Program Listing for File path_circle_generator.h
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#pragma once
#include <kdl/path.hpp>
#include <kdl/path_circle.hpp>
#include <kdl/rotational_interpolation_sa.hpp>
#include <kdl/utilities/error.h>
#include <memory>
namespace pilz_industrial_motion_planner
{
class PathCircleGenerator
{
public:
static std::unique_ptr<KDL::Path> circleFromCenter(const KDL::Frame& start_pose, const KDL::Frame& goal_pose,
const KDL::Vector& center_point, double eqradius);
static std::unique_ptr<KDL::Path> circleFromInterim(const KDL::Frame& start_pose, const KDL::Frame& goal_pose,
const KDL::Vector& interim_point, double eqradius);
private:
PathCircleGenerator(){}; // no instantiation of this helper class!
static double cosines(const double a, const double b, const double c);
static constexpr double MAX_RADIUS_DIFF{ 1e-2 };
static constexpr double MAX_COLINEAR_NORM{ 1e-5 };
};
} // namespace pilz_industrial_motion_planner
class ErrorMotionPlanningCenterPointDifferentRadius : public KDL::Error_MotionPlanning
{
public:
const char* Description() const override
{
return "Distances between start-center and goal-center are different."
" A circle cannot be created.";
}
int GetType() const override
{
return ERROR_CODE_CENTER_POINT_DIFFERENT_RADIUS;
} // LCOV_EXCL_LINE
private:
static constexpr int ERROR_CODE_CENTER_POINT_DIFFERENT_RADIUS{ 3006 };
};