path_roundedcomposite.cpp

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/***************************************************************************
  tag: Erwin Aertbelien  Mon May 10 19:10:36 CEST 2004  path_roundedcomposite.cxx

                        path_roundedcomposite.cxx -  description
                           -------------------
    begin                : Mon May 10 2004
    copyright            : (C) 2004 Erwin Aertbelien
    email                : erwin.aertbelien@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Lesser General Public            *
 *   License as published by the Free Software Foundation; either          *
 *   version 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU Lesser General Public      *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/
/*****************************************************************************
 *  \author
 *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
 *
 *  \version
 *              ORO_Geometry V0.2
 *
 *      \par History
 *              - $log$
 *
 *      \par Release
 *              $Id: path_roundedcomposite.cpp,v 1.1.1.1.2.5 2003/07/24 13:26:15 psoetens Exp $
 *              $Name:  $
 ****************************************************************************/


#include "path_roundedcomposite.hpp"
#include "path_line.hpp"
#include "path_circle.hpp"
#include "utilities/error.h"
#include "utilities/scoped_ptr.hpp"
#include <memory>


namespace KDL {

// private constructor, to keep the type when cloning a Path_RoundedComposite, such that getIdentifier keeps on returning
// the correct value:
Path_RoundedComposite::Path_RoundedComposite(Path_Composite* _comp,
                double _radius, double _eqradius, RotationalInterpolation* _orient,
                bool _aggregate,int _nrofpoints):
                comp(_comp), radius(_radius), eqradius(_eqradius), orient(_orient), nrofpoints(_nrofpoints), aggregate(_aggregate) {
}

Path_RoundedComposite::Path_RoundedComposite(double _radius,double _eqradius,RotationalInterpolation* _orient, bool _aggregate) :
        comp( new Path_Composite()), radius(_radius),eqradius(_eqradius), orient(_orient), aggregate(_aggregate)
{
                nrofpoints = 0;
                if (eqradius<=0) {
                        throw Error_MotionPlanning_Not_Feasible(1);
                }
}

void Path_RoundedComposite::Add(const Frame& F_base_point) {
        double eps = 1E-7;
        if (nrofpoints == 0) {
                F_base_start = F_base_point;
        } else if (nrofpoints == 1) {
                F_base_via = F_base_point;
        } else {
                // calculate rounded segment : line + circle,
                // determine the angle between the line segments :
                Vector ab = F_base_via.p - F_base_start.p;
                Vector bc = F_base_point.p - F_base_via.p;
                double abdist = ab.Norm();
                double bcdist = bc.Norm();
                if (abdist < eps) {
                        throw Error_MotionPlanning_Not_Feasible(2);
                }
                if (bcdist < eps) {
                        throw Error_MotionPlanning_Not_Feasible(3);
                }
                // Clamp to avoid rounding errors (acos is defined between [-1 ; 1])
                double alpha = acos(std::max(-1., std::min(dot(ab, bc) / abdist / bcdist, 1.)));
                if ((PI - alpha) < eps) {
                        throw Error_MotionPlanning_Not_Feasible(4);
                }
                if (alpha < eps) {
                        // no rounding is done in the case of parallel line segments
                        comp->Add(
                                        new Path_Line(F_base_start, F_base_via, orient->Clone(),
                                                        eqradius));
                        F_base_start = F_base_via;
                        F_base_via = F_base_point;
                } else {
                        double d = radius / tan((PI - alpha) / 2); // tan. is guaranteed not to return zero.
                        if (d >= abdist)
                                throw Error_MotionPlanning_Not_Feasible(5);

                        if (d >= bcdist)
                                throw Error_MotionPlanning_Not_Feasible(6);

                        scoped_ptr < Path
                                        > line1(
                                                        new Path_Line(F_base_start, F_base_via,
                                                                        orient->Clone(), eqradius));
                        scoped_ptr < Path
                                        > line2(
                                                        new Path_Line(F_base_via, F_base_point,
                                                                        orient->Clone(), eqradius));
                        Frame F_base_circlestart = line1->Pos(line1->LengthToS(abdist - d));
                        Frame F_base_circleend = line2->Pos(line2->LengthToS(d));
                        // end of circle segment, beginning of next line
                        Vector V_base_t = ab * (ab * bc);
                        V_base_t.Normalize();
                        comp->Add(
                                        new Path_Line(F_base_start, F_base_circlestart,
                                                        orient->Clone(), eqradius));
                        comp->Add(
                                        new Path_Circle(F_base_circlestart,
                                                        F_base_circlestart.p - V_base_t * radius,
                                                        F_base_circleend.p, F_base_circleend.M, alpha,
                                                        orient->Clone(), eqradius));
                        // shift for next line
                        F_base_start = F_base_circleend; // end of the circle segment
                        F_base_via = F_base_point;
                }
        }

        nrofpoints++;
}

void Path_RoundedComposite::Finish() {
        if (nrofpoints >= 1) {
                comp->Add(
                                new Path_Line(F_base_start, F_base_via, orient->Clone(),
                                                eqradius));
        }
}

double Path_RoundedComposite::LengthToS(double length) {
        return comp->LengthToS(length);
}


double Path_RoundedComposite::PathLength() {
        return comp->PathLength();
}

Frame Path_RoundedComposite::Pos(double s) const {
        return comp->Pos(s);
}

Twist Path_RoundedComposite::Vel(double s, double sd) const {
        return comp->Vel(s, sd);
}

Twist Path_RoundedComposite::Acc(double s, double sd, double sdd) const {
        return comp->Acc(s, sd, sdd);
}

void Path_RoundedComposite::Write(std::ostream& os) {
        comp->Write(os);
}

int Path_RoundedComposite::GetNrOfSegments() {
        return comp->GetNrOfSegments();
}

Path* Path_RoundedComposite::GetSegment(int i) {
        return comp->GetSegment(i);
}

double Path_RoundedComposite::GetLengthToEndOfSegment(int i) {
        return comp->GetLengthToEndOfSegment(i);
}

void Path_RoundedComposite::GetCurrentSegmentLocation(double s,
                int& segment_number, double& inner_s) {
        comp->GetCurrentSegmentLocation(s,segment_number,inner_s);
}



Path_RoundedComposite::~Path_RoundedComposite() {
    if (aggregate)
        delete orient;
        delete comp;
}


Path* Path_RoundedComposite::Clone() {
        return new Path_RoundedComposite(static_cast<Path_Composite*>(comp->Clone()),radius,eqradius,orient->Clone(), true, nrofpoints);
}

}