end-effector-trajectory.hh

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// Copyright (c) 2019, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
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#ifndef HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH
#define HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH
 
#include <hpp/core/steering-method.hh>
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/deprecated.hh>
#include <hpp/manipulation/fwd.hh>
 
namespace hpp {
namespace manipulation {
namespace steeringMethod {
HPP_PREDEF_CLASS(EndEffectorTrajectory);
typedef shared_ptr<EndEffectorTrajectory> EndEffectorTrajectoryPtr_t;
 
using core::PathPtr_t;


class HPP_MANIPULATION_DLLAPI EndEffectorTrajectory
    : public core::SteeringMethod {
 public:
  typedef core::interval_t interval_t;
 
  static EndEffectorTrajectoryPtr_t create(
      const core::ProblemConstPtr_t& problem) HPP_MANIPULATION_DEPRECATED {
    EndEffectorTrajectoryPtr_t ptr(new EndEffectorTrajectory(problem));
    ptr->init(ptr);
    return ptr;
  }

  static PathPtr_t makePiecewiseLinearTrajectory(matrixIn_t points,
                                                 vectorIn_t weights);

  void trajectoryConstraint(const constraints::ImplicitPtr_t& ic);
 
  const constraints::ImplicitPtr_t& trajectoryConstraint() {
    return constraint_;
  }

  void trajectory(const PathPtr_t& eeTraj, bool se3Output);

  void trajectory(const DifferentiableFunctionPtr_t& eeTraj,
                  const interval_t& timeRange);
 
  const DifferentiableFunctionPtr_t& trajectory() const { return eeTraj_; }
 
  const interval_t& timeRange() const { return timeRange_; }
 
  core::SteeringMethodPtr_t copy() const {
    EndEffectorTrajectoryPtr_t ptr(new EndEffectorTrajectory(*this));
    ptr->init(ptr);
    return ptr;
  }

  PathPtr_t projectedPath(vectorIn_t times, matrixIn_t configs) const;
 
 protected:
  EndEffectorTrajectory(const core::ProblemConstPtr_t& problem)
      : core::SteeringMethod(problem) {}
 
  EndEffectorTrajectory(const EndEffectorTrajectory& other)
      : core::SteeringMethod(other),
        eeTraj_(other.eeTraj_),
        timeRange_(other.timeRange_),
        constraint_(other.constraint_) {}
 
  PathPtr_t impl_compute(ConfigurationIn_t q1, ConfigurationIn_t q2) const;
 
 private:
  core::ConstraintSetPtr_t getUpdatedConstraints() const;
 
  DifferentiableFunctionPtr_t eeTraj_;
  interval_t timeRange_;
  constraints::ImplicitPtr_t constraint_;
};

}  // namespace steeringMethod
}  // namespace manipulation
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH