transition_limit.cpp
Go to the documentation of this file.
1 // -*- mode: c++ -*-
2 /*********************************************************************
3  * Software License Agreement (BSD License)
4  *
5  * Copyright (c) 2015, JSK Lab
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/o2r other materials provided
17  * with the distribution.
18  * * Neither the name of the JSK Lab nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  *********************************************************************/
35 
37 #include <pcl/common/eigen.h>
38 
39 namespace jsk_footstep_planner
40 {
42  double roll_max,
43  double pitch_max):
44  roll_max_(roll_max), pitch_max_(pitch_max)
45  {
46  }
47 
49  FootstepState::Ptr to) const
50  {
51  const Eigen::Affine3f diff = to->getPose() * from->getPose().inverse();
52  float roll, pitch, yaw;
53  pcl::getEulerAngles(diff, roll, pitch, yaw);
54  return (std::abs(roll) < roll_max_ &&
55  std::abs(pitch) < pitch_max_);
56  }
57 
59  double x_max,
60  double y_max,
61  double z_max,
62  double roll_max,
63  double pitch_max,
64  double yaw_max):
65  x_max_(x_max), y_max_(y_max), z_max_(z_max),
66  roll_max_(roll_max), pitch_max_(pitch_max), yaw_max_(yaw_max)
67  {
68  }
69 
71  FootstepState::Ptr to) const
72  {
73  // from * trans = to
74  const Eigen::Affine3f diff = to->getPose() * from->getPose().inverse();
75  const Eigen::Vector3f diff_pos(diff.translation());
76  if (std::abs(diff_pos[0]) < x_max_ &&
77  std::abs(diff_pos[1]) < y_max_ &&
78  std::abs(diff_pos[2]) < z_max_) {
79  float roll, pitch, yaw;
80  pcl::getEulerAngles(diff, roll, pitch, yaw);
81  return (std::abs(roll) < roll_max_ &&
82  std::abs(pitch) < pitch_max_ &&
83  std::abs(yaw) < yaw_max_);
84  }
85  else {
86  return false;
87  }
88  }
89 }
jsk_footstep_planner::TransitionLimitRP::pitch_max_
const double pitch_max_
Definition: transition_limit.h:108
jsk_footstep_planner::TransitionLimitXYZRPY::x_max_
const double x_max_
Definition: transition_limit.h:130
jsk_footstep_planner::FootstepState::Ptr
boost::shared_ptr< FootstepState > Ptr
Definition: footstep_state.h:115
jsk_footstep_planner
Definition: ann_grid.h:50
jsk_footstep_planner::TransitionLimitXYZRPY::z_max_
const double z_max_
Definition: transition_limit.h:132
jsk_footstep_planner::TransitionLimitXYZRPY::y_max_
const double y_max_
Definition: transition_limit.h:131
jsk_footstep_planner::TransitionLimitXYZRPY::TransitionLimitXYZRPY
TransitionLimitXYZRPY(double x_max, double y_max, double z_max, double roll_max, double pitch_max, double yaw_max)
Definition: transition_limit.cpp:90
jsk_footstep_planner::TransitionLimitXYZRPY::check
virtual bool check(FootstepState::Ptr from, FootstepState::Ptr to) const
Definition: transition_limit.cpp:102
y_max
int y_max
jsk_footstep_planner::TransitionLimitRP::roll_max_
const double roll_max_
Definition: transition_limit.h:107
jsk_footstep_planner::TransitionLimitXYZRPY::yaw_max_
const double yaw_max_
Definition: transition_limit.h:135
footstep_array_to_bounding_box_array.z_max
z_max
Definition: footstep_array_to_bounding_box_array.py:22
transition_limit.h
jsk_footstep_planner::TransitionLimitRP::TransitionLimitRP
TransitionLimitRP(double roll_max, double pitch_max)
Definition: transition_limit.cpp:73
jsk_footstep_planner::TransitionLimitXYZRPY::roll_max_
const double roll_max_
Definition: transition_limit.h:133
jsk_footstep_planner::TransitionLimitRP::check
virtual bool check(FootstepState::Ptr from, FootstepState::Ptr to) const
Definition: transition_limit.cpp:80
x_max
int x_max
jsk_footstep_planner::TransitionLimitXYZRPY::pitch_max_
const double pitch_max_
Definition: transition_limit.h:134


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Wed Jan 24 2024 04:05:30