[CarLike] Add accessors to turning radius

include/hpp/core/distance/reeds-shepp.hh

@@ -43,6 +43,11 @@ namespace hpp {
 				       std::vector <JointPtr_t> wheels);
 
 	static ReedsSheppPtr_t createCopy (const ReedsSheppPtr_t& distance);
+
+        void turningRadius(const value_type& rho);
+
+        inline value_type turningRadius() const { return rho_; }
+
       protected:
 	ReedsShepp (const ProblemConstPtr_t& problem);
 	ReedsShepp (const ProblemConstPtr_t& problem,
@@ -58,6 +63,7 @@ namespace hpp {
       private:
 	WeighedDistancePtr_t weighedDistance_;
 	DeviceWkPtr_t device_;
+        /// Turning radius
 	value_type rho_;
 	JointPtr_t xy_, rz_;
 	size_type xyId_, rzId_;

include/hpp/core/steering-method/car-like.hh

@@ -48,6 +48,10 @@ namespace hpp {
             wheels_ = wheels;
           }
 
+          void turningRadius(const value_type& rho);
+
+          inline value_type turningRadius() const { return rho_; }
+
         protected:
           /// Constructor
           CarLike (const ProblemConstPtr_t& problem);
@@ -69,6 +73,7 @@ namespace hpp {
           }
 
           DeviceWkPtr_t device_;
+          /// Turning radius
           value_type rho_;
           JointPtr_t xy_, rz_;
           size_type xyId_, rzId_;

src/distance/reeds-shepp.cc

@@ -72,8 +72,8 @@ namespace hpp {
         xy_ = d->getJointAtConfigRank(xyId_);
         rz_ = d->getJointAtConfigRank(rzId_);
 	wheels_  = steeringMethod::getWheelsFromeParameter(problem, rz_);
-	rho_ = problem->getParameter("SteeringMethod/Carlike/turningRadius").
-	  floatValue();
+        turningRadius(problem->getParameter("SteeringMethod/Carlike/turningRadius").
+            floatValue());
       }
 
       ReedsShepp::ReedsShepp (const ProblemConstPtr_t& problem,
@@ -102,6 +102,13 @@ namespace hpp {
       {
       }
 
+      void ReedsShepp::turningRadius(const value_type& rho)
+      {
+        if (rho <= 0)
+          throw std::invalid_argument("Turning radius must be strictly positive.");
+        rho_ = rho;
+      }
+
       value_type ReedsShepp::impl_distance (ConfigurationIn_t q1,
 					    ConfigurationIn_t q2) const
       {

src/steering-method/car-like.cc

@@ -38,8 +38,8 @@ namespace hpp {
         xy_ = d->getJointAtConfigRank(0);
         rz_ = d->getJointAtConfigRank(2);
         wheels_  = getWheelsFromeParameter(problem, rz_);
-	rho_ = problem->getParameter("SteeringMethod/Carlike/turningRadius").
-	  floatValue();
+        turningRadius(problem->getParameter("SteeringMethod/Carlike/turningRadius").
+            floatValue());
       }
 
       CarLike::CarLike (const ProblemConstPtr_t& problem,
@@ -65,6 +65,13 @@ namespace hpp {
       {
       }
 
+      void CarLike::turningRadius(const value_type& rho)
+      {
+        if (rho <= 0)
+          throw std::invalid_argument("Turning radius must be strictly positive.");
+        rho_ = rho;
+      }
+
       std::vector <JointPtr_t> getWheelsFromeParameter
       (const ProblemConstPtr_t& problem, const JointPtr_t& rz)
       {