hpp-core 4.14.0
Implement basic classes for canonical path planning for kinematic chains.
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path-vector.hh
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1//
2// Copyright (c) 2014 CNRS
3// Authors: Florent Lamiraux
4//
5
6// Redistribution and use in source and binary forms, with or without
7// modification, are permitted provided that the following conditions are
8// met:
9//
10// 1. Redistributions of source code must retain the above copyright
11// notice, this list of conditions and the following disclaimer.
12//
13// 2. Redistributions in binary form must reproduce the above copyright
14// notice, this list of conditions and the following disclaimer in the
15// documentation and/or other materials provided with the distribution.
16//
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
20// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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23// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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29
30#ifndef HPP_CORE_PATH_VECTOR_HH
31#define HPP_CORE_PATH_VECTOR_HH
32
33#include <hpp/core/fwd.hh>
34#include <hpp/core/path.hh>
35#include <hpp/pinocchio/device.hh>
36
37namespace hpp {
38namespace core {
41
44 public:
45 typedef Path parent_t;
48
50 static PathVectorPtr_t create(size_type outputSize,
51 size_type outputDerivativeSize) {
52 PathVector* ptr = new PathVector(outputSize, outputDerivativeSize);
53 PathVectorPtr_t shPtr(ptr);
54 ptr->init(shPtr);
55 return shPtr;
56 }
57
59 static PathVectorPtr_t create(size_type outputSize,
60 size_type outputDerivativeSize,
61 const ConstraintSetPtr_t& constraint) {
62 PathVector* ptr =
63 new PathVector(outputSize, outputDerivativeSize, constraint);
64 PathVectorPtr_t shPtr(ptr);
65 ptr->init(shPtr);
66 return shPtr;
67 }
68
70 static PathVectorPtr_t createCopy(const PathVectorPtr_t& original) {
71 PathVector* ptr = new PathVector(*original);
72 PathVectorPtr_t shPtr(ptr);
73 ptr->init(shPtr);
74 return shPtr;
75 }
76
79 const ConstraintSetPtr_t& constraints) {
80 PathVector* ptr = new PathVector(*original, constraints);
81 PathVectorPtr_t shPtr(ptr);
82 ptr->init(shPtr);
83 return shPtr;
84 }
85
87 virtual PathPtr_t copy() const { return createCopy(weak_.lock()); }
88
92 virtual PathPtr_t copy(const ConstraintSetPtr_t& constraints) const {
93 return createCopy(weak_.lock(), constraints);
94 }
95
97 virtual ~PathVector() {}
99
101 std::size_t numberPaths() const { return paths_.size(); }
102
109 PathPtr_t pathAtRank(std::size_t rank) const;
110
116 std::size_t rankAtParam(const value_type& param,
117 value_type& localParam) const;
118
120 void appendPath(const PathPtr_t& path);
121
126
131 void concatenate(const PathVectorPtr_t& path);
132
134 virtual Configuration_t initial() const { return paths_.front()->initial(); }
135
137 virtual Configuration_t end() const { return paths_.back()->end(); }
138
141 void flatten(PathVectorPtr_t flattenedPath) const;
142
144 virtual PathPtr_t reverse() const;
145
146 protected:
148 virtual std::ostream& print(std::ostream& os) const;
150 PathVector(std::size_t outputSize, std::size_t outputDerivativeSize)
151 : parent_t(std::make_pair(0, 0), outputSize, outputDerivativeSize),
152 paths_() {}
154 PathVector(std::size_t outputSize, std::size_t outputDerivativeSize,
155 const ConstraintSetPtr_t& constraint)
156 : parent_t(std::make_pair(0, 0), outputSize, outputDerivativeSize,
157 constraint),
158 paths_() {}
160 PathVector(const PathVector& path) : parent_t(path), paths_() {
161 assert(timeRange() == path.timeRange());
162 for (Paths_t::const_iterator it = path.paths_.begin();
163 it != path.paths_.end(); it++) {
164 paths_.push_back((*it)->copy());
165 }
166 }
167
169 PathVector(const PathVector& path, const ConstraintSetPtr_t& constraints)
170 : parent_t(path, constraints), paths_() {
171 assert(timeRange() == path.timeRange());
172 for (Paths_t::const_iterator it = path.paths_.begin();
173 it != path.paths_.end(); it++) {
174 paths_.push_back((*it)->copy());
175 }
176 }
177
179 parent_t::init(self);
180 weak_ = self;
181 }
182 virtual bool impl_compute(ConfigurationOut_t result, value_type t) const;
184 virtual void impl_derivative(vectorOut_t result, const value_type& t,
185 size_type order) const;
188 virtual PathPtr_t impl_extract(const interval_t& subInterval) const;
189
191 virtual void impl_velocityBound(vectorOut_t bound, const value_type& param0,
192 const value_type& param1) const;
193
194 private:
195 Paths_t paths_;
196 PathVectorWkPtr_t weak_;
197
198 protected:
200
201 private:
202 HPP_SERIALIZABLE();
203}; // class PathVector
205} // namespace core
206} // namespace hpp
207
208BOOST_CLASS_EXPORT_KEY(hpp::core::PathVector)
209
210#endif // HPP_CORE_PATH_VECTOR_HH
Concatenation of several paths.
Definition: path-vector.hh:43
std::size_t numberPaths() const
Get the number of sub paths.
Definition: path-vector.hh:101
static PathVectorPtr_t create(size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraint)
Create instance and return shared pointer.
Definition: path-vector.hh:59
virtual void impl_velocityBound(vectorOut_t bound, const value_type &param0, const value_type &param1) const
Virtual implementation of velocity bound.
void concatenate(const PathVectorPtr_t &path)
PathVector(const PathVector &path, const ConstraintSetPtr_t &constraints)
Copy constructor with constraints.
Definition: path-vector.hh:169
PathPtr_t pathAtRank(std::size_t rank) const
virtual void impl_derivative(vectorOut_t result, const value_type &t, size_type order) const
Virtual implementation of derivative.
PathVector(std::size_t outputSize, std::size_t outputDerivativeSize, const ConstraintSetPtr_t &constraint)
Constructor.
Definition: path-vector.hh:154
virtual bool impl_compute(ConfigurationOut_t result, value_type t) const
Function evaluation without applying constraints.
static PathVectorPtr_t createCopy(const PathVectorPtr_t &original, const ConstraintSetPtr_t &constraints)
Create instance and return shared pointer.
Definition: path-vector.hh:78
virtual PathPtr_t copy() const
Return a shared pointer to a copy of this.
Definition: path-vector.hh:87
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition: path-vector.hh:92
PathVector(std::size_t outputSize, std::size_t outputDerivativeSize)
Constructor.
Definition: path-vector.hh:150
void init(PathVectorPtr_t self)
Definition: path-vector.hh:178
PathVector()
Definition: path-vector.hh:199
Path parent_t
Definition: path-vector.hh:45
virtual Configuration_t initial() const
Get the initial configuration.
Definition: path-vector.hh:134
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
void appendPath(const PathPtr_t &path)
Append a path at the end of the vector.
static PathVectorPtr_t createCopy(const PathVectorPtr_t &original)
Create instance and return shared pointer.
Definition: path-vector.hh:70
PathVector(const PathVector &path)
Copy constructor.
Definition: path-vector.hh:160
virtual PathPtr_t impl_extract(const interval_t &subInterval) const
virtual Configuration_t end() const
Get the final configuration.
Definition: path-vector.hh:137
void flatten(PathVectorPtr_t flattenedPath) const
std::size_t rankAtParam(const value_type &param, value_type &localParam) const
virtual ~PathVector()
Destructor.
Definition: path-vector.hh:97
void concatenate(const PathVector &path) HPP_CORE_DEPRECATED
static PathVectorPtr_t create(size_type outputSize, size_type outputDerivativeSize)
Create instance and return shared pointer.
Definition: path-vector.hh:50
virtual PathPtr_t reverse() const
Reversion of a path.
Definition: path.hh:71
const interval_t & timeRange() const
Get interval of definition.
Definition: path.hh:203
#define HPP_CORE_DLLAPI
Definition: config.hh:64
#define HPP_CORE_DEPRECATED
Definition: deprecated.hh:37
pinocchio::value_type value_type
Definition: fwd.hh:173
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:192
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:221
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:107
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:174
pinocchio::size_type size_type
Definition: fwd.hh:172
std::vector< PathPtr_t > Paths_t
Definition: fwd.hh:213
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:105
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:129
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:186
Definition: bi-rrt-planner.hh:35