PathFollowingTrajectory.hpp

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// Algorithm details and publications: http://www.golems.org/node/1570
 
#ifndef DART_PLANNING_PATHFOLLOWINGTRAJECTORY_HPP_
#define DART_PLANNING_PATHFOLLOWINGTRAJECTORY_HPP_
 
#include <Eigen/Core>
#include "dart/planning/Path.hpp"
#include "dart/planning/Trajectory.hpp"
 
namespace dart {
namespace planning {
 
class PathFollowingTrajectory : public Trajectory
{
public:
  PathFollowingTrajectory(
      const Path& path,
      const Eigen::VectorXd& maxVelocity,
      const Eigen::VectorXd& maxAcceleration);
  ~PathFollowingTrajectory(void);
 
  bool isValid() const;
  double getDuration() const;
  Eigen::VectorXd getPosition(double time) const;
  Eigen::VectorXd getVelocity(double time) const;
  double getMaxAccelerationError();
 
private:
  struct TrajectoryStep
  {
    TrajectoryStep()
    {
    }
    TrajectoryStep(double pathPos, double pathVel)
      : pathPos(pathPos), pathVel(pathVel), time(0.0)
    {
    }
    double pathPos;
    double pathVel;
    double time;
  };
 
  bool getNextSwitchingPoint(
      double pathPos,
      TrajectoryStep& nextSwitchingPoint,
      double& beforeAcceleration,
      double& afterAcceleration);
  bool getNextAccelerationSwitchingPoint(
      double pathPos,
      TrajectoryStep& nextSwitchingPoint,
      double& beforeAcceleration,
      double& afterAcceleration);
  bool getNextVelocitySwitchingPoint(
      double pathPos,
      TrajectoryStep& nextSwitchingPoint,
      double& beforeAcceleration,
      double& afterAcceleration);
  bool integrateForward(
      std::list<TrajectoryStep>& trajectory, double acceleration);
  void integrateBackward(
      std::list<TrajectoryStep>& trajectory,
      std::list<TrajectoryStep>& startTrajectory,
      double acceleration);
  double getMinMaxPathAcceleration(
      double pathPosition, double pathVelocity, bool max);
  double getMinMaxPhaseSlope(
      double pathPosition, double pathVelocity, bool max);
  double getAccelerationMaxPathVelocity(double pathPos);
  double getVelocityMaxPathVelocity(double pathPos);
  double getAccelerationMaxPathVelocityDeriv(double pathPos);
  double getVelocityMaxPathVelocityDeriv(double pathPos);
 
  TrajectoryStep getIntersection(
      const std::list<TrajectoryStep>& trajectory,
      std::list<TrajectoryStep>::iterator& it,
      const TrajectoryStep& linePoint1,
      const TrajectoryStep& linePoint2);
  inline double getSlope(
      const TrajectoryStep& point1, const TrajectoryStep& point2);
  inline double getSlope(std::list<TrajectoryStep>::const_iterator lineEnd);
 
  std::list<TrajectoryStep>::const_iterator getTrajectorySegment(
      double time) const;
 
  Path path;
  Eigen::VectorXd maxVelocity;
  Eigen::VectorXd maxAcceleration;
  unsigned int n;
  bool valid;
  std::list<TrajectoryStep> trajectory;
 
  static const double eps;
  static const double timeStep;
 
  mutable double cachedTime;
  mutable std::list<TrajectoryStep>::const_iterator cachedTrajectorySegment;
};
 
} // namespace planning
} // namespace dart
 
#endif // DART_PLANNING_PATHFOLLOWINGTRAJECTORY_HPP_