hpp-rbprm  4.12.0
Implementation of RB-PRM planner using hpp.
time-constraint-steering.hh
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1 //
2 // Copyright (c) 2015 CNRS
3 // Authors: Florent Lamiraux
4 //
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18 
19 #ifndef HPP_TIME_CONSTRAINT_STEERING_HH
20 #define HPP_TIME_CONSTRAINT_STEERING_HH
21 
22 #include <hpp/core/path-validation/discretized.hh>
23 #include <hpp/core/steering-method/straight.hh>
24 #include <hpp/core/straight-path.hh>
25 #include <hpp/core/problem.hh>
26 #include <hpp/core/distance.hh>
27 #include <hpp/core/config-projector.hh>
30 
31 namespace hpp {
32 namespace rbprm {
33 namespace interpolation {
40 template <class Path_T>
41 class TimeConstraintSteering : public hpp::core::steeringMethod::Straight {
42  typedef Path_T path_t;
43  typedef std::shared_ptr<TimeConstraintSteering> TimeConstraintSteeringPtr_t;
44  typedef std::weak_ptr<TimeConstraintSteering> TimeConstraintSteeringWkPtr_t;
45 
46  public:
48  static TimeConstraintSteeringPtr_t create(const core::ProblemPtr_t& problem, const std::size_t pathDofRank) {
49  TimeConstraintSteering* ptr = new TimeConstraintSteering(problem, pathDofRank);
50  TimeConstraintSteeringPtr_t shPtr(ptr);
51  ptr->init(shPtr);
52  return shPtr;
53  }
55  static TimeConstraintSteeringPtr_t create(const core::DevicePtr_t& device,
56  const core::WeighedDistancePtr_t& distance,
57  const std::size_t pathDofRank) HPP_CORE_DEPRECATED {
58  TimeConstraintSteering* ptr = new TimeConstraintSteering(device, distance, pathDofRank);
59  TimeConstraintSteeringPtr_t shPtr(ptr);
60  ptr->init(shPtr);
61  return shPtr;
62  }
64  static TimeConstraintSteeringPtr_t createCopy(const TimeConstraintSteeringPtr_t& other) {
66  TimeConstraintSteeringPtr_t shPtr(ptr);
67  ptr->init(shPtr);
68  return shPtr;
69  }
71  virtual core::SteeringMethodPtr_t copy() const { return createCopy(weak_.lock()); }
72 
74  virtual core::PathPtr_t impl_compute(core::ConfigurationIn_t q1, core::ConfigurationIn_t q2) const {
75  core::value_type length = problem()->distance()->operator()(q1, q2);
76  core::ConstraintSetPtr_t c;
77  if (constraints() && constraints()->configProjector()) {
78  c = HPP_STATIC_PTR_CAST(core::ConstraintSet, constraints()->copy());
79  c->configProjector()->rightHandSideFromConfig(q1);
80  } else {
81  c = constraints();
82  }
83  core::PathPtr_t path = path_t::create(problem()->robot(), q1, q2, length, c, pathDofRank_, tds_);
84  return path;
85  }
86 
87  protected:
90  TimeConstraintSteering(const core::ProblemPtr_t& problem, const std::size_t pathDofRank)
91  : core::steeringMethod::Straight(problem), pathDofRank_(pathDofRank), weak_() {}
92 
93  /*/// Constructor with weighed distance
94  TimeConstraintSteering (const core::DevicePtr_t& device,
95  const core::WeighedDistancePtr_t& distance,
96  const std::size_t pathDofRank) :
97 SteeringMethod (new core::Problem (device)), pathDofRank_(pathDofRank), weak_ ()
98  {
99  problem().distance (distance);
100  }*/
103  : core::steeringMethod::Straight(other), pathDofRank_(other.pathDofRank_), weak_(), tds_(other.tds_) {}
104 
106  void init(TimeConstraintSteeringWkPtr_t weak) {
107  core::steeringMethod::Straight::init(weak);
108  weak_ = weak;
109  }
110 
111  private:
112  const core::PathPtr_t model_;
113  const std::size_t pathDofRank_;
114  TimeConstraintSteeringWkPtr_t weak_;
115 
116  public:
118 }; // SteeringMethodStraight
120 } // namespace interpolation
121 } // namespace rbprm
122 } // namespace hpp
123 
124 #endif // HPP_TIME_CONSTRAINT_STEERING_HH
virtual core::SteeringMethodPtr_t copy() const
Copy instance and return shared pointer.
Definition: time-constraint-steering.hh:71
Definition: algorithm.hh:27
static TimeConstraintSteeringPtr_t create(const core::DevicePtr_t &device, const core::WeighedDistancePtr_t &distance, const std::size_t pathDofRank) HPP_CORE_DEPRECATED
Create instance and return shared pointer.
Definition: time-constraint-steering.hh:55
TimeConstraintSteering(const TimeConstraintSteering &other)
Copy constructor.
Definition: time-constraint-steering.hh:102
pinocchio::value_type distance(pinocchio::ConfigurationIn_t q1, pinocchio::ConfigurationIn_t q2)
static TimeConstraintSteeringPtr_t create(const core::ProblemPtr_t &problem, const std::size_t pathDofRank)
Create instance and return shared pointer.
Definition: time-constraint-steering.hh:48
TimeConstraintSteering(const core::ProblemPtr_t &problem, const std::size_t pathDofRank)
Definition: time-constraint-steering.hh:90
void init(TimeConstraintSteeringWkPtr_t weak)
Store weak pointer to itself.
Definition: time-constraint-steering.hh:106
virtual core::PathPtr_t impl_compute(core::ConfigurationIn_t q1, core::ConfigurationIn_t q2) const
create a path between two configurations
Definition: time-constraint-steering.hh:74
T_TimeDependant tds_
Definition: time-constraint-steering.hh:117
std::vector< TimeDependant > T_TimeDependant
Definition: time-dependant.hh:68
static TimeConstraintSteeringPtr_t createCopy(const TimeConstraintSteeringPtr_t &other)
Copy instance and return shared pointer.
Definition: time-constraint-steering.hh:64
Definition: time-constraint-steering.hh:41