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motion_cache.h
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motion_cache.h
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/*
* Copyright (c) 2018-2019, the neonavigation authors
* All rights reserved.
*
* 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.
* * Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* 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 OWNER 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.
*/
#ifndef PLANNER_CSPACE_PLANNER_3D_MOTION_CACHE_H
#define PLANNER_CSPACE_PLANNER_3D_MOTION_CACHE_H
#include <memory>
#include <list>
#include <unordered_map>
#include <vector>
#include <planner_cspace/cyclic_vec.h>
namespace planner_cspace
{
namespace planner_3d
{
class MotionCache
{
public:
class Page
{
protected:
friend class MotionCache;
std::vector<CyclicVecInt<3, 2>> motion_;
std::vector<CyclicVecFloat<3, 2>> interpolated_motion_;
float distance_;
public:
inline float getDistance() const
{
return distance_;
}
const std::vector<CyclicVecInt<3, 2>>& getMotion() const
{
return motion_;
}
const std::vector<CyclicVecFloat<3, 2>>& getInterpolatedMotion() const
{
return interpolated_motion_;
}
};
using Cache =
std::unordered_map<CyclicVecInt<3, 2>, Page, CyclicVecInt<3, 2>>;
using Ptr = std::shared_ptr<MotionCache>;
inline const typename Cache::const_iterator find(
const int start_yaw,
const CyclicVecInt<3, 2>& goal) const
{
int i = start_yaw % page_size_;
if (i < 0)
i += page_size_;
return cache_[i].find(goal);
}
inline const typename Cache::const_iterator find(
const CyclicVecInt<3, 2>& from,
const CyclicVecInt<3, 2>& to) const
{
const int start_yaw = from[2];
const CyclicVecInt<3, 2> goal(to[0] - from[0], to[1] - from[1], to[2]);
return find(start_yaw, goal);
}
inline const typename Cache::const_iterator end(
const int start_yaw) const
{
int i = start_yaw % page_size_;
if (i < 0)
i += page_size_;
return cache_[i].cend();
}
inline const CyclicVecInt<3, 2>& getMaxRange() const
{
return max_range_;
}
void reset(
const float linear_resolution,
const float angular_resolution,
const int range,
const std::function<void(CyclicVecInt<3, 2>, size_t&, size_t&)> gm_addr,
const float interpolation_resolution,
const float grid_enumeration_resolution);
std::list<CyclicVecFloat<3, 2>> interpolatePath(const std::list<CyclicVecInt<3, 2>>& path_grid) const;
protected:
std::vector<Cache> cache_;
int page_size_;
CyclicVecInt<3, 2> max_range_;
};
} // namespace planner_3d
} // namespace planner_cspace
#endif // PLANNER_CSPACE_PLANNER_3D_MOTION_CACHE_H