edge_time_optimal.h

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 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2016,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
 *  All rights reserved.
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 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the institute nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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 * 
 * Notes:
 * The following class is derived from a class defined by the
 * g2o-framework. g2o is licensed under the terms of the BSD License.
 * Refer to the base class source for detailed licensing information.
 *
 * Author: Christoph Rösmann
 *********************************************************************/

#ifndef EDGE_TIMEOPTIMAL_H_
#define EDGE_TIMEOPTIMAL_H_

#include <float.h>

#include <g2o/core/base_unary_edge.h>
#include <base_local_planner/BaseLocalPlannerConfig.h>

#include <teb_local_planner/g2o_types/vertex_timediff.h>
#include <teb_local_planner/g2o_types/penalties.h>
#include <teb_local_planner/teb_config.h>

#include <Eigen/Core>

namespace teb_local_planner
{

  
class EdgeTimeOptimal : public g2o::BaseUnaryEdge<1, double, VertexTimeDiff>
{
public:
                
  EdgeTimeOptimal()
  {
    this->setMeasurement(0.);
    _vertices[0] = NULL;
  }
  
  virtual ~EdgeTimeOptimal()
  {
    if(_vertices[0]) 
      _vertices[0]->edges().erase(this); 
  }

  void computeError()
  {
    ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeTimeOptimal()");
    const VertexTimeDiff* timediff = static_cast<const VertexTimeDiff*>(_vertices[0]);

   _error[0] = timediff->dt();
  
    ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgeTimeOptimal::computeError() _error[0]=%f\n",_error[0]);
  }

#ifdef USE_ANALYTIC_JACOBI

  void linearizeOplus()
  {
    ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeTimeOptimal()");
    _jacobianOplusXi( 0 , 0 ) = 1;
  }
#endif
    
  ErrorVector& getError()
  {
    computeError();
    return _error;
  }
  
  virtual bool read(std::istream& is)
  {
    is >> _measurement;
    is >> information()(0,0);
    return true;
  }

  virtual bool write(std::ostream& os) const
  {
    os << information()(0,0) << " Error: " << _error[0]; 
    return os.good();
  }
    
  void setTebConfig(const TebConfig& cfg)
  {
    cfg_ = &cfg;
  }

protected:
  
  const TebConfig* cfg_; 
  
public:        
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

}; // end namespace

#endif /* EDGE_TIMEOPTIMAL_H_ */