DynamicPath.h

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#ifndef DYNAMIC_PATH_H
#define DYNAMIC_PATH_H

#include "constraint_aware_spline_smoother/ParabolicRamp.h"

class FeasibilityCheckerBase
{
 public:
  FeasibilityCheckerBase(){};
  virtual ~FeasibilityCheckerBase(){};
  virtual bool ConfigFeasible(const Vector& x)=0;
  virtual bool SegmentFeasible(const Vector& a,const Vector& b)=0;
};

class DistanceCheckerBase
{
 public:
  virtual ~DistanceCheckerBase();
  virtual Real ObstacleDistanceNorm() const { return Inf; }
  virtual Real ObstacleDistance(const Vector& x)=0;
};

class DynamicPath
{
 public:
  DynamicPath();
  void Init(const Vector& velMax,const Vector& accMax);
  inline void Clear() { ramps.clear(); }
  inline bool Empty() const { return ramps.empty(); }
  Real GetTotalTime() const;
  void Evaluate(Real t,Vector& x);
  void Derivative(Real t,Vector& dx);
  void SetMilestones(const std::vector<Vector>& x);
  void SetMilestones(const std::vector<Vector>& x,const std::vector<Vector>& dx);
  void GetMilestones(std::vector<Vector>& x,std::vector<Vector>& dx) const;
  void Append(const Vector& x);
  void Append(const Vector& x,const Vector& dx);
  bool TryShortcut(Real t1,Real t2,FeasibilityCheckerBase*,Real tol);
  bool TryShortcut(Real t1,Real t2,FeasibilityCheckerBase*,DistanceCheckerBase*);
  int Shortcut(int numIters,FeasibilityCheckerBase*,Real tol);
  int ShortCircuit(FeasibilityCheckerBase*,Real tol);
  int Shortcut(int numIters,FeasibilityCheckerBase*,DistanceCheckerBase*);
  int ShortCircuit(FeasibilityCheckerBase*,DistanceCheckerBase*);

  Vector velMax,accMax;
  std::vector<ParabolicRampND> ramps;
};


#endif

---

constraint_aware_spline_smoother
Author(s): Sachin Chitta
autogenerated on Fri Jan 11 09:41:16 2013