path_roundedcomposite.cpp

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/***************************************************************************
  tag: Erwin Aertbelien  Mon May 10 19:10:36 CEST 2004  path_roundedcomposite.cxx

                        path_roundedcomposite.cxx -  description
                           -------------------
    begin                : Mon May 10 2004
    copyright            : (C) 2004 Erwin Aertbelien
    email                : erwin.aertbelien@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Lesser General Public            *
 *   License as published by the Free Software Foundation; either          *
 *   version 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU Lesser General Public      *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/
/*****************************************************************************
 *  \author
 *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
 *
 *  \version
 *              ORO_Geometry V0.2
 *
 *      \par History
 *              - $log$
 *
 *      \par Release
 *              $Id: path_roundedcomposite.cpp,v 1.1.1.1.2.5 2003/07/24 13:26:15 psoetens Exp $
 *              $Name:  $
 ****************************************************************************/


#include "path_roundedcomposite.hpp"
#include "path_line.hpp"
#include "path_circle.hpp"
#include "utilities/error.h"
#include <memory>


namespace KDL {

Path_RoundedComposite::Path_RoundedComposite(double _radius,double _eqradius,RotationalInterpolation* _orient, bool _aggregate) :
        comp( new Path_Composite()), radius(_radius),eqradius(_eqradius), orient(_orient), aggregate(_aggregate)
{
                nrofpoints = 0;
}

void Path_RoundedComposite::Add(const Frame& F_base_point) {
        if (nrofpoints==0) {
                F_base_start = F_base_point;
        } else if (nrofpoints==1) {
                F_base_via   = F_base_point;
        } else {
                // calculate rounded segment : line + circle,
                // determine the angle between the line segments :
                        Vector ab = F_base_via.p - F_base_start.p;
                        Vector bc = F_base_point.p - F_base_via.p;
                        double abdist = ab.Normalize();
                        double alpha  = ::acos(dot(ab,bc)/(ab.Norm()*bc.Norm()));
            //double alpha  = ::acos(dot(ab,bc));
                        double d      = radius/tan((PI-alpha)/2);
            double bcdist = bc.Normalize();
                        if (d >= abdist)
                                throw Error_MotionPlanning_Not_Feasible();
                        if (d >= bcdist)
                                throw Error_MotionPlanning_Not_Feasible();
                        std::auto_ptr<Path> line1 (
                                new Path_Line(F_base_start,F_base_via,orient->Clone(),eqradius)
                        );
                        std::auto_ptr<Path> line2 (
                                new Path_Line(F_base_via,F_base_point,orient->Clone(),eqradius)
                        );
                        Frame F_base_circlestart     = line1->Pos(line1->LengthToS(abdist-d));
                        Frame F_base_circleend       = line2->Pos(line2->LengthToS(d));
                                // end of circle segment, beginning of next line
                        Vector V_base_t  = ab*(ab*bc);
                        V_base_t.Normalize();
                        comp->Add(new Path_Line(
                                                F_base_start,F_base_circlestart,orient->Clone(),eqradius
                                                )
                                        );
                        comp->Add(new Path_Circle(
                                        F_base_circlestart,
                                        F_base_circlestart.p - V_base_t * radius,
                                        F_base_circleend.p,
                                        F_base_circleend.M,
                                        PI-alpha,orient->Clone(),eqradius
                                )
                        );
                // shift for next line
                F_base_start = F_base_circleend;  // end of the circle segment
                F_base_via   = F_base_point;
        }
        nrofpoints++;
}

void Path_RoundedComposite::Finish() {
        if (nrofpoints>=1) {
                comp->Add(new Path_Line(F_base_start,F_base_via,orient->Clone(),eqradius));
        }
}

double Path_RoundedComposite::LengthToS(double length)  {
        return comp->LengthToS(length);
}

double Path_RoundedComposite::PathLength() {
        return comp->PathLength();
}

Frame Path_RoundedComposite::Pos(double s) const {
        return comp->Pos(s);
}

Twist Path_RoundedComposite::Vel(double s,double sd) const {
        return comp->Vel(s,sd);
}

Twist Path_RoundedComposite::Acc(double s,double sd,double sdd) const {
        return comp->Acc(s,sd,sdd);
}

void Path_RoundedComposite::Write(std::ostream& os)  {
        comp->Write(os);
}

Path_RoundedComposite::~Path_RoundedComposite() {
    if (aggregate)
        delete orient;
        delete comp;
}


Path* Path_RoundedComposite::Clone() {
        return comp->Clone();
}

}