kinopath.hpp

/*
 * Adaptation of the code of Tobias Kunz for use in Move3d      
 *
 *
 * Copyright (c) 2011, Georgia Tech Research Corporation
 * All rights reserved.
 *
 * Author: Tobias Kunz <tobias@gatech.edu>
 * Date: 05/2012
 *
 * Humanoid Robotics Lab      Georgia Institute of Technology
 * Director: Mike Stilman     http://www.golems.org
 *
 * Algorithm details and publications:
 * http://www.golems.org/node/1570
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * 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.
 */

#pragma once

#include <list>
#include <Eigen/Core>

namespace API
{
    
        class KinoPathSegment
        {
        public:
                KinoPathSegment(double length = 0.0) :
                        length(length)
                {
                }
                
                virtual ~KinoPathSegment() {}

                double getLength() const {
                        return length;
                }
                virtual Eigen::VectorXd getConfig(double s) const = 0;
                virtual Eigen::VectorXd getTangent(double s) const = 0;
                virtual Eigen::VectorXd getCurvature(double s) const = 0;
                virtual std::list<double> getSwitchingPoints() const = 0;
                virtual KinoPathSegment* clone() const = 0;

                double position;
        protected:
                double length;
        };



        class KinoPath
        {
        public:
                KinoPath(const std::list<Eigen::VectorXd> &path, double maxDeviation = 0.0);
                KinoPath(const KinoPath &path);
                ~KinoPath();
                double getLength() const;
                Eigen::VectorXd getConfig(double s) const;
                Eigen::VectorXd getTangent(double s) const;
                Eigen::VectorXd getCurvature(double s) const;
                double getNextSwitchingPoint(double s, bool &discontinuity) const;
                std::list<std::pair<double, bool> > getSwitchingPoints() const;
                std::list<KinoPathSegment*>::const_iterator getKinoPathSegmentIt(double s) const;
                std::list<KinoPathSegment*> getKinoPathSegments() const { return pathSegments;};
        private:
                KinoPathSegment* getKinoPathSegment(double &s) const;
                double length;
                std::list<std::pair<double, bool> > switchingPoints;
                std::list<KinoPathSegment*> pathSegments;
        };
}