/usr/include/kido/planning/Path.hpp is in libkido-planning-dev 0.1.0+dfsg-2build9.
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* Copyright (c) 2011-2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author: Tobias Kunz <tobias@gatech.edu>
* Date: 10/2011
*
* Humanoid Robotics Lab Georgia Institute of Technology
* Director: Mike Stilman http://www.golems.org
*
* Algorithm details and publications:
* http://www.golems.org/node/1570
*
* This file is provided under the following "BSD-style" License:a
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include <list>
#include <Eigen/Core>
namespace kido {
namespace planning {
class PathSegment
{
public:
PathSegment(double length = 0.0) :
position(0.0), length(length)
{
}
virtual ~PathSegment() {}
double getLength() const {
return length;
}
virtual Eigen::VectorXd getConfig(double s) const = 0;
virtual Eigen::VectorXd getTangent(double s) const = 0;
virtual Eigen::VectorXd getCurvature(double s) const = 0;
virtual std::list<double> getSwitchingPoints() const = 0;
virtual PathSegment* clone() const = 0;
double position;
protected:
double length;
};
class Path
{
public:
Path(const std::list<Eigen::VectorXd> &path, double maxDeviation = 0.0);
Path(const Path &path);
~Path();
double getLength() const;
Eigen::VectorXd getConfig(double s) const;
Eigen::VectorXd getTangent(double s) const;
Eigen::VectorXd getCurvature(double s) const;
double getNextSwitchingPoint(double s, bool &discontinuity) const;
std::list<std::pair<double, bool> > getSwitchingPoints() const;
private:
PathSegment* getPathSegment(double &s) const;
double length;
std::list<std::pair<double, bool> > switchingPoints;
std::list<PathSegment*> pathSegments;
};
} // namespace planning
} // namespace kido
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