X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hubacji1/rrts.git/blobdiff_plain/e25ff5e821c96e9954e95d65654aeb4bb6281b6d..43c0d90d70459615a4874d5f7679b5e39ac10ec1:/incl/dubins.h

diff --git a/incl/dubins.h b/incl/dubins.h
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+/*
+ * Copyright (c) 2008-2018, Andrew Walker
+ * SPDX-FileCopyrightText: 2008-2018 Andrew Walker
+ *
+ * SPDX-License-Identifier: MIT
+ */
+
+#ifndef DUBINS_H
+#define DUBINS_H
+
+typedef enum
+{
+    LSL = 0,
+    LSR = 1,
+    RSL = 2,
+    RSR = 3,
+    RLR = 4,
+    LRL = 5
+} DubinsPathType;
+
+typedef struct
+{
+    /* the initial configuration */
+    double qi[3];
+    /* the lengths of the three segments */
+    double param[3];
+    /* model forward velocity / model angular velocity */
+    double rho;
+    /* the path type described */
+    DubinsPathType type;
+} DubinsPath;
+
+#define EDUBOK        (0)   /* No error */
+#define EDUBCOCONFIGS (1)   /* Colocated configurations */
+#define EDUBPARAM     (2)   /* Path parameterisitation error */
+#define EDUBBADRHO    (3)   /* the rho value is invalid */
+#define EDUBNOPATH    (4)   /* no connection between configurations with this word */
+
+/**
+ * Callback function for path sampling
+ *
+ * @note the q parameter is a configuration
+ * @note the t parameter is the distance along the path
+ * @note the user_data parameter is forwarded from the caller
+ * @note return non-zero to denote sampling should be stopped
+ */
+typedef int (*DubinsPathSamplingCallback)(double q[3], double t, void* user_data);
+
+/**
+ * Generate a path from an initial configuration to
+ * a target configuration, with a specified maximum turning
+ * radii
+ *
+ * A configuration is (x, y, theta), where theta is in radians, with zero
+ * along the line x = 0, and counter-clockwise is positive
+ *
+ * @param path  - the resultant path
+ * @param q0    - a configuration specified as an array of x, y, theta
+ * @param q1    - a configuration specified as an array of x, y, theta
+ * @param rho   - turning radius of the vehicle (forward velocity divided by maximum angular velocity)
+ * @return      - non-zero on error
+ */
+int dubins_shortest_path(DubinsPath* path, double q0[3], double q1[3], double rho);
+
+/**
+ * Generate a path with a specified word from an initial configuration to
+ * a target configuration, with a specified turning radius
+ *
+ * @param path     - the resultant path
+ * @param q0       - a configuration specified as an array of x, y, theta
+ * @param q1       - a configuration specified as an array of x, y, theta
+ * @param rho      - turning radius of the vehicle (forward velocity divided by maximum angular velocity)
+ * @param pathType - the specific path type to use
+ * @return         - non-zero on error
+ */
+int dubins_path(DubinsPath* path, double q0[3], double q1[3], double rho, DubinsPathType pathType);
+
+/**
+ * Calculate the length of an initialised path
+ *
+ * @param path - the path to find the length of
+ */
+double dubins_path_length(DubinsPath* path);
+
+/**
+ * Return the length of a specific segment in an initialized path
+ *
+ * @param path - the path to find the length of
+ * @param i    - the segment you to get the length of (0-2)
+ */
+double dubins_segment_length(DubinsPath* path, int i);
+
+/**
+ * Return the normalized length of a specific segment in an initialized path
+ *
+ * @param path - the path to find the length of
+ * @param i    - the segment you to get the length of (0-2)
+ */
+double dubins_segment_length_normalized( DubinsPath* path, int i );
+
+/**
+ * Extract an integer that represents which path type was used
+ *
+ * @param path    - an initialised path
+ * @return        - one of LSL, LSR, RSL, RSR, RLR or LRL
+ */
+DubinsPathType dubins_path_type(DubinsPath* path);
+
+/**
+ * Calculate the configuration along the path, using the parameter t
+ *
+ * @param path - an initialised path
+ * @param t    - a length measure, where 0 <= t < dubins_path_length(path)
+ * @param q    - the configuration result
+ * @returns    - non-zero if 't' is not in the correct range
+ */
+int dubins_path_sample(DubinsPath* path, double t, double q[3]);
+
+/**
+ * Walk along the path at a fixed sampling interval, calling the
+ * callback function at each interval
+ *
+ * The sampling process continues until the whole path is sampled, or the callback returns a non-zero value
+ *
+ * @param path      - the path to sample
+ * @param stepSize  - the distance along the path for subsequent samples
+ * @param cb        - the callback function to call for each sample
+ * @param user_data - optional information to pass on to the callback
+ *
+ * @returns - zero on successful completion, or the result of the callback
+ */
+int dubins_path_sample_many(DubinsPath* path,
+                            double stepSize,
+                            DubinsPathSamplingCallback cb,
+                            void* user_data);
+
+/**
+ * Convenience function to identify the endpoint of a path
+ *
+ * @param path - an initialised path
+ * @param q    - the configuration result
+ */
+int dubins_path_endpoint(DubinsPath* path, double q[3]);
+
+/**
+ * Convenience function to extract a subset of a path
+ *
+ * @param path    - an initialised path
+ * @param t       - a length measure, where 0 < t < dubins_path_length(path)
+ * @param newpath - the resultant path
+ */
+int dubins_extract_subpath(DubinsPath* path, double t, DubinsPath* newpath);
+
+
+#endif /* DUBINS_H */
+