end-effector-trajectory.hh

Go to the documentation of this file.

// 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.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#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/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) {
    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