reeds-shepp.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
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// 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_STEERING_METHOD_REEDS_SHEPP_HH
#define HPP_CORE_STEERING_METHOD_REEDS_SHEPP_HH
 
#include <hpp/core/config.hh>
#include <hpp/core/fwd.hh>
#include <hpp/core/steering-method/car-like.hh>
#include <hpp/util/debug.hh>
#include <hpp/util/pointer.hh>
 
namespace hpp {
namespace core {
namespace steeringMethod {
 
class HPP_CORE_DLLAPI ReedsShepp : public CarLike {
 public:
  static ReedsSheppPtr_t createWithGuess(const ProblemConstPtr_t& problem) {
    ReedsShepp* ptr = new ReedsShepp(problem);
    ReedsSheppPtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }
 
  static ReedsSheppPtr_t create(
      const ProblemConstPtr_t& problem, const value_type turningRadius,
      JointPtr_t xyJoint, JointPtr_t rzJoint,
      std::vector<JointPtr_t> wheels = std::vector<JointPtr_t>()) {
    ReedsShepp* ptr =
        new ReedsShepp(problem, turningRadius, xyJoint, rzJoint, wheels);
    ReedsSheppPtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }
 
  static ReedsSheppPtr_t createCopy(const ReedsSheppPtr_t& other) {
    ReedsShepp* ptr = new ReedsShepp(*other);
    ReedsSheppPtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }
 
  virtual SteeringMethodPtr_t copy() const { return createCopy(weak_.lock()); }
 
  virtual PathPtr_t impl_compute(ConfigurationIn_t q1,
                                 ConfigurationIn_t q2) const;
 
 protected:
  ReedsShepp(const ProblemConstPtr_t& problem);
 
  ReedsShepp(const ProblemConstPtr_t& problem, const value_type turningRadius,
             JointPtr_t xyJoint, JointPtr_t rzJoint,
             std::vector<JointPtr_t> wheels);
 
  ReedsShepp(const ReedsShepp& other);
 
  void init(ReedsSheppWkPtr_t weak) {
    CarLike::init(weak);
    weak_ = weak;
  }
 
 private:
  WeighedDistancePtr_t weighedDistance_;
  ReedsSheppWkPtr_t weak_;
};  // class ReedsShepp
 
PathVectorPtr_t reedsSheppPathOrDistance(
    const DevicePtr_t& device, ConfigurationIn_t init, ConfigurationIn_t end,
    value_type extraLength, value_type rho, size_type xyId, size_type rzId,
    const std::vector<JointPtr_t> wheels, ConstraintSetPtr_t constraints,
    bool computeDistance, value_type& distance);
 
}  // namespace steeringMethod
}  // namespace core
}  // namespace hpp
#endif  // HPP_CORE_STEERING_METHOD_REEDS_SHEPP_HH