DART  6.10.1
Path.hpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2011-2021, The DART development contributors
3  * All rights reserved.
4  *
5  * The list of contributors can be found at:
6  * https://github.com/dartsim/dart/blob/master/LICENSE
7  *
8  * This file is provided under the following "BSD-style" License:a
9  * Redistribution and use in source and binary forms, with or
10  * without modification, are permitted provided that the following
11  * conditions are met:
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19  * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26  * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  */
32 
33 // Algorithm details and publications: http://www.golems.org/node/1570
34 
35 #ifndef DART_PLANNING_PATH_HPP_
36 #define DART_PLANNING_PATH_HPP_
37 
38 #include <list>
39 #include <Eigen/Core>
40 
41 namespace dart {
42 namespace planning {
43 
45 {
46 public:
47  PathSegment(double length = 0.0) : position(0.0), length(length)
48  {
49  }
50 
51  virtual ~PathSegment()
52  {
53  }
54 
55  double getLength() const
56  {
57  return length;
58  }
59  virtual Eigen::VectorXd getConfig(double s) const = 0;
60  virtual Eigen::VectorXd getTangent(double s) const = 0;
61  virtual Eigen::VectorXd getCurvature(double s) const = 0;
62  virtual std::list<double> getSwitchingPoints() const = 0;
63  virtual PathSegment* clone() const = 0;
64 
65  double position;
66 
67 protected:
68  double length;
69 };
70 
71 class Path
72 {
73 public:
74  Path(const std::list<Eigen::VectorXd>& path, double maxDeviation = 0.0);
75  Path(const Path& path);
76  ~Path();
77  double getLength() const;
78  Eigen::VectorXd getConfig(double s) const;
79  Eigen::VectorXd getTangent(double s) const;
80  Eigen::VectorXd getCurvature(double s) const;
81  double getNextSwitchingPoint(double s, bool& discontinuity) const;
82  std::list<std::pair<double, bool> > getSwitchingPoints() const;
83 
84 private:
85  PathSegment* getPathSegment(double& s) const;
86  double length;
87  std::list<std::pair<double, bool> > switchingPoints;
88  std::list<PathSegment*> pathSegments;
89 };
90 
91 } // namespace planning
92 } // namespace dart
93 
94 #endif // DART_PLANNING_PATH_HPP_
Definition: Path.hpp:45
virtual ~PathSegment()
Definition: Path.hpp:51
double position
Definition: Path.hpp:65
virtual Eigen::VectorXd getCurvature(double s) const =0
virtual Eigen::VectorXd getTangent(double s) const =0
virtual PathSegment * clone() const =0
double length
Definition: Path.hpp:68
double getLength() const
Definition: Path.hpp:55
virtual std::list< double > getSwitchingPoints() const =0
PathSegment(double length=0.0)
Definition: Path.hpp:47
virtual Eigen::VectorXd getConfig(double s) const =0
Definition: Path.hpp:72
Eigen::VectorXd getTangent(double s) const
Definition: Path.cpp:332
double getNextSwitchingPoint(double s, bool &discontinuity) const
Definition: Path.cpp:344
double getLength() const
Definition: Path.cpp:307
std::list< std::pair< double, bool > > getSwitchingPoints() const
Definition: Path.cpp:363
Path(const std::list< Eigen::VectorXd > &path, double maxDeviation=0.0)
~Path()
Definition: Path.cpp:297
Eigen::VectorXd getCurvature(double s) const
Definition: Path.cpp:338
std::list< std::pair< double, bool > > switchingPoints
Definition: Path.hpp:87
PathSegment * getPathSegment(double &s) const
Definition: Path.cpp:312
Eigen::VectorXd getConfig(double s) const
Definition: Path.cpp:326
std::list< PathSegment * > pathSegments
Definition: Path.hpp:88
double length
Definition: Path.hpp:86
Definition: BulletCollisionDetector.cpp:65