| Directory: | ./ |
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| File: | include/parametric-curves/spatial/force-curve.hpp |
| Date: | 2025-04-07 13:04:42 |
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| Lines: | 2 | 56 | 3.6% |
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| 1 | /** | ||
| 2 | * \file exact_cubic.h | ||
| 3 | * \brief class allowing to create an Exact cubic spline. | ||
| 4 | * \author Rohan Budhiraja | ||
| 5 | * \version 0.1 | ||
| 6 | * \date 09/11/2017 | ||
| 7 | * | ||
| 8 | * This file contains representation of spatial vectors as splines | ||
| 9 | */ | ||
| 10 | |||
| 11 | #ifndef _parameteric_curves_force_curve_hpp | ||
| 12 | #define _parameteric_curves_force_curve_hpp | ||
| 13 | |||
| 14 | #include <boost/archive/text_iarchive.hpp> | ||
| 15 | #include <boost/archive/text_oarchive.hpp> | ||
| 16 | #include <boost/serialization/split_member.hpp> | ||
| 17 | #include <boost/serialization/vector.hpp> | ||
| 18 | #include <fstream> | ||
| 19 | #include <parametric-curves/abstract-curve.hpp> | ||
| 20 | #include <parametric-curves/spline.hpp> | ||
| 21 | #include <vector> | ||
| 22 | namespace parametriccurves { | ||
| 23 | namespace spatial { | ||
| 24 | |||
| 25 | using parametriccurves::Spline; | ||
| 26 | /// \class ForceCurve | ||
| 27 | /// \brief Representation of a spatial vector curve in the form of splines | ||
| 28 | /// Returns Plucker coordinates in the form of (Linear(3), Angular(3)) | ||
| 29 | /// | ||
| 30 | template <typename Numeric = double> | ||
| 31 | struct ForceCurve | ||
| 32 | : public AbstractCurve<Numeric, Eigen::Matrix<Numeric, 6, 1> > { | ||
| 33 | static const std::size_t Dim = 3; | ||
| 34 | typedef Eigen::Matrix<Numeric, 2 * Dim, 1> force_t; | ||
| 35 | typedef Eigen::Matrix<Numeric, 2 * Dim, 1> motion_t; | ||
| 36 | typedef Spline<Numeric, Dim, Eigen::Matrix<Numeric, Dim, 1> > spline_lin_t; | ||
| 37 | typedef Spline<Numeric, Dim, Eigen::Matrix<Numeric, Dim, 1> > spline_ang_t; | ||
| 38 | typedef Numeric time_t; | ||
| 39 | typedef Numeric num_t; | ||
| 40 | typedef AbstractCurve<num_t, force_t> curve_abc_t; | ||
| 41 | |||
| 42 | public: | ||
| 43 | ///\brief Constructor | ||
| 44 | |||
| 45 |
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1 | ForceCurve() : curve_abc_t() {} |
| 46 | |||
| 47 | ///\brief Constructor | ||
| 48 | ///\param subSplines: vector of subsplines | ||
| 49 | ✗ | ForceCurve(const spline_lin_t& linPart_, const spline_ang_t& angPart_) | |
| 50 | ✗ | : curve_abc_t(linPart_.tmin(), linPart_.tmax()), | |
| 51 | ✗ | linPart(linPart_), | |
| 52 | ✗ | angPart(angPart_), | |
| 53 | ✗ | motionVector(motion_t::Zero()) {} | |
| 54 | |||
| 55 | ///\brief Copy Constructor | ||
| 56 | ✗ | ForceCurve(const ForceCurve& other) | |
| 57 | : curve_abc_t(other.linPart.tmin(), other.linPart.tmax()), | ||
| 58 | ✗ | linPart(other.linPart), | |
| 59 | ✗ | angPart(other.angPart), | |
| 60 | ✗ | motionVector(motion_t::Zero()) {} | |
| 61 | |||
| 62 | ///\brief Destructor | ||
| 63 | 4 | ~ForceCurve() {} | |
| 64 | |||
| 65 | public: | ||
| 66 | ✗ | virtual const force_t operator()(const time_t& t) const { | |
| 67 | ✗ | force_t s = force_t::Zero(); | |
| 68 | ✗ | s << linPart(t), angPart(t); | |
| 69 | ✗ | return s; | |
| 70 | } | ||
| 71 | |||
| 72 | ✗ | virtual const force_t derivate(const time_t&, const std::size_t&) const { | |
| 73 | // TODO: Implement derivative | ||
| 74 | ✗ | return force_t::Zero(Dim); | |
| 75 | } | ||
| 76 | |||
| 77 | ✗ | virtual const std::size_t& size() const { return linPart.size(); } | |
| 78 | |||
| 79 | ✗ | void setMotionVector(const motion_t& motionVector_) { | |
| 80 | ✗ | motionVector = motionVector_; | |
| 81 | ✗ | return; | |
| 82 | } | ||
| 83 | |||
| 84 | ✗ | virtual bool setInitialPoint(const force_t& /*x_init*/) { return false; } | |
| 85 | ✗ | virtual bool setInitialPoint(const num_t& /*x_init*/) { return false; } | |
| 86 | |||
| 87 | protected: | ||
| 88 | /*Attributes*/ | ||
| 89 | spline_lin_t linPart; // const | ||
| 90 | spline_ang_t angPart; // const | ||
| 91 | motion_t motionVector; // const | ||
| 92 | |||
| 93 | private: | ||
| 94 | // Serialization of the class | ||
| 95 | friend class boost::serialization::access; | ||
| 96 | template <class Archive> | ||
| 97 | ✗ | void save(Archive& ar, const unsigned int /*version*/) const { | |
| 98 | ✗ | ar& linPart; | |
| 99 | ✗ | ar& angPart; | |
| 100 | |||
| 101 | ✗ | return; | |
| 102 | } | ||
| 103 | |||
| 104 | template <class Archive> | ||
| 105 | ✗ | void load(Archive& ar, const unsigned int /*version*/) { | |
| 106 | ✗ | ar& linPart; | |
| 107 | ✗ | ar& angPart; | |
| 108 | |||
| 109 | ✗ | motionVector = motion_t::Zero(); | |
| 110 | ✗ | this->t_min = linPart.tmin(); | |
| 111 | ✗ | this->t_max = linPart.tmax(); | |
| 112 | |||
| 113 | ✗ | assert(this->t_min == angPart.tmin()); | |
| 114 | ✗ | assert(this->t_max == angPart.tmax()); | |
| 115 | ✗ | return; | |
| 116 | } | ||
| 117 | |||
| 118 | ✗ | BOOST_SERIALIZATION_SPLIT_MEMBER() | |
| 119 | |||
| 120 | public: | ||
| 121 | ✗ | bool loadFromFile(const std::string& filename) { | |
| 122 | ✗ | std::ifstream ifs(filename.c_str()); | |
| 123 | ✗ | if (ifs) { | |
| 124 | ✗ | boost::archive::text_iarchive ia(ifs); | |
| 125 | ✗ | ForceCurve& force_curve = *static_cast<ForceCurve*>(this); | |
| 126 | ✗ | ia >> force_curve; | |
| 127 | ✗ | } else { | |
| 128 | ✗ | const std::string exception_message(filename + | |
| 129 | " does not seem to be a valid file."); | ||
| 130 | ✗ | throw std::invalid_argument(exception_message); | |
| 131 | return false; | ||
| 132 | } | ||
| 133 | ✗ | return true; | |
| 134 | } | ||
| 135 | |||
| 136 | /// \brief Saved a Derived object as a text file. | ||
| 137 | ✗ | bool saveToFile(const std::string& filename) const { | |
| 138 | ✗ | std::ofstream ofs(filename.c_str()); | |
| 139 | ✗ | if (ofs) { | |
| 140 | ✗ | boost::archive::text_oarchive oa(ofs); | |
| 141 | ✗ | oa << *static_cast<const ForceCurve*>(this); | |
| 142 | ✗ | } else { | |
| 143 | ✗ | const std::string exception_message(filename + | |
| 144 | " does not seem to be a valid file."); | ||
| 145 | ✗ | throw std::invalid_argument(exception_message); | |
| 146 | return false; | ||
| 147 | } | ||
| 148 | ✗ | return true; | |
| 149 | } | ||
| 150 | |||
| 151 | // BOOST_SERIALIZATION_SPLIT_MEMBER() | ||
| 152 | }; | ||
| 153 | } // namespace spatial | ||
| 154 | } // namespace parametriccurves | ||
| 155 | #endif //_CLASS_EXACTCUBIC | ||
| 156 |