transition_limit.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
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00035 
00036 #include "jsk_footstep_planner/transition_limit.h"
00037 #include <pcl/common/eigen.h>
00038 
00039 namespace jsk_footstep_planner
00040 {
00041   TransitionLimitRP::TransitionLimitRP(
00042     double roll_max,
00043     double pitch_max):
00044     roll_max_(roll_max), pitch_max_(pitch_max)
00045   {
00046   }
00047 
00048   bool TransitionLimitRP::check(FootstepState::Ptr from,
00049                                 FootstepState::Ptr to) const
00050   {
00051     const Eigen::Affine3f diff = to->getPose() * from->getPose().inverse();
00052     float roll, pitch, yaw;
00053     pcl::getEulerAngles(diff, roll, pitch, yaw);
00054     return (std::abs(roll) < roll_max_ &&
00055             std::abs(pitch) < pitch_max_);
00056   }
00057   
00058   TransitionLimitXYZRPY::TransitionLimitXYZRPY(
00059     double x_max,
00060     double y_max,
00061     double z_max,
00062     double roll_max,
00063     double pitch_max,
00064     double yaw_max):
00065     x_max_(x_max), y_max_(y_max), z_max_(z_max),
00066     roll_max_(roll_max), pitch_max_(pitch_max), yaw_max_(yaw_max)
00067   {
00068   }
00069   
00070   bool TransitionLimitXYZRPY::check(FootstepState::Ptr from,
00071                                     FootstepState::Ptr to) const
00072   {
00073     // from * trans = to
00074     const Eigen::Affine3f diff = to->getPose() * from->getPose().inverse();
00075     const Eigen::Vector3f diff_pos(diff.translation());
00076     if (std::abs(diff_pos[0]) < x_max_ &&
00077         std::abs(diff_pos[1]) < y_max_ &&
00078         std::abs(diff_pos[2]) < z_max_) {
00079       float roll, pitch, yaw;
00080       pcl::getEulerAngles(diff, roll, pitch, yaw);
00081       return (std::abs(roll) < roll_max_ &&
00082               std::abs(pitch) < pitch_max_ &&
00083               std::abs(yaw) < yaw_max_);
00084     }
00085     else {
00086       return false;
00087     }
00088   }
00089 }


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Fri Apr 19 2019 03:45:28