Commit 44fa13c9 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

Add a constant_curve class

parent 16f04625
......@@ -68,6 +68,7 @@ SET(${PROJECT_NAME}_HEADERS
include/${PROJECT_NAME}/so3_linear.h
include/${PROJECT_NAME}/se3_curve.h
include/${PROJECT_NAME}/fwd.h
include/${PROJECT_NAME}/constant_curve.h
include/${PROJECT_NAME}/helpers/effector_spline.h
include/${PROJECT_NAME}/helpers/effector_spline_rotation.h
include/${PROJECT_NAME}/optimization/definitions.h
......
/**
* \file constant_curve.h
* \brief class allowing to create a constant_curve curve.
* \author Pierre Fernbach
* \version 0.4
* \date 29/04/2020
*/
#ifndef _CLASS_CONSTANTCURVE
#define _CLASS_CONSTANTCURVE
#include "curve_abc.h"
namespace curves {
/// \class constant_curve.
/// \brief Represents a constant_curve curve, always returning the same value and a null derivative
///
template <typename Time = double, typename Numeric = Time, bool Safe = false,
typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>,
typename Point_derivate = Point>
struct constant_curve : public curve_abc<Time, Numeric, Safe, Point, Point_derivate> {
typedef Point point_t;
typedef Point_derivate point_derivate_t;
typedef Time time_t;
typedef Numeric num_t;
typedef constant_curve<Time, Numeric, Safe, Point, Point_derivate> constant_curve_t;
typedef constant_curve<Time, Numeric, Safe, Point_derivate> curve_derivate_t;
typedef curve_abc<Time, Numeric, Safe, point_t, Point_derivate> curve_abc_t; // parent class
/* Constructors - destructors */
public:
/// \brief Empty constructor. Curve obtained this way can not perform other class functions.
///
constant_curve() : T_min_(0), T_max_(0), dim_(0) {}
/// \brief Constructor..
/// \param value : The constant value
/// \param T_min : lower bound of the time interval
/// \param T_max : upper bound of the time interval
///
constant_curve(const Point& value, const time_t T_min = 0., const time_t T_max = std::numeric_limits<time_t>::max())
: value_(value),
T_min_(T_min),
T_max_(T_max),
dim_(value.size())
{
if(Safe && T_min_ > T_max_){
throw std::invalid_argument("can't create constant curve: min bound is higher than max bound");
}
}
/// \brief Copy constructor
/// \param other
constant_curve(const constant_curve_t& other)
: value_(other.value_),
T_min_(other.T_min_),
T_max_(other.T_max_),
dim_(other.dim_){}
/// \brief Destructor.
virtual ~constant_curve() {}
/* Constructors - destructors */
/*Operations*/
/// \brief Evaluation of the cubic spline at time t.
/// \param t : time when to evaluate the spine
/// \return \f$x(t)\f$, point corresponding on curve at time t.
virtual point_t operator()(const time_t t) const{
if (Safe && (t < T_min_ || t > T_max_)) {
throw std::invalid_argument(
"error in constant curve : time t to evaluate should be in range [Tmin, Tmax] of the curve");
}
return value_;
}
/// \brief Compute the derived curve at order N.
/// Computes the derivative order N, \f$\frac{d^Nx(t)}{dt^N}\f$ of bezier curve of parametric equation x(t).
/// \param order : order of derivative.
/// \return \f$\frac{d^Nx(t)}{dt^N}\f$ derivative order N of the curve.
curve_derivate_t compute_derivate() const {
size_t derivate_size;
if(point_derivate_t::RowsAtCompileTime == Eigen::Dynamic){
derivate_size = dim_;
}else{
derivate_size = point_derivate_t::RowsAtCompileTime;
}
point_derivate_t value(point_derivate_t::Zero(derivate_size));
return curve_derivate_t(value, T_min_, T_max_);
}
/// \brief Compute the derived curve at order N.
/// \param order : order of derivative.
/// \return A pointer to \f$\frac{d^Nx(t)}{dt^N}\f$ derivative order N of the curve.
virtual curve_derivate_t* compute_derivate_ptr(const std::size_t) const{
return new curve_derivate_t(compute_derivate());
}
/// \brief Evaluate the derivative of order N of curve at time t.
/// \param t : time when to evaluate the spline.
/// \param order : order of derivative.
/// \return \f$\frac{d^Nx(t)}{dt^N}\f$, point corresponding on derivative curve of order N at time t.
virtual point_derivate_t derivate(const time_t t, const std::size_t) const{
if (Safe && (t < T_min_ || t > T_max_)) {
throw std::invalid_argument(
"error in constant curve : time t to derivate should be in range [Tmin, Tmax] of the curve");
}
size_t derivate_size;
if(point_derivate_t::RowsAtCompileTime == Eigen::Dynamic){
derivate_size = dim_;
}else{
derivate_size = point_derivate_t::RowsAtCompileTime;
}
return point_derivate_t::Zero(derivate_size);
}
/**
* @brief isApprox check if other and *this are approximately equals given a precision treshold
* Only two curves of the same class can be approximately equals,
* for comparison between different type of curves see isEquivalent.
* @param other the other curve to check
* @param prec the precision treshold, default Eigen::NumTraits<Numeric>::dummy_precision()
* @return true is the two curves are approximately equals
*/
virtual bool isApprox(const constant_curve_t& other,
const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{
return curves::isApprox<num_t>(T_min_, other.min()) && curves::isApprox<num_t>(T_max_, other.max()) &&
dim_ == other.dim() && value_.isApprox(other.value_, prec);
}
virtual bool isApprox(const curve_abc_t* other,
const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const {
const constant_curve_t* other_cast = dynamic_cast<const constant_curve_t*>(other);
if (other_cast)
return isApprox(*other_cast, prec);
else
return false;
}
virtual bool operator==(const constant_curve_t& other) const { return isApprox(other); }
virtual bool operator!=(const constant_curve_t& other) const { return !(*this == other); }
/*Helpers*/
/// \brief Get dimension of curve.
/// \return dimension of curve.
std::size_t virtual dim() const { return dim_; }
/// \brief Get the minimum time for which the curve is defined
/// \return \f$t_{min}\f$ lower bound of time range.
num_t virtual min() const { return T_min_; }
/// \brief Get the maximum time for which the curve is defined.
/// \return \f$t_{max}\f$ upper bound of time range.
num_t virtual max() const { return T_max_; }
/// \brief Get the degree of the curve.
/// \return \f$degree\f$, the degree of the curve.
virtual std::size_t degree() const { return 0; }
/*Helpers*/
/*Attributes*/
Point value_;
time_t T_min_, T_max_; // const
std::size_t dim_; // const
/*Attributes*/
// Serialization of the class
friend class boost::serialization::access;
template <class Archive>
void serialize(Archive& ar, const unsigned int version) {
if (version) {
// Do something depending on version ?
}
ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(curve_abc_t);
ar& boost::serialization::make_nvp("value", value_);
ar& boost::serialization::make_nvp("T_min", T_min_);
ar& boost::serialization::make_nvp("T_max", T_max_);
ar& boost::serialization::make_nvp("dim", dim_);
}
}; // struct constant_curve
}//namespace curve
#endif // _CLASS_CONSTANTCURVE
......@@ -21,6 +21,9 @@ struct curve_abc;
template <typename Time, typename Numeric, bool Safe, typename Point>
struct bezier_curve;
template <typename Time, typename Numeric, bool Safe, typename Point,typename Point_derivate>
struct constant_curve;
template <typename Time, typename Numeric, bool Safe, typename Point>
struct cubic_hermite_spline;
......@@ -81,6 +84,7 @@ typedef boost::shared_ptr<curve_SE3_t> curve_SE3_ptr_t;
typedef polynomial<double, double, true, pointX_t, t_pointX_t> polynomial_t;
typedef exact_cubic<double, double, true, pointX_t, t_pointX_t, polynomial_t> exact_cubic_t;
typedef bezier_curve<double, double, true, pointX_t> bezier_t;
typedef constant_curve<double, double, true, pointX_t, pointX_t> constant_t;
typedef cubic_hermite_spline<double, double, true, pointX_t> cubic_hermite_spline_t;
typedef piecewise_curve<double, double, true, pointX_t, pointX_t, curve_abc_t> piecewise_t;
......@@ -88,6 +92,7 @@ typedef piecewise_curve<double, double, true, pointX_t, pointX_t, curve_abc_t> p
typedef polynomial<double, double, true, point3_t, t_point3_t> polynomial3_t;
typedef exact_cubic<double, double, true, point3_t, t_point3_t, polynomial_t> exact_cubic3_t;
typedef bezier_curve<double, double, true, point3_t> bezier3_t;
typedef constant_curve<double, double, true, point3_t, point3_t> constant3_t;
typedef cubic_hermite_spline<double, double, true, point3_t> cubic_hermite_spline3_t;
typedef piecewise_curve<double, double, true, point3_t, point3_t, curve_3_t> piecewise3_t;
......
......@@ -18,6 +18,7 @@
#include "curves/se3_curve.h"
#include "curves/polynomial.h"
#include "curves/bezier_curve.h"
#include "curves/constant_curve.h"
#include "curves/piecewise_curve.h"
#include "curves/exact_cubic.h"
#include "curves/cubic_hermite_spline.h"
......
......@@ -35,11 +35,13 @@ void register_types(Archive& ar) {
ar.template register_type<polynomial_t>();
ar.template register_type<exact_cubic_t>();
ar.template register_type<bezier_t>();
ar.template register_type<constant_t>();
ar.template register_type<cubic_hermite_spline_t>();
ar.template register_type<piecewise_t>();
ar.template register_type<polynomial3_t>();
ar.template register_type<exact_cubic3_t>();
ar.template register_type<bezier3_t>();
ar.template register_type<constant3_t>();
ar.template register_type<cubic_hermite_spline3_t>();
ar.template register_type<piecewise3_t>();
ar.template register_type<SO3Linear_t>();
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment