Classes | Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | List of all members
hpp::core::DubinsPath Class Reference

Car like motion going only forward. More...

#include <hpp/core/dubins-path.hh>

Inheritance diagram for hpp::core::DubinsPath:
[legend]
Collaboration diagram for hpp::core::DubinsPath:
[legend]

Public Types

typedef core::Path parent_t
 

Public Member Functions

virtual ~DubinsPath () throw ()
 Destructor. More...
 
virtual PathPtr_t copy () const
 Return a shared pointer to a copy of this object. More...
 
virtual PathPtr_t copy (const ConstraintSetPtr_t &constraints) const
 Return a shared pointer to a copy of this and set constraints. More...
 
DevicePtr_t device () const
 Return the internal robot. More...
 
Configuration_t initial () const
 Get the initial configuration. More...
 
Configuration_t end () const
 Get the final configuration. More...
 
- Public Member Functions inherited from hpp::core::Path
virtual ~Path () throw ()
 Destructor. More...
 
template<class T >
boost::shared_ptr< T > as (void)
 Static cast into a derived type. More...
 
template<class T >
boost::shared_ptr< const T > as (void) const
 Static cast into a derived type. More...
 
PathPtr_t extract (const interval_t &subInterval) const throw (projection_error)
 
virtual PathPtr_t reverse () const
 Reversion of a path. More...
 
Configuration_t operator() (const value_type &time) const HPP_CORE_DEPRECATED
 
Configuration_t operator() (const value_type &time, bool &success) const
 
bool operator() (ConfigurationOut_t result, const value_type &time) const throw ()
 
bool at (const value_type &time, ConfigurationOut_t result) const
 Get the configuration at a parameter without applying the constraints. More...
 
void derivative (vectorOut_t result, const value_type &time, size_type order) const
 Get derivative with respect to parameter at given parameter. More...
 
void velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const
 Get an upper bound of the velocity on a sub-interval. More...
 
size_type outputSize () const
 Get size of configuration space. More...
 
size_type outputDerivativeSize () const
 Get size of velocity. More...
 
const interval_ttimeRange () const
 Get interval of definition. More...
 
value_type length () const
 Get length of definition interval. More...
 
const ConstraintSetPtr_tconstraints () const
 Get constraints the path is subject to. More...
 
const interval_tparamRange () const
 Get interval of parameters. More...
 
void timeParameterization (const TimeParameterizationPtr_t &tp, const interval_t &tr)
 Set the time parameterization function. More...
 

Static Public Member Functions

static DubinsPathPtr_t create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type rho, size_type xyId, size_type rzId, const std::vector< JointPtr_t > wheels)
 Create instance and return shared pointer. More...
 
static DubinsPathPtr_t create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type rho, size_type xyId, size_type rzId, const std::vector< JointPtr_t > wheels, ConstraintSetPtr_t constraints)
 Create instance and return shared pointer. More...
 
static DubinsPathPtr_t createCopy (const DubinsPathPtr_t &path)
 Create copy and return shared pointer. More...
 
static DubinsPathPtr_t createCopy (const DubinsPathPtr_t &path, const ConstraintSetPtr_t &constraints)
 Create copy and return shared pointer. More...
 

Protected Member Functions

virtual std::ostream & print (std::ostream &os) const
 Print path in a stream. More...
 
 DubinsPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type rho, size_type xyId, size_type rzId, const std::vector< JointPtr_t > wheels)
 Constructor. More...
 
 DubinsPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type rho, size_type xyId, size_type rzId, const std::vector< JointPtr_t > wheels, ConstraintSetPtr_t constraints)
 Constructor with constraints. More...
 
 DubinsPath (const DubinsPath &path)
 Copy constructor. More...
 
 DubinsPath (const DubinsPath &path, const ConstraintSetPtr_t &constraints)
 Copy constructor with constraints. More...
 
void init (DubinsPathPtr_t self)
 
virtual bool impl_compute (ConfigurationOut_t result, value_type param) const
 Function evaluation without applying constraints. More...
 
virtual void impl_derivative (vectorOut_t result, const value_type &t, size_type order) const
 Virtual implementation of derivative. More...
 
- Protected Member Functions inherited from hpp::core::Path
 Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints)
 Constructor. More...
 
 Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize)
 Constructor. More...
 
 Path (const Path &path)
 Copy constructor. More...
 
 Path (const Path &path, const ConstraintSetPtr_t &constraints)
 Copy constructor with constraints. More...
 
void init (const PathWkPtr_t &self)
 Store weak pointer to itself. More...
 
void constraints (const ConstraintSetPtr_t &constraint)
 Set the constraints. More...
 
virtual void checkPath () const
 Should be called by child classes after having init. More...
 
void timeRange (const interval_t &timeRange)
 
const TimeParameterizationPtr_ttimeParameterization () const
 
value_type paramLength () const
 
Configuration_t configAtParam (const value_type &param, bool &success) const
 
virtual void impl_velocityBound (vectorOut_t bound, const value_type &param0, const value_type &param1) const
 Virtual implementation of velocityBound. More...
 
virtual PathPtr_t impl_extract (const interval_t &paramInterval) const throw (projection_error)
 Virtual implementation of extract. More...
 

Additional Inherited Members

- Protected Attributes inherited from hpp::core::Path
interval_t paramRange_
 Interval of parameters. More...
 

Detailed Description

Car like motion going only forward.

Implement a Dubins motion generation on the base joint. Degrees of freedom are interpolated depending on the type of joint they parameterize: The following interpolation is made:

Member Typedef Documentation

◆ parent_t

Constructor & Destructor Documentation

◆ ~DubinsPath()

virtual hpp::core::DubinsPath::~DubinsPath ( )
throw (
)
inlinevirtual

Destructor.

References hpp::core::Path::constraints(), create(), device(), end(), and init().

◆ DubinsPath() [1/4]

hpp::core::DubinsPath::DubinsPath ( const DevicePtr_t robot,
ConfigurationIn_t  init,
ConfigurationIn_t  end,
value_type  rho,
size_type  xyId,
size_type  rzId,
const std::vector< JointPtr_t wheels 
)
protected

Constructor.

Referenced by createCopy(), and print().

◆ DubinsPath() [2/4]

hpp::core::DubinsPath::DubinsPath ( const DevicePtr_t robot,
ConfigurationIn_t  init,
ConfigurationIn_t  end,
value_type  rho,
size_type  xyId,
size_type  rzId,
const std::vector< JointPtr_t wheels,
ConstraintSetPtr_t  constraints 
)
protected

Constructor with constraints.

◆ DubinsPath() [3/4]

hpp::core::DubinsPath::DubinsPath ( const DubinsPath path)
protected

Copy constructor.

◆ DubinsPath() [4/4]

hpp::core::DubinsPath::DubinsPath ( const DubinsPath path,
const ConstraintSetPtr_t constraints 
)
protected

Copy constructor with constraints.

Member Function Documentation

◆ copy() [1/2]

virtual PathPtr_t hpp::core::DubinsPath::copy ( ) const
inlinevirtual

Return a shared pointer to a copy of this object.

Implements hpp::core::Path.

References createCopy().

◆ copy() [2/2]

virtual PathPtr_t hpp::core::DubinsPath::copy ( const ConstraintSetPtr_t constraints) const
inlinevirtual

Return a shared pointer to a copy of this and set constraints.

Parameters
constraintsconstraints to apply to the copy *this should not have constraints.

Implements hpp::core::Path.

References hpp::core::Path::constraints(), and createCopy().

◆ create() [1/2]

static DubinsPathPtr_t hpp::core::DubinsPath::create ( const DevicePtr_t device,
ConfigurationIn_t  init,
ConfigurationIn_t  end,
value_type  rho,
size_type  xyId,
size_type  rzId,
const std::vector< JointPtr_t wheels 
)
static

Create instance and return shared pointer.

Parameters
deviceRobot corresponding to configurations
init,endStart and end configurations of the path
rhoThe radius of a turn.
xyId,rzIdindices in configuration vector of translation and rotation of the car,
wheelsvector of joints that represent turning wheels.

Referenced by ~DubinsPath().

◆ create() [2/2]

static DubinsPathPtr_t hpp::core::DubinsPath::create ( const DevicePtr_t device,
ConfigurationIn_t  init,
ConfigurationIn_t  end,
value_type  rho,
size_type  xyId,
size_type  rzId,
const std::vector< JointPtr_t wheels,
ConstraintSetPtr_t  constraints 
)
static

Create instance and return shared pointer.

Parameters
deviceRobot corresponding to configurations
init,endStart and end configurations of the path
rhoThe radius of a turn.
xyId,rzIdindices in configuration vector of translation and rotation of the car,
wheelsvector of joints that represent turning wheels,
constraintsthe path is subject to

◆ createCopy() [1/2]

static DubinsPathPtr_t hpp::core::DubinsPath::createCopy ( const DubinsPathPtr_t path)
inlinestatic

Create copy and return shared pointer.

Parameters
pathpath to copy

References DubinsPath(), and init().

Referenced by copy().

◆ createCopy() [2/2]

static DubinsPathPtr_t hpp::core::DubinsPath::createCopy ( const DubinsPathPtr_t path,
const ConstraintSetPtr_t constraints 
)
inlinestatic

Create copy and return shared pointer.

Parameters
pathpath to copy
constraintsthe path is subject to

References DubinsPath(), and init().

◆ device()

DevicePtr_t hpp::core::DubinsPath::device ( ) const
inline

Return the internal robot.

Referenced by ~DubinsPath().

◆ end()

Configuration_t hpp::core::DubinsPath::end ( ) const
inlinevirtual

Get the final configuration.

Implements hpp::core::Path.

Referenced by ~DubinsPath().

◆ impl_compute()

virtual bool hpp::core::DubinsPath::impl_compute ( ConfigurationOut_t  configuration,
value_type  param 
) const
protectedvirtual

Function evaluation without applying constraints.

Returns
true if everything went good.

Implements hpp::core::Path.

Referenced by print().

◆ impl_derivative()

virtual void hpp::core::DubinsPath::impl_derivative ( vectorOut_t  result,
const value_type t,
size_type  order 
) const
protectedvirtual

Virtual implementation of derivative.

Reimplemented from hpp::core::Path.

Referenced by print().

◆ init()

void hpp::core::DubinsPath::init ( DubinsPathPtr_t  self)
protected

Referenced by createCopy(), print(), and ~DubinsPath().

◆ initial()

Configuration_t hpp::core::DubinsPath::initial ( ) const
inlinevirtual

Get the initial configuration.

Implements hpp::core::Path.

◆ print()

virtual std::ostream& hpp::core::DubinsPath::print ( std::ostream &  os) const
inlineprotectedvirtual

Print path in a stream.

Reimplemented from hpp::core::Path.

References d, DubinsPath(), impl_compute(), impl_derivative(), init(), and hpp::core::Path::print().