hpp::core::steeringMethod::Kinodynamic Class Reference

#include <hpp/core/steering-method/steering-kinodynamic.hh>

Inheritance diagram for hpp::core::steeringMethod::Kinodynamic:

Collaboration diagram for hpp::core::steeringMethod::Kinodynamic:

Public Member Functions
virtual SteeringMethodPtr_t	copy () const
	Copy instance and return shared pointer.
virtual PathPtr_t	impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const
	create a path between two configurations
double	computeMinTime (int index, double p1, double p2, double v1, double v2, interval_t *infInterval) const
	computeMinTime compute the minimum time required to go from state (p1,v1) to (p2,v2)
virtual void	fixedTimeTrajectory (int index, double T, double p1, double p2, double v1, double v2, double *a1, double *t0, double *t1, double *tv, double *t2, double *vLim) const
	fixedTimeTrajectory compute the minimum acceleration trajectory for desired time T (1 dimension)
void	setAmax (Vector3 aMax)
void	setVmax (Vector3 vMax)
Public Member Functions inherited from hpp::core::SteeringMethod
PathPtr_t	operator() (ConfigurationIn_t q1, ConfigurationIn_t q2) const
PathPtr_t	steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const
virtual	~SteeringMethod ()
ProblemConstPtr_t	problem () const
void	constraints (const ConstraintSetPtr_t &constraints)
	Set constraint set.
const ConstraintSetPtr_t &	constraints () const
	Get constraint set.

Static Public Member Functions
static KinodynamicPtr_t	create (const ProblemConstPtr_t &problem)
	Create an instance.
static KinodynamicPtr_t	createCopy (const KinodynamicPtr_t &other)
	Copy instance and return shared pointer.

Protected Member Functions
	Kinodynamic (const ProblemConstPtr_t &problem)
	Constructor.
	Kinodynamic (const Kinodynamic &other)
	Copy constructor.
void	init (KinodynamicWkPtr_t weak)
	Store weak pointer to itself.
Protected Member Functions inherited from hpp::core::SteeringMethod
	SteeringMethod (const ProblemConstPtr_t &problem)
	Constructor.
	SteeringMethod (const SteeringMethod &other)
void	init (SteeringMethodWkPtr_t weak)
	Store weak pointer to itself.

Protected Attributes
Vector3	aMax_
Vector3	vMax_
double	aMaxFixed_
double	aMaxFixed_Z_
bool	synchronizeVerticalAxis_
bool	orientedPath_
bool	orientationIgnoreZValue_

Detailed Description

Steering method that creates KinodynamicPath instances. It produce a "bang-bang" trajectory connecting exactly the two given state (position and velocity) which respect velocity and acceleration bounds defined by the user (see Problem parameters : Kinodynamic/velocityBound and Kinodynamic/accelerationBound)

Implementation based on the equation of the article https://ieeexplore.ieee.org/document/6943083

Constructor & Destructor Documentation

Kinodynamic() [1/2]

hpp::core::steeringMethod::Kinodynamic::Kinodynamic ( const ProblemConstPtr_t & problem )

protected

Constructor.

Kinodynamic() [2/2]

hpp::core::steeringMethod::Kinodynamic::Kinodynamic ( const Kinodynamic & other )

protected

Copy constructor.

Member Function Documentation

computeMinTime()

double hpp::core::steeringMethod::Kinodynamic::computeMinTime	(	int	index,
		double	p1,
		double	p2,
		double	v1,
		double	v2,
		interval_t *	infInterval ) const

computeMinTime compute the minimum time required to go from state (p1,v1) to (p2,v2)

Parameters

p1	position at state 1
p2	position at state 2
v1	velocity at state 1
v2	velocity at state 2
infInterval	: infeasible interval

Returns

T the minimal time

copy()

virtual SteeringMethodPtr_t hpp::core::steeringMethod::Kinodynamic::copy ( ) const

inlinevirtual

Copy instance and return shared pointer.

Implements hpp::core::SteeringMethod.

create()

KinodynamicPtr_t hpp::core::steeringMethod::Kinodynamic::create ( const ProblemConstPtr_t & problem )

inlinestatic

Create an instance.

createCopy()

KinodynamicPtr_t hpp::core::steeringMethod::Kinodynamic::createCopy ( const KinodynamicPtr_t & other )

inlinestatic

Copy instance and return shared pointer.

fixedTimeTrajectory()

virtual void hpp::core::steeringMethod::Kinodynamic::fixedTimeTrajectory ( int index, double T, double p1, double p2, double v1, double v2, double * a1, double * t0, double * t1, double * tv, double * t2, double * vLim ) const

virtual

fixedTimeTrajectory compute the minimum acceleration trajectory for desired time T (1 dimension)

Parameters

T	lenght of the trajectory
p1	position at state 1
p2	position at state 2
v1	velocity at state 1
v2	velocity at state 2 output :
a1	acceleration during first phase
t1	time of the first segment
tv	time of constant velocity segment (can be = 0)
t2	time of the last segment

Returns

T the minimal time

impl_compute()

virtual PathPtr_t hpp::core::steeringMethod::Kinodynamic::impl_compute ( ConfigurationIn_t q1, ConfigurationIn_t q2 ) const

virtual

create a path between two configurations

Implements hpp::core::SteeringMethod.

init()

void hpp::core::steeringMethod::Kinodynamic::init ( KinodynamicWkPtr_t weak )

inlineprotected

Store weak pointer to itself.

setAmax()

void hpp::core::steeringMethod::Kinodynamic::setAmax ( Vector3 aMax )

inline

setVmax()

void hpp::core::steeringMethod::Kinodynamic::setVmax ( Vector3 vMax )

inline

Member Data Documentation

aMax_

Vector3 hpp::core::steeringMethod::Kinodynamic::aMax_

protected

aMaxFixed_

double hpp::core::steeringMethod::Kinodynamic::aMaxFixed_

protected

aMaxFixed_Z_

double hpp::core::steeringMethod::Kinodynamic::aMaxFixed_Z_

protected

orientationIgnoreZValue_

bool hpp::core::steeringMethod::Kinodynamic::orientationIgnoreZValue_

protected

orientedPath_

bool hpp::core::steeringMethod::Kinodynamic::orientedPath_

protected

synchronizeVerticalAxis_

bool hpp::core::steeringMethod::Kinodynamic::synchronizeVerticalAxis_

protected

vMax_

Vector3 hpp::core::steeringMethod::Kinodynamic::vMax_

protected

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

• include/hpp/core/steering-method/steering-kinodynamic.hh