This class defines Dubins like paths, which are similar to Dubins paths. More...

#include <DubinsLikePath.hpp>

Inheritance diagram for iSeeML::rob::DubinsLikePath:

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Collaboration diagram for iSeeML::rob::DubinsLikePath:

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Public Types
enum	Type { lsl, lsr, rsl, rsr, lrl, rlr }
	Dubins-like paths can be of six types: their first and last parts are turns, their middle part is tangent to the first and last parts but can be a line segment or a turn. More...

enum	{ nbPossiblePaths = 6, nbTurningCircles = 4 }
	Some methods will need these integer values. More...

Public Member Functions
int	nbPieces () const
	Description method, giving the number of pieces of the path. More...

const Type &	type () const
	Description method, giving the path's type (from lsl to rlr). More...

const double &	maxCurv () const
	Description method, giving the path's maximum curvature. More...

const iSeeML::rob::LinCurvPath &	lcPiece (const int index) const
	Description method, returning the (linear curvature) piece of the path with a given index. More...

virtual double	turnRadius () const =0
	Description method, giving the radius of the turning circle (the circle of all the configurations which can be reached from a fixed one). More...

void	connect (const iSeeML::rob::OrPtConfig &start, const iSeeML::rob::OrPtConfig &goal)
	Modification method, defining type and pieces of a Dubins' like path in order to connect two given configurations with the shortest length (between nbPossiblePaths possibilities). More...

DubinsLikePath &	operator= (const DubinsLikePath &other)
	Copy operator (default one is not correct). More...

virtual void	computeCenters (const iSeeML::rob::OrPtConfig &start, const iSeeML::rob::OrPtConfig &goal, iSeeML::geom::Point centers[nbTurningCircles]) const =0
	Various method, computing the set of circle centers used to turn from starting configuration of the current path, or to turn to reach the given goal configuration. More...

Public Member Functions inherited from iSeeML::rob::CompoundPath
void	writeTo (ostream &O) const
	Description method, writing a description of the path in a given output stream (the array of pieces is written). More...

const iSeeML::rob::OrPtConfig &	start () const
	Description method, giving the path's starting configuration (first piece's starting configuration). More...

const iSeeML::rob::OrPtConfig &	end () const
	Description method, giving the path's final configuration (last piece's starting configuration). More...

const iSeeML::rob::BasicPath &	piece (const int index) const
	Description method, returning the (constant) basic path of given index in the list of which this compound path is made. More...

double	length () const
	Description method, giving the path's length (sum of the pieces' length). More...

double	deflection () const
	Description method, giving the path's deflection (sum of the pieces' deflection). More...

iSeeML::rob::BasicPath &	piece (const int index)
	Modification method, returning (for modification) the basic path of given index in the list of which this compound path is made. More...

iSeeML::rob::CurvConfig	operator[] (const double &s) const
	Description method, giving a configuration at a given arc length along the path. More...

Public Member Functions inherited from iSeeML::rob::Path
bool	operator< (const Path &other) const
	Order operator, defining an order relation on the paths' set, based on the path's length. More...

Public Member Functions inherited from iSeeML::Object
virtual	~Object ()
	This virtual class needs a virtual destructor.

virtual const string	className () const
	Description method, giving the object's class name. More...

virtual iSeeML::Object &	clone () const =0
	Description method, giving a copy of the current object. More...

bool	sameClass (const iSeeML::Object &other)
	Method verifying that a given object has the same type (same class name) than the current one. More...

Protected Member Functions
	DubinsLikePath (const Type &type, const double &maxCurv)
	The structure can be filled using this constructor, which is protected (only defined for sub-classes). More...

	DubinsLikePath (const DubinsLikePath &other)
	The copy constructor (the default one is not correct). More...

	~DubinsLikePath ()
	The destructor (the default one is not correct). More...

virtual int	turnNbPieces (const double &length) const =0
	Description method, computing the number of pieces needed for a turn of given length. More...

virtual bool	getConnection (const double &dist, double &length, double &angle) const =0
	Description method, trying to compute the length of the line segment connecting the turning circles and the angle between the segment connecting the turning centers and the previous one. More...

iSeeML::rob::LinCurvPath &	lcPiece (const int index)
	Modification method, returning for modification the (linear curvature) piece of the path with a given index. More...

void	setNoPiece (const iSeeML::rob::OrPtConfig &start)
	Modification method, setting pieces of a non-valid Dubins' like path from a starting configuration (pieces array will only contain a zero length line segment). More...

void	definePieces (const iSeeML::rob::OrPtConfig &start, const double &defl1, const double &lenDefl, const double &defl3)

virtual void	addTurn (int &index, const iSeeML::rob::OrPtConfig **start, const double &defl)=0
	Modification method, adding to the pieces of a path a turn starting at a given configuration, with a given curvature sign and length. More...

void	addPiece (int &index, const iSeeML::rob::CurvConfig &start, const double &curvDeriv, const double &length)
	Modification method, adding to the pieces of a path a piece starting at a given configuration (with curvature), with a given curvature's derivative and length. More...

iSeeML::rob::BasicPath &	_piece (const int index) const
	Virtual method returning the basic path of given index in the list of which this compound path is made (no verification). More...

virtual DubinsLikePath *	connectArray () const =0
	Various method, returning an array of nbPossiblePaths Dubins-like paths, initialised as clones of the current path. More...

virtual DubinsLikePath &	getSolution (DubinsLikePath *paths, const int index) const =0
	Various method, getting in an array of Dubins-like paths the element of given index. More...

Protected Member Functions inherited from iSeeML::rob::CompoundPath
iSeeML::rob::BasicPath &	getPiece (const int index) const
	Method returning the basic path of given index in the list of which this compound path is made. More...

Protected Member Functions inherited from iSeeML::Object
virtual int	algDimension () const
	Description method for algebraic vectors, giving the dimension of the containing space (default is zero). More...

virtual double	algCoord (const int) const
	Description method for algebraic vectors, giving coordinate of given index for this vector. More...

virtual void	algWriteTo (ostream &O) const
	Description method for algebraic vectors, writing this vector in a given output stream: coordinates for each dimension are written, between paranthesis and separated by commas. More...

Static Protected Member Functions
static int	turnSign (const int number, const Type &type)
	Description method, giving the sign (1 for left, -1 for right, 0 for a segment) of the turn or segment whose number is given for a path of given type. More...

Additional Inherited Members
Static Public Member Functions inherited from iSeeML::Object
template<class T >
static const T &	min (const T &a, const T &b)
	Method giving the minimum of two elements. More...

template<class T >
static const T &	max (const T &a, const T &b)
	Method giving the maximum of two elements. More...

static double	sqr (const double &x)
	Method giving the square of a double. More...

static double	mod2pi (const double &theta)
	Method giving the angle between - $\pi$ (excluded) and $\pi$ (included), which is equal to a given angle modulo 2 $\pi$ . More...

static double	rad2deg (const double &theta)
	Method transforming an angle in radian, $x \pi$ with between -1 (excluded) and 1 (included), into its equivalent in degree, i.e. More...

static double	deg2rad (const double &theta)
	Method transforming an angle in degree, with between -1 (excluded) and 1 (included), into its equivalent in radian, i.e. More...

static bool	isPositive (const double &x)
	Method telling whether a double is strictly positive. More...

static bool	isNegative (const double &x)
	Method telling whether a double is strictly negative. More...

static bool	isZero (const double &x)
	Method comparing a double to zero. More...

static int	sign (const double &x)
	Method giving the sign of a double. More...

Related Functions inherited from iSeeML::Object
ostream &	operator<< (ostream &O, const iSeeML::Object &o)
	Modification method, writing a description of a ISeeML object in a given output stream. More...

Detailed Description

This class defines Dubins like paths, which are similar to Dubins paths.

A Dubins like path is made of at most three parts, which can be a turn or a straight line. Dubins paths' parts are circular arcs or line segments, with a ponctual change of curvature at each part's end, while FSC paths' turns start and finish with zero curvature. Each part is represented by one to three pieces, which are linear curvature paths.

Author: Alexis Scheuer.

Version: 1.0

Examples:: wxGuiFwd.cpp.

Member Enumeration Documentation

anonymous enum

Some methods will need these integer values.

Enumerator

nbPossiblePaths

the number of possible paths (6).

See also: Type.

nbTurningCircles

the number of usefull turning circles (4).

enum iSeeML::rob::DubinsLikePath::Type

Dubins-like paths can be of six types: their first and last parts are turns, their middle part is tangent to the first and last parts but can be a line segment or a turn.

Thus, Dubins-like paths' types can be named by three letters: the first and third are l or r (Left or Right turn) and the second is l, r or s (Left or Right turn, or Segment).

Enumerator
lsl	Path made of a left turn, a straight line and a left turn.
lsr	Path made of a left turn, a straight line and a right turn.
rsl	Path made of a right turn, a straight line and a left turn.
rsr	Path made of a right turn, a straight line and a right turn.
lrl	Path made of a left turn, a right turn and a left turn.
rlr	Path made of a right turn, a left turn and a right turn.

Constructor & Destructor Documentation

iSeeML::rob::DubinsLikePath::DubinsLikePath	(	const Type &	type,
		const double &	maxCurv
	)

inlineprotected

The structure can be filled using this constructor, which is protected (only defined for sub-classes).

No other constructor is defined, as this class is virtual.

Parameters

type	the type of Dubins' path,
maxCurv	the maximum curvature along the path (taken in absolute value).

iSeeML::rob::DubinsLikePath::DubinsLikePath ( const DubinsLikePath & other )

inlineprotected

The copy constructor (the default one is not correct).

The array of pieces of the other path is copied.

Parameters

other the copied path.

iSeeML::rob::DubinsLikePath::~DubinsLikePath ( )

inlineprotected

The destructor (the default one is not correct).

The array of pieces of the other path is freed.

Member Function Documentation

iSeeML::rob::BasicPath& iSeeML::rob::DubinsLikePath::_piece ( const int index ) const

inlineprotectedvirtual

Virtual method returning the basic path of given index in the list of which this compound path is made (no verification).

Parameters

index the index of the desired piece (between 1 and the result of nbPieces).

Returns: the basic path whose index has been given.

See also: nbPieces, piece, getPiece.

Implements iSeeML::rob::CompoundPath.

void iSeeML::rob::DubinsLikePath::addPiece	(	int &	index,
		const iSeeML::rob::CurvConfig &	start,
		const double &	curvDeriv,
		const double &	length
	)

inlineprotected

Modification method, adding to the pieces of a path a piece starting at a given configuration (with curvature), with a given curvature's derivative and length.

Index index of the first undefined piece in the pieces array is incremented by one in this method, to remain the index of the first undefined piece in the array. Configuration start remains constant.

Parameters

index	the first free index in the pieces array (`index` will be added at this index, which will be incremented),
start	the starting configuration,
curvDeriv	the turn's curvature's derivative,
length	the turn's length.

virtual void iSeeML::rob::DubinsLikePath::addTurn	(	int &	index,
		const iSeeML::rob::OrPtConfig **	start,
		const double &	defl
	)

protectedpure virtual

Modification method, adding to the pieces of a path a turn starting at a given configuration, with a given curvature sign and length.

Index index of the first undefined piece in the pieces array is modified by this method, to remain the index of the first undefined piece in the array. Adress start of the next starting configuration is also modified along this method. Maximum curvature of the current Dubins-like path is used in this method.

Parameters

index	the first free index in the pieces array (pieces will be added at this index and after, and the index will be incremented),
start	a reference to the reference of the starting configuration (it will be changed to a ref. to the ref. of next starting config.),
defl	the turn's deflection (change of orientation), giving the curvature sign.

Precondition: This method only works if the maximum curvature is not zero (otherwise, it writes an error on stderr).

Implemented in iSeeML::rob::FscPath, and iSeeML::rob::DubinsPath.

virtual void iSeeML::rob::DubinsLikePath::computeCenters	(	const iSeeML::rob::OrPtConfig &	start,
		const iSeeML::rob::OrPtConfig &	goal,
		iSeeML::geom::Point	centers[nbTurningCircles]
	)		const

pure virtual

Various method, computing the set of circle centers used to turn from starting configuration of the current path, or to turn to reach the given goal configuration.

Parameters

start	the starting configuration,
goal	the configuration to reach,
centers	the set of nbTurningCircles circle centers computed.

Precondition: This method only works if the maximum curvature is not zero (zero curvature case is to be treated separately in constructors).

Implemented in iSeeML::rob::FscPath, and iSeeML::rob::DubinsPath.

Examples:: wxGuiFwd.cpp.

void iSeeML::rob::DubinsLikePath::connect	(	const iSeeML::rob::OrPtConfig &	start,
		const iSeeML::rob::OrPtConfig &	goal
	)

Modification method, defining type and pieces of a Dubins' like path in order to connect two given configurations with the shortest length (between nbPossiblePaths possibilities).

Maximum curvature of the current Dubins-like path is used.

Parameters

start	the starting configuration,
goal	the goal configuration.

virtual DubinsLikePath* iSeeML::rob::DubinsLikePath::connectArray ( ) const

protectedpure virtual

Various method, returning an array of nbPossiblePaths Dubins-like paths, initialised as clones of the current path.

Returns: the array of Dubins-like paths.

Implemented in iSeeML::rob::FscPath, and iSeeML::rob::DubinsPath.

void iSeeML::rob::DubinsLikePath::definePieces	(	const iSeeML::rob::OrPtConfig &	start,
		const double &	defl1,
		const double &	lenDefl,
		const double &	defl3
	)

protected

Modification method, defining pieces of a Dubins-like path from a starting configuration and deflections (change of orientation, for turns) or length (for straight lines) of each part.

Warning: type and maximum curvature (at least) of the current path are used.

Parameters

start	the starting configuration,
defl1	the deflection of the first part of the path,
lenDefl	the length or deflection of the second part,
defl3	the deflection of the third part of the path.

Precondition: memory should not be full. If memory is full and ISEEML_CHECK_NIL_POINTER is defined (see CompilerFlags.h), an error message is generated (in this method or in setNoPiece) and the program exits.

Postcondition: Number of pieces needed is estimated for memory allocation. Pieces array is then filled using setNoPiece, addTurn and addPiece. Coherence between estimated and used number of pieces is verified if ISEEML_CHECK_DLIKE_PATH_POSTCOND is defined (see CompilerFlags.h).

See also: setNoPiece, addTurn, addPiece.

virtual bool iSeeML::rob::DubinsLikePath::getConnection	(	const double &	dist,
		double &	length,
		double &	angle
	)		const

protectedpure virtual

Description method, trying to compute the length of the line segment connecting the turning circles and the angle between the segment connecting the turning centers and the previous one.

The angle can only be computed if the square distance between the turning centers is greater than a value depending of the path's type. Length is not computed for lrl or rlr path's type, and is negative when previous angle cannot be computed.

Parameters

dist	the distance between the turning centers,
length	the length to compute (modified by the method),
angle	the angle to compute (modified by the method).

Returns: whether the computation was succesful or not (whether the distance dist2 is greater than a value depending of the path's type).

Implemented in iSeeML::rob::FscPath, and iSeeML::rob::DubinsPath.

virtual DubinsLikePath& iSeeML::rob::DubinsLikePath::getSolution	(	DubinsLikePath *	paths,
		const int	index
	)		const

protectedpure virtual

Various method, getting in an array of Dubins-like paths the element of given index.

This method is virtual as the real type of the paths in the first parameter array is the same as the real type of the current Dubins-like path (either Dubins' or FSC path). Size of these paths' representation being different, access in an array needs different computations.

Parameters

paths	the array of Dubins-like paths,
index	the index of the searched path.

Precondition: first parameter should be an array of paths obtained using connectArray.; second parameter should be a correct index for first parameter array (between 0 and nbPossiblePaths - 1).

Returns: the array of Dubins-like paths.

See also: connectArray.

Implemented in iSeeML::rob::FscPath, and iSeeML::rob::DubinsPath.

const iSeeML::rob::LinCurvPath& iSeeML::rob::DubinsLikePath::lcPiece ( const int index ) const

inline

Description method, returning the (linear curvature) piece of the path with a given index.

Parameters

index the index of the desired piece (between 1 and the result of nbPiece()).

Precondition: the given index should be between one and the result of nbPieces.

Returns: the piece of the path whose index has been given.

See also: piece.

Examples:: wxGuiFwd.cpp.

iSeeML::rob::LinCurvPath& iSeeML::rob::DubinsLikePath::lcPiece ( const int index )

inlineprotected

Modification method, returning for modification the (linear curvature) piece of the path with a given index.

Parameters

index the index of the desired piece (between 1 and the result of nbPiece()).

Precondition: the given index should be between one and the result of nbPieces.

Returns: the (modifiable) piece of the path whose index has been given.

See also: piece.

const double& iSeeML::rob::DubinsLikePath::maxCurv ( ) const

inline

Description method, giving the path's maximum curvature.

Returns: the path's maximum curvature.

int iSeeML::rob::DubinsLikePath::nbPieces ( ) const

inlinevirtual

Description method, giving the number of pieces of the path.

Returns: the number of pieces of the path.

Version: 1.1

Implements iSeeML::rob::CompoundPath.

Examples:: wxGuiFwd.cpp.

DubinsLikePath& iSeeML::rob::DubinsLikePath::operator= ( const DubinsLikePath & other )

inline

Copy operator (default one is not correct).

Parameters

other the path to copy.

Precondition: memory should not be full. If memory is full and ISEEML_CHECK_NULL_POINTER is defined (see CompilerFlags.h), an error message is generated and the program exits.

Returns: the current path, after modification.

void iSeeML::rob::DubinsLikePath::setNoPiece ( const iSeeML::rob::OrPtConfig & start )

inlineprotected

Modification method, setting pieces of a non-valid Dubins' like path from a starting configuration (pieces array will only contain a zero length line segment).

Parameters

start the starting configuration.

Precondition: memory should not be full. If memory is full and ISEEML_CHECK_NIL_POINTER is defined (see CompilerFlags.h), an error message is generated and the program exits.

virtual int iSeeML::rob::DubinsLikePath::turnNbPieces ( const double & length ) const

protectedpure virtual

Description method, computing the number of pieces needed for a turn of given length.

Parameters

length the turn's length.

Returns: the number of needed pieces.

Implemented in iSeeML::rob::FscPath, and iSeeML::rob::DubinsPath.

virtual double iSeeML::rob::DubinsLikePath::turnRadius ( ) const

pure virtual

Description method, giving the radius of the turning circle (the circle of all the configurations which can be reached from a fixed one).

Maximum curvature of the current path is used. It should not be zero, or this method will return infinity.

Returns: the turning circle's radius.

Implemented in iSeeML::rob::FscPath, and iSeeML::rob::DubinsPath.

Examples:: wxGuiFwd.cpp.

static int iSeeML::rob::DubinsLikePath::turnSign	(	const int	number,
		const Type &	type
	)

inlinestaticprotected

Description method, giving the sign (1 for left, -1 for right, 0 for a segment) of the turn or segment whose number is given for a path of given type.

As an example, a lsr type path has respective parts signs 1, 0 and -1, when a rlr type path has respective parts signs -1, 1 and -1.

Parameters

number	the number of the part whose sign is wanted,
type	the type of the considered path.

Precondition: the given number of the part should be between 1 and 3. If not, an error message is generated if ISEEML_CHECK_DLIKE_PATH_PRECOND is defined, and the number is considered as 1 if smaller and 3 if bigger, if ISEEML_CHECK_ARRAY_ELEMT is defined (see CompilerFlags.h).

Returns: the part's sign.

const Type& iSeeML::rob::DubinsLikePath::type ( ) const

inline

Description method, giving the path's type (from lsl to rlr).

Returns: the path's type.

The documentation for this class was generated from the following file:

/home/ajs/Loria/Local/Compte/Recherche/Prog/C++/ISeeML/include/iSeeML/rob/DubinsLikePath.hpp

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation