Objects of this class are Forward-only Sub-optimal Continuous-curvature (FSC) paths, made of circular arcs, pieces of clothoid and line segments. More...

#include <FscPath.hpp>

Inheritance diagram for iSeeML::rob::FscPath:

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Collaboration diagram for iSeeML::rob::FscPath:

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Public Member Functions
	FscPath ()
	The default constructor should only be used for array initializations: it generates a path starting from default oriented point, with type lsl, and zero maximum curvature, maximum curvature's derivative and lengths. More...

	FscPath (const iSeeML::rob::OrPtConfig &start, const Type &type, const double &maxCurv, const double &maxCDer, const double &length1, const double &length2, const double &length3)
	The 'forward' constructor: a FSC path is built from its starting oriented point, its type, its maximum curvature, maximum curvature's derivative and parts' lengths. More...

	FscPath (const iSeeML::rob::OrPtConfig &start, const Type &type, const double &maxCurv, const double &maxCDer, const double &limDefl, const double &turnRad, const double &turnAng, const double &length1, const double &length2, const double &length3)
	The complete 'forward' constructor: a FSC path is built from its starting oriented point, its type, its maximum curvature, maximum curvature's derivative, limit deflection, turning radius, turning angle, and parts' lengths. More...

	FscPath (const iSeeML::rob::OrPtConfig &start, const iSeeML::rob::OrPtConfig &goal, const double &maxCurv, const double &maxCDer)
	The 'goto' constructor: a FSC path is built, starting from a given iSeeML::rob::OrPtConfig and reaching an other one with a maximum curvature and curvature's derivative. More...

	FscPath (const iSeeML::rob::OrPtConfig &start, const iSeeML::rob::OrPtConfig &goal, const double &maxCurv, const double &maxCDer, const double &limDefl, const double &turnRad, const double &turnAng)
	The complete 'goto' constructor: a FSC path is built, starting from a given iSeeML::rob::OrPtConfig and reaching an other one with a maximum curvature, curvature's derivative, limit deflection, turning radius and turning angle. More...

	FscPath (const FscPath &other)
	The copy constructor. More...

iSeeML::Object &	clone () const
	Description method, giving a copy of the current FSC path. More...

void	writeTo (ostream &O) const
	Description method, writing a description of the path in a given output stream. More...

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

double	limDefl () const
	Description method, giving the limit deflection: a turn of lower (but not zero) deflection is degenerated (it is made of two pieces and does not reach maximum curvature derivative nor maximum curvature), a turn of bigger deflection is normal (it is made of three pieces, the middle one being a circular arc of maximum curvature, and the other two being clothoid pieces of maximum curvature derivative). More...

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

double	turnAngle () const
	Description method, giving the constant angle between the turning circle's tangent and the orientation of the configurations which can be reached. More...

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

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

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...

Public Member Functions inherited from iSeeML::rob::CompoundPath
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...

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

Static Public Member Functions
static void	computeValues (const double &maxCurv, const double &maxCDer, double &limDefl, double &turnRad, double &turnAng)
	Description method, computing from maximum curvature and maximum curvature's derivative the values of limit deflection, turning radius and turning angle for a FSC path. More...

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...

Static Public Attributes
static const string	ClassName
	The class name is public, as this class can be instanced. More...

Protected Member Functions
bool	isShortTurn (const double &defl) const
	Description method, checking whether the given length is too short with respect to the maximum curvature's derivative to reach maximum curvature along a turn. More...

int	turnNbPieces (const double &defl) const
	Description method, computing the number of pieces needed for a turn of given deflection. More...

virtual bool	getConnection (const double &dist, double &length, double &angle) const
	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...

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

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

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

Protected Member Functions inherited from iSeeML::rob::DubinsLikePath
	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...

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)

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...

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...

Additional Inherited Members
Public Types inherited from iSeeML::rob::DubinsLikePath
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...

Static Protected Member Functions inherited from iSeeML::rob::DubinsLikePath
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...

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

Objects of this class are Forward-only Sub-optimal Continuous-curvature (FSC) paths, made of circular arcs, pieces of clothoid and line segments.

They are similar to Dubins' paths, but their curvature have a continuous profile (pieces of clothoid connecting line segments and circular arcs).

Author: Alexis Scheuer.

Version: 1.0

Examples:: Fwd.cpp, LengthFwd.cpp, TimeFwd.cpp, and wxGuiFwd.cpp.

Constructor & Destructor Documentation

iSeeML::rob::FscPath::FscPath ( )

inline

The default constructor should only be used for array initializations: it generates a path starting from default oriented point, with type lsl, and zero maximum curvature, maximum curvature's derivative and lengths.

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.

See also: default constructor of iSeeML::rob::DubinsLikePath.

iSeeML::rob::FscPath::FscPath	(	const iSeeML::rob::OrPtConfig &	start,
		const Type &	type,
		const double &	maxCurv,
		const double &	maxCDer,
		const double &	length1,
		const double &	length2,
		const double &	length3
	)

inline

The 'forward' constructor: a FSC path is built from its starting oriented point, its type, its maximum curvature, maximum curvature's derivative and parts' lengths.

Parameters

start	the starting configuration,
type	the type of Dubins' path,
maxCurv	the maximum curvature along the path (taken in absolute value),
maxCDer	the maximum curvature's derivative along the path (taken in absolute value),
length1	the length of the first part of the path,
length2	the length of the second part of the path,
length3	the length of the third part of the path.

iSeeML::rob::FscPath::FscPath	(	const iSeeML::rob::OrPtConfig &	start,
		const Type &	type,
		const double &	maxCurv,
		const double &	maxCDer,
		const double &	limDefl,
		const double &	turnRad,
		const double &	turnAng,
		const double &	length1,
		const double &	length2,
		const double &	length3
	)

inline

The complete 'forward' constructor: a FSC path is built from its starting oriented point, its type, its maximum curvature, maximum curvature's derivative, limit deflection, turning radius, turning angle, and parts' lengths.

Warning: this constuctor only works if limit deflection, turning radius and turning angle have been correctly computed (using method computeValues).

Parameters

start	the starting configuration,
type	the type of Dubins' path,
maxCurv	the maximum curvature along the path (taken in absolute value),
maxCDer	the maximum curvature's derivative along the path (taken in absolute value),
limDefl	the limit deflection (taken in abs. value),
turnRad	the turning radius (taken in abs. value),
turnAng	the turning angle (taken in abs. value),
length1	the length of the first part of the path,
length2	the length of the second part of the path,
length3	the length of the third part of the path.

iSeeML::rob::FscPath::FscPath	(	const iSeeML::rob::OrPtConfig &	start,
		const iSeeML::rob::OrPtConfig &	goal,
		const double &	maxCurv,
		const double &	maxCDer
	)

inline

The 'goto' constructor: a FSC path is built, starting from a given iSeeML::rob::OrPtConfig and reaching an other one with a maximum curvature and curvature's derivative.

Parameters

start	the starting configuration,
goal	the goal configuration,
maxCurv	the maximum curvature along the path (taken in absolute value),
maxCDer	the maximum curvature's derivative along the path (taken in abs. value).

iSeeML::rob::FscPath::FscPath	(	const iSeeML::rob::OrPtConfig &	start,
		const iSeeML::rob::OrPtConfig &	goal,
		const double &	maxCurv,
		const double &	maxCDer,
		const double &	limDefl,
		const double &	turnRad,
		const double &	turnAng
	)

inline

The complete 'goto' constructor: a FSC path is built, starting from a given iSeeML::rob::OrPtConfig and reaching an other one with a maximum curvature, curvature's derivative, limit deflection, turning radius and turning angle.

Warning: this constuctor only works if limit deflection, turning radius and turning angle have been correctly computed (using the method computeValues).

Parameters

start	the starting configuration,
goal	the goal configuration,
maxCurv	the maximum curvature along the path (taken in absolute value),
maxCDer	the maximum curvature's derivative along the path (taken in abs. value),
limDefl	the limit deflection (taken in abs. value),
turnRad	the turning radius (taken in abs. value),
turnAng	the turning angle (taken in abs. value).

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

inline

The copy constructor.

Parameters

other the copied path.

Member Function Documentation

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

protectedvirtual

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

Maximum curvature of the current FSC path is used.

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).

Implements iSeeML::rob::DubinsLikePath.

iSeeML::Object& iSeeML::rob::FscPath::clone ( ) const

inlinevirtual

Description method, giving a copy of the current FSC path.

This clone is dynamically allocated (using copy constructor), it has to be deleted later.

Returns: a copy/clone of the current FSC path.

Implements iSeeML::Object.

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

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 circle centers computed.

Precondition: the maximum curvature should not be zero. If it is, an error message is generated if ISEEML_CHECK_FSC_PATH_PRECOND is defined (see CompilerFlags.h).

Implements iSeeML::rob::DubinsLikePath.

static void iSeeML::rob::FscPath::computeValues	(	const double &	maxCurv,
		const double &	maxCDer,
		double &	limDefl,
		double &	turnRad,
		double &	turnAng
	)

static

Description method, computing from maximum curvature and maximum curvature's derivative the values of limit deflection, turning radius and turning angle for a FSC path.

If maximum curvature or curvature's derivative is too small, limit deflection is set to zero and turning radius and angle are given negative values.

Parameters

maxCurv	the maximum curvature along the path (taken in absolute value),
maxCDer	the maximum curvature's derivative along the path (taken in abs. value),
limDefl	the corresponding limit deflection,
turnRad	the corresponding turning radius,
turnAng	the corresponding turning angle.

See also: limDefl, turnRadius, turnAngle.

Examples:: LengthFwd.cpp, and TimeFwd.cpp.

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

inlineprotectedvirtual

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

Returns: the array of Dubins-like paths.

Implements iSeeML::rob::DubinsLikePath.

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

protectedvirtual

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

Implements iSeeML::rob::DubinsLikePath.

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

inlineprotectedvirtual

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

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). If not, an error message is generated if ISEEML_CHECK_FSC_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 array of Dubins-like paths.

Implements iSeeML::rob::DubinsLikePath.

bool iSeeML::rob::FscPath::isShortTurn ( const double & defl ) const

inlineprotected

Description method, checking whether the given length is too short with respect to the maximum curvature's derivative to reach maximum curvature along a turn.

Parameters

defl	the turn's deflection.

Returns: true if the length is too short, else false.

double iSeeML::rob::FscPath::limDefl ( ) const

inline

Description method, giving the limit deflection: a turn of lower (but not zero) deflection is degenerated (it is made of two pieces and does not reach maximum curvature derivative nor maximum curvature), a turn of bigger deflection is normal (it is made of three pieces, the middle one being a circular arc of maximum curvature, and the other two being clothoid pieces of maximum curvature derivative).

Returns: the turning circle's radius.

Precondition: This method returns zero if the maximum curvature is zero (zero curvature path should not use it).

double iSeeML::rob::FscPath::maxCurvDeriv ( ) const

inline

Description method, giving the path's maximum curvature's derivative.

Returns: the path's maximum curvature's derivative.

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

inline

Copy operator (default one is not correct).

Parameters

other the path to copy.

Returns: the current path, after modification.

double iSeeML::rob::FscPath::turnAngle ( ) const

inline

Description method, giving the constant angle between the turning circle's tangent and the orientation of the configurations which can be reached.

Returns: the turning circle's angle.

Precondition: This method returns - $\pi$ if the maximum curvature is zero (zero curvature path should not use it).

See also: turnRadius.

int iSeeML::rob::FscPath::turnNbPieces ( const double & defl ) const

inlineprotectedvirtual

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

Parameters

defl	the turn's deflection.

Returns: the number of needed pieces, which is 1, 2 or 3.

Implements iSeeML::rob::DubinsLikePath.

double iSeeML::rob::FscPath::turnRadius ( ) const

inlinevirtual

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

Returns: the turning circle's radius.

Precondition: This method returns -1 if the maximum curvature is zero (zero curvature path should not use it).

Implements iSeeML::rob::DubinsLikePath.

void iSeeML::rob::FscPath::writeTo ( ostream & O ) const

virtual

Description method, writing a description of the path in a given output stream.

Starting configuration (as an oriented point with curvature) is given, followed by a short description of each piece (curvature's derivative and length), and by the final configuration.

Parameters

O	the output stream in which description is written.

Reimplemented from iSeeML::rob::CompoundPath.

Member Data Documentation

const string iSeeML::rob::FscPath::ClassName

static

The class name is public, as this class can be instanced.

See also: className.

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

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation