hpp-core: include/hpp/core/steering-method/snibud.hh Source File

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

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snibud.hh
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1//
2// Copyright (c) 2017 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
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29
30#ifndef HPP_CORE_STEERING_METHOD_SNIBUD_HH
31#define HPP_CORE_STEERING_METHOD_SNIBUD_HH
32
33#include <hpp/core/config.hh>
34#include <hpp/core/fwd.hh>
35#include <hpp/core/steering-method/car-like.hh>
36#include <hpp/util/debug.hh>
37#include <hpp/util/pointer.hh>
38
39namespace hpp {
40namespace core {
41namespace steeringMethod {
44
47 class HPP_CORE_DLLAPI Snibud : public CarLike {
48 public:
57 static SnibudPtr_t createWithGuess(const ProblemConstPtr_t& problem) {
58 Snibud* ptr = new Snibud(problem);
59 SnibudPtr_t shPtr(ptr);
60 ptr->init(shPtr);
61 return shPtr;
62 }
63
67 static SnibudPtr_t create(
68 const ProblemConstPtr_t& problem, const value_type turningRadius,
69 JointPtr_t xyJoint, JointPtr_t rzJoint,
70 std::vector<JointPtr_t> wheels = std::vector<JointPtr_t>()) {
71 Snibud* ptr = new Snibud(problem, turningRadius, xyJoint, rzJoint, wheels);
72 SnibudPtr_t shPtr(ptr);
73 ptr->init(shPtr);
74 return shPtr;
75 }
76
78 static SnibudPtr_t createCopy(const SnibudPtr_t& other) {
79 Snibud* ptr = new Snibud(*other);
80 SnibudPtr_t shPtr(ptr);
81 ptr->init(shPtr);
82 return shPtr;
83 }
84
86 virtual SteeringMethodPtr_t copy() const { return createCopy(weak_.lock()); }
87
89 virtual PathPtr_t impl_compute(ConfigurationIn_t q1,
90 ConfigurationIn_t q2) const;
91
92 protected:
94 Snibud(const ProblemConstPtr_t& problem);
95
97 Snibud(const ProblemConstPtr_t& problem, const value_type turningRadius,
98 JointPtr_t xyJoint, JointPtr_t rzJoint,
99 std::vector<JointPtr_t> wheels);
100
102 Snibud(const Snibud& other);
103
105 void init(SnibudWkPtr_t weak) {
106 CarLike::init(weak);
107 weak_ = weak;
108 }
109
110 private:
111 SnibudWkPtr_t weak_;
112}; // Snibud
114} // namespace steeringMethod
115} // namespace core
116} // namespace hpp
117#endif // HPP_CORE_STEERING_METHOD_SNIBUD_HH
car-like.hh
hpp::core::steeringMethod::CarLike
Definition car-like.hh:49
hpp::core::steeringMethod::Snibud
Definition snibud.hh:47
hpp::core::steeringMethod::Snibud::copy
virtual SteeringMethodPtr_t copy() const
Copy instance and return shared pointer.
Definition snibud.hh:86
hpp::core::steeringMethod::Snibud::impl_compute
virtual PathPtr_t impl_compute(ConfigurationIn_t q1, ConfigurationIn_t q2) const
create a path between two configurations
hpp::core::steeringMethod::Snibud::Snibud
Snibud(const ProblemConstPtr_t &problem, const value_type turningRadius, JointPtr_t xyJoint, JointPtr_t rzJoint, std::vector< JointPtr_t > wheels)
Constructor.
hpp::core::steeringMethod::Snibud::create
static SnibudPtr_t create(const ProblemConstPtr_t &problem, const value_type turningRadius, JointPtr_t xyJoint, JointPtr_t rzJoint, std::vector< JointPtr_t > wheels=std::vector< JointPtr_t >())
Definition snibud.hh:67
hpp::core::steeringMethod::Snibud::createCopy
static SnibudPtr_t createCopy(const SnibudPtr_t &other)
Copy instance and return shared pointer.
Definition snibud.hh:78
hpp::core::steeringMethod::Snibud::createWithGuess
static SnibudPtr_t createWithGuess(const ProblemConstPtr_t &problem)
Definition snibud.hh:57
hpp::core::steeringMethod::Snibud::Snibud
Snibud(const Snibud &other)
Copy constructor.
hpp::core::steeringMethod::Snibud::Snibud
Snibud(const ProblemConstPtr_t &problem)
Constructor.
hpp::core::steeringMethod::Snibud::init
void init(SnibudWkPtr_t weak)
Store weak pointer to itself.
Definition snibud.hh:105
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
debug.hh
fwd.hh
hpp
hpp::core::steeringMethod::SnibudPtr_t
shared_ptr< Snibud > SnibudPtr_t
Definition fwd.hh:49
hpp::core::value_type
pinocchio::value_type value_type
Definition fwd.hh:174
hpp::core::SteeringMethodPtr_t
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition fwd.hh:213
hpp::core::JointPtr_t
pinocchio::JointPtr_t JointPtr_t
Definition fwd.hh:151
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::PathPtr_t
shared_ptr< Path > PathPtr_t
Definition fwd.hh:187
pointer.hh