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);
}

}