ccpmpm_dubins_state_space.hpp

Go to the documentation of this file.

/*********************************************************************
*  Copyright (c) 2017 - for information on the respective copyright
*  owner see the NOTICE file and/or the repository
*
*      https://github.com/hbanzhaf/steering_functions.git
*
*  Licensed under the Apache License, Version 2.0 (the "License");
*  you may not use this file except in compliance with the License.
*  You may obtain a copy of the License at
*
*      http://www.apache.org/licenses/LICENSE-2.0
*
*  Unless required by applicable law or agreed to in writing, software
*  distributed under the License is distributed on an "AS IS" BASIS,
*  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
*  implied. See the License for the specific language governing
*  permissions and limitations under the License.

*  This source code is derived from Continuous Curvature (CC) Steer.
*  Copyright (c) 2016, Thierry Fraichard and Institut national de
*  recherche en informatique et en automatique (Inria), licensed under
*  the BSD license, cf. 3rd-party-licenses.txt file in the root
*  directory of this source tree.
**********************************************************************/

#ifndef CCPMPM_DUBINS_STATE_SPACE_HPP
#define CCPMPM_DUBINS_STATE_SPACE_HPP

#include <memory>
#include <vector>

#include "steering_functions/hc_cc_state_space/hc_cc_circle.hpp"
#include "steering_functions/hc_cc_state_space/hc_cc_state_space.hpp"
#include "steering_functions/hc_cc_state_space/paths.hpp"
#include "steering_functions/steering_functions.hpp"

namespace steering
{

class CCpmpm_Dubins_State_Space : public HC_CC_State_Space
{
public:
  CCpmpm_Dubins_State_Space(double kappa, double sigma, double discretization = 0.1, bool forwards = true);

  ~CCpmpm_Dubins_State_Space();

  CC_Dubins_Path* ccpmpm_circles_dubins_path(const HC_CC_Circle& c1, const HC_CC_Circle& c2) const;

  CC_Dubins_Path* ccpmpm_dubins(const State& state1, const State& state2) const;

  double get_distance(const State& state1, const State& state2) const;

  std::vector<Control> get_controls(const State& state1, const State& state2) const;

private:
  bool forwards_;

  class CCpmpm_Dubins;

  std::unique_ptr<CCpmpm_Dubins> ccpmpm_dubins_;

  HC_CC_Circle_Param rs_circle_param_;

  double radius_;

  double mu_;

  double sin_mu_, cos_mu_;
};

} // namespace steering

#endif