00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00037 #ifndef CUBIC_SPLINE_VELOCITY_SCALER_H_ 00038 #define CUBIC_SPLINE_VELOCITY_SCALER_H_ 00039 00040 #include <spline_smoother/spline_smoother.h> 00041 #include <spline_smoother/cubic_trajectory.h> 00042 namespace spline_smoother 00043 { 00044 00048 template <typename T> 00049 class CubicSplineVelocityScaler: public SplineSmoother<T> 00050 { 00051 public: 00052 CubicSplineVelocityScaler(); 00053 virtual ~CubicSplineVelocityScaler(); 00054 00055 virtual bool smooth(const T& trajectory_in, 00056 T& trajectory_out) const; 00057 }; 00058 00059 template <typename T> 00060 CubicSplineVelocityScaler<T>::CubicSplineVelocityScaler() 00061 { 00062 } 00063 00064 template <typename T> 00065 CubicSplineVelocityScaler<T>::~CubicSplineVelocityScaler() 00066 { 00067 } 00068 00069 template <typename T> 00070 bool CubicSplineVelocityScaler<T>::smooth(const T& trajectory_in, T& trajectory_out) const 00071 { 00072 spline_smoother::CubicTrajectory traj; 00073 spline_smoother::SplineTrajectory spline; 00074 T trajectory_local = trajectory_in; 00075 if (!checkTrajectoryConsistency(trajectory_local)) 00076 return false; 00077 bool success = traj.parameterize(trajectory_local.request.trajectory,trajectory_local.request.limits,spline); 00078 if(!success) 00079 return false; 00080 00081 trajectory_out = trajectory_local; 00082 00083 double dT = 0.01; 00084 std::set<double> times; 00085 double total_time; 00086 spline_smoother::getTotalTime(spline,total_time); 00087 for(int i=1; i< (int) (total_time/dT); i++) 00088 times.insert(i*dT); 00089 times.insert(total_time); 00090 00091 double insert_time = 0; 00092 for(unsigned int i=0; i < spline.segments.size(); i++) 00093 { 00094 insert_time += spline.segments[i].duration.toSec(); 00095 times.insert(insert_time); 00096 } 00097 00098 std::vector<double> times_vec; 00099 for(std::set<double>::iterator set_iter = times.begin(); set_iter != times.end(); set_iter++) 00100 { 00101 times_vec.push_back(*set_iter); 00102 } 00103 std::sort(times_vec.begin(), times_vec.end()); 00104 //traj_gen->write(spline,times_vec,"shortcutter_robot.txt"); 00105 //traj_gen->sample(spline,times,trajectory_out.trajectory); 00106 00107 if(!spline_smoother::sampleSplineTrajectory(spline,times_vec,trajectory_out.request.trajectory)) 00108 return false; 00109 00110 return true; 00111 } 00112 } 00113 00114 #endif /* CUBIC_SPLINE_SMOOTHER_H_ */