPath& path);
 
  KinodynamicPath(const KinodynamicPath& path,
                  const ConstraintSetPtr_t& constraints);
 
  void init(KinodynamicPathPtr_t self) {
    parent_t::init(self);
    weak_ = self;
    checkPath();
  }
 
  virtual bool impl_compute(ConfigurationOut_t result, value_type t) const;
 
  inline double sgnenum(double val) const { return ((0. < val) - (val < 0.)); }
 
  inline int sgn(double d) const { return d >= 0.0 ? 1 : -1; }
 
  inline double sgnf(double d) const { return d >= 0.0 ? 1.0 : -1.0; }
 
  const DevicePtr_t& device() const { return device_; }
 
 private:
  KinodynamicPathWkPtr_t weak_;
  DevicePtr_t device_;
  vector_t a1_;
  vector_t t0_, t1_, tv_, t2_, vLim_;
};  // class KinodynamicPath
}  //   namespace core
}  // namespace hpp
#endif  // HPP_CORE_KINODYNAMIC_PATH_HH