transition_limit.cpp
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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 }
virtual bool check(FootstepState::Ptr from, FootstepState::Ptr to) const
TransitionLimitXYZRPY(double x_max, double y_max, double z_max, double roll_max, double pitch_max, double yaw_max)
pitch
IMETHOD Vector diff(const Vector &p_w_a, const Vector &p_w_b, double dt=1)
yaw
TransitionLimitRP(double roll_max, double pitch_max)
roll
virtual bool check(FootstepState::Ptr from, FootstepState::Ptr to) const


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Thu Nov 14 2019 03:53:28