DynamicPath.h

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#ifndef DYNAMIC_PATH_H
#define DYNAMIC_PATH_H

#include "constraint_aware_spline_smoother/ParabolicPathSmooth/ParabolicRamp.h"

namespace ParabolicRamp {

class FeasibilityCheckerBase
{
 public:
  virtual ~FeasibilityCheckerBase() {}
  virtual bool ConfigFeasible(const Vector& x)=0;
  virtual bool SegmentFeasible(const Vector& a,const Vector& b)=0;
};

class DistanceCheckerBase
{
 public:
  virtual ~DistanceCheckerBase() {}
  virtual Real ObstacleDistanceNorm() const { return Inf; }
  virtual Real ObstacleDistance(const Vector& x)=0;
};

bool CheckRamp(const ParabolicRampND& ramp,FeasibilityCheckerBase* feas,DistanceCheckerBase* distance,int maxiters);

bool CheckRamp(const ParabolicRampND& ramp,FeasibilityCheckerBase* space,Real tol);


class RampFeasibilityChecker
{
 public:
  RampFeasibilityChecker(FeasibilityCheckerBase* feas,Real tol);
  RampFeasibilityChecker(FeasibilityCheckerBase* feas,DistanceCheckerBase* distance,int maxiters);
  bool Check(const ParabolicRampND& x);

  FeasibilityCheckerBase* feas;
  Real tol;
  DistanceCheckerBase* distance;
  int maxiters;
};

class RandomNumberGeneratorBase
{
 public:
  virtual Real Rand() { return ::ParabolicRamp::Rand(); }
};


class DynamicPath
{
 public:
  DynamicPath();
  void Init(const Vector& velMax,const Vector& accMax);
  void SetJointLimits(const Vector& qMin,const Vector& qMax);
  inline void Clear() { ramps.clear(); }
  inline bool Empty() const { return ramps.empty(); }
  Real GetTotalTime() const;
  int GetSegment(Real t,Real& u) const;
  void Evaluate(Real t,Vector& x) const;
  void Derivative(Real t,Vector& dx) const;
  void SetMilestones(const std::vector<Vector>& x);
  void SetMilestones(const std::vector<Vector>& x,const std::vector<Vector>& dx);
  void GetMilestones(std::vector<Vector>& x,std::vector<Vector>& dx) const;
  void Append(const Vector& x);
  void Append(const Vector& x,const Vector& dx);
  void Concat(const DynamicPath& suffix);
  void Split(Real t,DynamicPath& before,DynamicPath& after) const;
  bool TryShortcut(Real t1,Real t2,RampFeasibilityChecker& check);
  int Shortcut(int numIters,RampFeasibilityChecker& check);
  int Shortcut(int numIters,RampFeasibilityChecker& check,RandomNumberGeneratorBase* rng);
  int ShortCircuit(RampFeasibilityChecker& check);
  int OnlineShortcut(Real leadTime,Real padTime,RampFeasibilityChecker& check);
  int OnlineShortcut(Real leadTime,Real padTime,RampFeasibilityChecker& check,RandomNumberGeneratorBase* rng);

  bool IsValid() const;

  Vector xMin,xMax,velMax,accMax;
  std::vector<ParabolicRampND> ramps;
};

} //namespace ParabolicRamp

#endif