00001 /* 00002 * Copyright (c) 2019, the neonavigation authors 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the copyright holder nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef PLANNER_CSPACE_PLANNER_3D_PATH_INTERPOLATOR_H 00031 #define PLANNER_CSPACE_PLANNER_3D_PATH_INTERPOLATOR_H 00032 00033 #include <list> 00034 00035 #include <planner_cspace/cyclic_vec.h> 00036 #include <planner_cspace/planner_3d/rotation_cache.h> 00037 00038 class PathInterpolator 00039 { 00040 private: 00041 RotationCache rot_cache_; 00042 int range_; 00043 int angle_; 00044 00045 public: 00046 inline void reset( 00047 const float angular_resolution, 00048 const int range) 00049 { 00050 range_ = range; 00051 angle_ = std::lround(M_PI * 2 / angular_resolution); 00052 rot_cache_.reset(1.0, angular_resolution, range); 00053 } 00054 std::list<CyclicVecFloat<3, 2>> interpolate( 00055 const std::list<CyclicVecInt<3, 2>>& path_grid, 00056 const float interval, 00057 const int local_range) const; 00058 }; 00059 00060 #endif // PLANNER_CSPACE_PLANNER_3D_PATH_INTERPOLATOR_H