DART  6.7.3
Path.hpp
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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) :
48  position(0.0), length(length)
49  {
50  }
51 
52  virtual ~PathSegment() {}
53 
54  double getLength() const {
55  return length;
56  }
57  virtual Eigen::VectorXd getConfig(double s) const = 0;
58  virtual Eigen::VectorXd getTangent(double s) const = 0;
59  virtual Eigen::VectorXd getCurvature(double s) const = 0;
60  virtual std::list<double> getSwitchingPoints() const = 0;
61  virtual PathSegment* clone() const = 0;
62 
63  double position;
64 protected:
65  double length;
66 };
67 
68 
69 
70 class Path
71 {
72 public:
73  Path(const std::list<Eigen::VectorXd> &path, double maxDeviation = 0.0);
74  Path(const Path &path);
75  ~Path();
76  double getLength() const;
77  Eigen::VectorXd getConfig(double s) const;
78  Eigen::VectorXd getTangent(double s) const;
79  Eigen::VectorXd getCurvature(double s) const;
80  double getNextSwitchingPoint(double s, bool &discontinuity) const;
81  std::list<std::pair<double, bool> > getSwitchingPoints() const;
82 private:
83  PathSegment* getPathSegment(double &s) const;
84  double length;
85  std::list<std::pair<double, bool> > switchingPoints;
86  std::list<PathSegment*> pathSegments;
87 };
88 
89 } // namespace planning
90 } // namespace dart
91 
92 #endif // DART_PLANNING_PATH_HPP_
Definition: Path.hpp:45
virtual ~PathSegment()
Definition: Path.hpp:52
double position
Definition: Path.hpp:63
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:65
double getLength() const
Definition: Path.hpp:54
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:71
Eigen::VectorXd getTangent(double s) const
Definition: Path.cpp:270
double getNextSwitchingPoint(double s, bool &discontinuity) const
Definition: Path.cpp:280
double getLength() const
Definition: Path.cpp:249
std::list< std::pair< double, bool > > getSwitchingPoints() const
Definition: Path.cpp:295
Path(const std::list< Eigen::VectorXd > &path, double maxDeviation=0.0)
~Path()
Definition: Path.cpp:243
Eigen::VectorXd getCurvature(double s) const
Definition: Path.cpp:275
std::list< std::pair< double, bool > > switchingPoints
Definition: Path.hpp:85
PathSegment * getPathSegment(double &s) const
Definition: Path.cpp:253
Eigen::VectorXd getConfig(double s) const
Definition: Path.cpp:265
std::list< PathSegment * > pathSegments
Definition: Path.hpp:86
double length
Definition: Path.hpp:84
Definition: BulletCollisionDetector.cpp:63