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_