Car like motion going only forward. More...

#include <hpp/core/dubins-path.hh>

Inheritance diagram for hpp::core::DubinsPath:

Collaboration diagram for hpp::core::DubinsPath:

Public Types
typedef core::PathVector	parent_t

Public Types inherited from hpp::core::PathVector
typedef Path	parent_t

Public Member Functions
virtual	~DubinsPath () throw ()
	Destructor. More...

virtual PathPtr_t	copy () const
	Return a shared pointer to a copy of this object. More...

virtual PathPtr_t	copy (const ConstraintSetPtr_t &constraints) const
	Return a shared pointer to a copy of this and set constraints. More...

DevicePtr_t	device () const
	Return the internal robot. More...

Configuration_t	initial () const
	Get the initial configuration. More...

Configuration_t	end () const
	Get the final configuration. More...

Public Member Functions inherited from hpp::core::PathVector
std::size_t	numberPaths () const
	Get the number of sub paths. More...

PathPtr_t	pathAtRank (std::size_t rank) const
	Get a path in the vector. More...

std::size_t	rankAtParam (const value_type &param, value_type &localParam) const
	Get rank of direct path in vector at param. More...

void	appendPath (const PathPtr_t &path)
	Append a path at the end of the vector. More...

void	concatenate (const PathVector &path) HPP_CORE_DEPRECATED
	Concatenate two vectors of path. More...

void	concatenate (const PathVectorPtr_t &path)
	Concatenate two vectors of path. More...

void	flatten (PathVectorPtr_t flattenedPath) const
	Return the a path vector representing the same path but ensuring that there is no PathVector in the PathVector. More...

virtual	~PathVector () throw ()
	Destructor. More...

Public Member Functions inherited from hpp::core::Path
virtual	~Path () throw ()
	Destructor. More...

template<class T >
boost::shared_ptr< T >	as (void)
	Static cast into a derived type. More...

template<class T >
boost::shared_ptr< const T >	as (void) const
	Static cast into a derived type. More...

PathPtr_t	extract (const interval_t &subInterval) const throw (projection_error)

PathPtr_t	extract (const value_type &tmin, const value_type &tmax) const throw (projection_error)

virtual PathPtr_t	reverse () const
	Reversion of a path. More...

Configuration_t	operator() (const value_type &time) const HPP_CORE_DEPRECATED

Configuration_t	operator() (const value_type &time, bool &success) const

bool	operator() (ConfigurationOut_t result, const value_type &time) const throw ()

Configuration_t	eval (const value_type &time, bool &success) const

bool	eval (ConfigurationOut_t result, const value_type &time) const throw ()

bool	at (const value_type &time, ConfigurationOut_t result) const
	Get the configuration at a parameter without applying the constraints. More...

void	derivative (vectorOut_t result, const value_type &time, size_type order) const
	Get derivative with respect to parameter at given parameter. More...

void	velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const
	Get an upper bound of the velocity on a sub-interval. More...

size_type	outputSize () const
	Get size of configuration space. More...

size_type	outputDerivativeSize () const
	Get size of velocity. More...

const interval_t &	timeRange () const
	Get interval of definition. More...

virtual value_type	length () const
	Get length of definition interval. More...

const ConstraintSetPtr_t &	constraints () const
	Get constraints the path is subject to. More...

const interval_t &	paramRange () const
	Get interval of parameters. More...

void	timeParameterization (const TimeParameterizationPtr_t &tp, const interval_t &tr)
	Set the time parameterization function. More...

Static Public Member Functions
static DubinsPathPtr_t	create (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)
	Create instance and return shared pointer. More...

static DubinsPathPtr_t	create (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)
	Create instance and return shared pointer. More...

static DubinsPathPtr_t	createCopy (const DubinsPathPtr_t &path)
	Create copy and return shared pointer. More...

static DubinsPathPtr_t	createCopy (const DubinsPathPtr_t &path, const ConstraintSetPtr_t &constraints)
	Create copy and return shared pointer. More...

Static Public Member Functions inherited from hpp::core::PathVector
static PathVectorPtr_t	create (size_type outputSize, size_type outputDerivativeSize)
	Create instance and return shared pointer. More...

static PathVectorPtr_t	createCopy (const PathVectorPtr_t &original)
	Create instance and return shared pointer. More...

static PathVectorPtr_t	createCopy (const PathVectorPtr_t &original, const ConstraintSetPtr_t &constraints)
	Create instance and return shared pointer. More...

Protected Member Functions
virtual std::ostream &	print (std::ostream &os) const
	Print path in a stream. More...

	DubinsPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type extraLength, value_type rho, size_type xyId, size_type rzId, const std::vector< JointPtr_t > wheels)
	Constructor. More...

	DubinsPath (const DevicePtr_t &robot, 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)
	Constructor with constraints. More...

	DubinsPath (const DubinsPath &path)
	Copy constructor. More...

	DubinsPath (const DubinsPath &path, const ConstraintSetPtr_t &constraints)
	Copy constructor with constraints. More...

void	init (DubinsPathPtr_t self)

Protected Member Functions inherited from hpp::core::PathVector
	PathVector (std::size_t outputSize, std::size_t outputDerivativeSize)
	Constructor. More...

	PathVector (const PathVector &path)
	Copy constructor. More...

	PathVector (const PathVector &path, const ConstraintSetPtr_t &constraints)
	Copy constructor with constraints. More...

void	init (PathVectorPtr_t self)

virtual bool	impl_compute (ConfigurationOut_t result, value_type t) const
	Function evaluation without applying constraints. More...

virtual void	impl_derivative (vectorOut_t result, const value_type &t, size_type order) const
	Virtual implementation of derivative. More...

virtual PathPtr_t	impl_extract (const interval_t &subInterval) const throw (projection_error)
	Extraction of a sub-path. More...

Protected Member Functions inherited from hpp::core::Path
	Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints)
	Constructor. More...

	Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize)
	Constructor. More...

	Path (const Path &path)
	Copy constructor. More...

	Path (const Path &path, const ConstraintSetPtr_t &constraints)
	Copy constructor with constraints. More...

void	init (const PathWkPtr_t &self)
	Store weak pointer to itself. More...

void	constraints (const ConstraintSetPtr_t &constraint)
	Set the constraints. More...

virtual void	checkPath () const
	Should be called by child classes after having init. More...

void	timeRange (const interval_t &timeRange)

const TimeParameterizationPtr_t &	timeParameterization () const

value_type	paramLength () const

Configuration_t	configAtParam (const value_type &param, bool &success) const

virtual void	impl_velocityBound (vectorOut_t bound, const value_type &param0, const value_type &param1) const
	Virtual implementation of velocityBound. More...

Additional Inherited Members
Protected Attributes inherited from hpp::core::Path
interval_t	paramRange_
	Interval of parameters. More...

Detailed Description

Car like motion going only forward.

Implement a Dubins motion generation on the base joint. Degrees of freedom are interpolated depending on the type of joint they parameterize: The following interpolation is made:

Reeds and Shepp interpolation for the base_joint_xy and base_joint_rz
If the wheel joints are passed using setWheelJoints, the configuration parameter of those joints are computed so that the wheel is aligned with the velocity.
linear interpolation for the other joints

Member Typedef Documentation

typedef core::PathVector hpp::core::DubinsPath::parent_t

Constructor & Destructor Documentation

virtual hpp::core::DubinsPath::~DubinsPath	(	)
throw	(
	)

inlinevirtual

Destructor.

References hpp::core::Path::constraints(), create(), device(), end(), and init().

hpp::core::DubinsPath::DubinsPath	(	const DevicePtr_t &	robot,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		value_type	extraLength,
		value_type	rho,
		size_type	xyId,
		size_type	rzId,
		const std::vector< JointPtr_t >	wheels
	)

protected

Constructor.

Referenced by createCopy(), and print().

hpp::core::DubinsPath::DubinsPath	(	const DevicePtr_t &	robot,
		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
	)

protected

Constructor with constraints.

hpp::core::DubinsPath::DubinsPath ( const DubinsPath & path )

protected

Copy constructor.

hpp::core::DubinsPath::DubinsPath	(	const DubinsPath &	path,
		const ConstraintSetPtr_t &	constraints
	)

protected

Copy constructor with constraints.

Member Function Documentation

virtual PathPtr_t hpp::core::DubinsPath::copy ( ) const

inlinevirtual

Return a shared pointer to a copy of this object.

Reimplemented from hpp::core::PathVector.

References createCopy().

virtual PathPtr_t hpp::core::DubinsPath::copy ( const ConstraintSetPtr_t & constraints ) const

inlinevirtual

Return a shared pointer to a copy of this and set constraints.

Parameters

constraints constraints to apply to the copy

Precondition: *this should not have constraints.

Reimplemented from hpp::core::PathVector.

References hpp::core::Path::constraints(), and createCopy().

static DubinsPathPtr_t hpp::core::DubinsPath::create	(	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
	)

static

Create instance and return shared pointer.

Parameters

device	Robot corresponding to configurations
init,end	Start and end configurations of the path
extraLength	Part of path length due to non Dubins degrees of freedom,
rho	The radius of a turn,
xyId,rzId	indices in configuration vector of translation and rotation of the car,
wheels	vector of joints that represent turning wheels.

Referenced by ~DubinsPath().

static DubinsPathPtr_t hpp::core::DubinsPath::create	(	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
	)

static

Create instance and return shared pointer.

Parameters

device	Robot corresponding to configurations
init,end	Start and end configurations of the path
extraLength	Part of path length due to non Dubins degrees of freedom,
rho	The radius of a turn.
xyId,rzId	indices in configuration vector of translation and rotation of the car,
wheels	vector of joints that represent turning wheels,
constraints	the path is subject to