hpp-core: include/hpp/core/kinodynamic-distance.hh Source File

hpp-core 9.0.2 Implement basic classes for canonical path planning for kinematic chains.

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kinodynamic-distance.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,
22// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
23// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
24// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
25// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
26// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
28// DAMAGE.
29
30#ifndef HPP_CORE_KINODYNAMIC_DISTANCE_HH
31#define HPP_CORE_KINODYNAMIC_DISTANCE_HH
32
33#include <hpp/core/distance.hh>
34
35namespace hpp {
36namespace core {
39
50
51 class HPP_CORE_DLLAPI KinodynamicDistance : public Distance {
52 public:
53 static KinodynamicDistancePtr_t create(const DevicePtr_t& robot);
54 static KinodynamicDistancePtr_t createFromProblem(
55 const ProblemConstPtr_t& problem);
56
57 static KinodynamicDistancePtr_t createCopy(
58 const KinodynamicDistancePtr_t& distance);
59 virtual DistancePtr_t clone() const;
60
62 const DevicePtr_t& robot() const { return robot_; }
63
64 protected:
65 KinodynamicDistance(const DevicePtr_t& robot);
66 KinodynamicDistance(const ProblemConstPtr_t& problem);
67 KinodynamicDistance(const KinodynamicDistance& distance);
68 void init(KinodynamicDistanceWkPtr_t self);
70 virtual value_type impl_distance(ConfigurationIn_t q1,
71 ConfigurationIn_t q2) const;
72
73 double computeMinTime(double p1, double p2, double v1, double v2) const;
74
75 private:
76 DevicePtr_t robot_;
77 double aMax_;
78 double vMax_;
79 KinodynamicDistanceWkPtr_t weak_;
80}; // class KinodynamicDistance
82} // namespace core
83} // namespace hpp
84#endif // HPP_CORE_WEIGHED_DISTANCE_HH
hpp::core::Distance
Abstract class for distance between configurations.
Definition distance.hh:45
hpp::core::KinodynamicDistance
Definition kinodynamic-distance.hh:51
hpp::core::KinodynamicDistance::createFromProblem
static KinodynamicDistancePtr_t createFromProblem(const ProblemConstPtr_t &problem)
hpp::core::KinodynamicDistance::create
static KinodynamicDistancePtr_t create(const DevicePtr_t &robot)
hpp::core::KinodynamicDistance::init
void init(KinodynamicDistanceWkPtr_t self)
hpp::core::KinodynamicDistance::createCopy
static KinodynamicDistancePtr_t createCopy(const KinodynamicDistancePtr_t &distance)
hpp::core::KinodynamicDistance::computeMinTime
double computeMinTime(double p1, double p2, double v1, double v2) const
hpp::core::KinodynamicDistance::KinodynamicDistance
KinodynamicDistance(const ProblemConstPtr_t &problem)
hpp::core::KinodynamicDistance::impl_distance
virtual value_type impl_distance(ConfigurationIn_t q1, ConfigurationIn_t q2) const
Derived class should implement this function.
hpp::core::KinodynamicDistance::robot
const DevicePtr_t & robot() const
Get robot.
Definition kinodynamic-distance.hh:62
hpp::core::KinodynamicDistance::KinodynamicDistance
KinodynamicDistance(const DevicePtr_t &robot)
hpp::core::KinodynamicDistance::clone
virtual DistancePtr_t clone() const
hpp::core::KinodynamicDistance::KinodynamicDistance
KinodynamicDistance(const KinodynamicDistance &distance)
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
distance.hh
hpp
hpp::core::value_type
pinocchio::value_type value_type
Definition fwd.hh:174
hpp::core::DistancePtr_t
shared_ptr< Distance > DistancePtr_t
Definition fwd.hh:141
hpp::core::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition fwd.hh:108
hpp::core::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
Definition fwd.hh:197
hpp::core::DevicePtr_t
pinocchio::DevicePtr_t DevicePtr_t
Definition fwd.hh:134
hpp::core::KinodynamicDistancePtr_t
shared_ptr< KinodynamicDistance > KinodynamicDistancePtr_t
Definition fwd.hh:227