Reorganize interfaces to allow multiple trajectory definitions.

Instead of template the pattern generator only by the footprint type,
switch to a more extensible mechanism (i.e. C++ traits).

Now, is is possible to use different kind of trajectory types depending
on the pattern generator algorithm.
One goal would be to allow the use of trajectories defined as spline
functions.

halfsteps_pattern_generator/include/halfsteps_pattern_generator.hh

@@ -20,10 +20,31 @@ struct WithHalfStepsAdditionalData : public T
   double stepHeight;
 };
 
-typedef WithHalfStepsAdditionalData<walk::StampedFootprint2d> footprint_t;
-typedef walk::PatternGenerator<footprint_t> halfStepsPgParent_t;
+class HalfStepsPatternGenerator;
 
-class HalfStepsPatternGenerator : public halfStepsPgParent_t
+namespace walk
+{
+  template <>
+  struct PatternGeneratorTraits<HalfStepsPatternGenerator>
+  {
+    /// \brief Footprint definition.
+    typedef WithHalfStepsAdditionalData<walk::StampedFootprint2d> Footprint;
+
+    /// \brief Trajectory in \f$SO(3)\f$.
+    typedef DiscretizedTrajectory<StampedPosition3d> Trajectory3d;
+    /// \brief Trajectory in \f$SO(2)\f$.
+    typedef DiscretizedTrajectory<StampedPosition2d> Trajectory2d;
+    /// \brief Trajectory in \f$R^2\f$.
+    typedef DiscretizedTrajectory<StampedVector2d> TrajectoryV2d;
+    /// \brief Trajectory in \f$R^3\f$.
+    typedef DiscretizedTrajectory<StampedVector3d> TrajectoryV3d;
+    /// \brief Trajectory in \f$R^n\f$.
+    typedef DiscretizedTrajectory<StampedVectorNd> TrajectoryNd;
+  };
+} // end of namespace walk.
+
+class HalfStepsPatternGenerator
+  : public walk::PatternGenerator<HalfStepsPatternGenerator>
 {
 public:
   explicit HalfStepsPatternGenerator

halfsteps_pattern_generator/include/yaml.hh

@@ -4,10 +4,13 @@
 # include <walk_interfaces/pattern-generator.hh>
 # include <walk_interfaces/yaml.hh>
 
+# include <halfsteps_pattern_generator.hh>
+
 namespace walk
 {
   inline YAML::Emitter&
-  operator<< (YAML::Emitter& out, const footprint_t& footprint)
+  operator<< (YAML::Emitter& out,
+	      const HalfStepsPatternGenerator::footprint_t& footprint)
   {
     out << YAML::BeginMap
 	<< YAML::Key << "beginTime"
@@ -36,17 +39,20 @@ namespace walk
 
   inline YAML::Emitter&
   operator<< (YAML::Emitter& out,
-	      const WALK_INTERFACES_EIGEN_STL_VECTOR(footprint_t)& footprints)
+	      const WALK_INTERFACES_EIGEN_STL_VECTOR
+	      (HalfStepsPatternGenerator::footprint_t)& footprints)
   {
     out << YAML::BeginSeq;
-    BOOST_FOREACH (const footprint_t& footprint, footprints)
+    typedef HalfStepsPatternGenerator::footprint_t a_t;
+    BOOST_FOREACH (const a_t& footprint, footprints)
       out << footprint;
     out << YAML::EndSeq;
     return out;
   }
 
   inline void
-  operator>> (const YAML::Node& node, footprint_t& footprint)
+  operator>> (const YAML::Node& node,
+	      HalfStepsPatternGenerator::footprint_t& footprint)
   {
     checkYamlType (node, YAML::NodeType::Map, "footprint");
 

halfsteps_pattern_generator/src/libhalfsteps_pattern_generator/halfsteps_pattern_generator.cpp

@@ -18,15 +18,15 @@ HalfStepsPatternGenerator::HalfStepsPatternGenerator
 (const double& timeBeforeZmpShift,
  const double& timeAfterZmpShift,
  const double& step)
-  : halfStepsPgParent_t(),
+  : walk::PatternGenerator<HalfStepsPatternGenerator>(),
     timeBeforeZmpShift_(timeBeforeZmpShift),
     timeAfterZmpShift_(timeAfterZmpShift),
     step_(step)
 {}
 
 HalfStepsPatternGenerator::HalfStepsPatternGenerator
 (const HalfStepsPatternGenerator& pg)
-  : halfStepsPgParent_t(),
+  : walk::PatternGenerator<HalfStepsPatternGenerator>(),
     timeBeforeZmpShift_(pg.timeBeforeZmpShift_),
     timeAfterZmpShift_(pg.timeAfterZmpShift_),
     step_(pg.step_)

walk_interfaces/include/walk_interfaces/trajectory.hh → walk_interfaces/include/walk_interfaces/discretized-trajectory.hh

@@ -1,5 +1,5 @@
-#ifndef WALK_INTERFACE_STAMPED_TRAJECTORY_HH
-# define WALK_INTERFACE_STAMPED_TRAJECTORY_HH
+#ifndef WALK_INTERFACE_DISCRETIZED_TRAJECTORY_HH
+# define WALK_INTERFACE_DISCRETIZED_TRAJECTORY_HH
 # include <iosfwd>
 # include <vector>
 
@@ -20,7 +20,7 @@ namespace walk
   ///
   /// \tparam T Trajectory output type.
   template <typename T>
-  class Trajectory
+  class DiscretizedTrajectory
   {
   public:
     /// \brief Trajectory element.
@@ -32,16 +32,16 @@ namespace walk
     /// \{
 
     /// \brief Default constructor.
-    explicit Trajectory();
+    explicit DiscretizedTrajectory();
     /// \brief Copy constructor.
-    explicit Trajectory(const Trajectory<T>&);
+    explicit DiscretizedTrajectory(const DiscretizedTrajectory<T>&);
     /// \brief Destructor.
-    ~Trajectory();
+    ~DiscretizedTrajectory();
 
     /// \}
 
     /// \brief Assignment operator.
-    Trajectory<T>& operator=(const Trajectory<T>&);
+    DiscretizedTrajectory<T>& operator=(const DiscretizedTrajectory<T>&);
 
     /// \brief Trajectory data getter.
     data_t& data();
@@ -62,26 +62,26 @@ namespace walk
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
   };
 
-  /// \brief Trajectory in \f$SO(3)\f$.
-  typedef Trajectory<StampedPosition3d> Trajectory3d;
-  /// \brief Trajectory in \f$SO(2)\f$.
-  typedef Trajectory<StampedPosition2d> Trajectory2d;
-  /// \brief Trajectory in \f$R^2\f$.
-  typedef Trajectory<StampedVector2d> TrajectoryV2d;
-  /// \brief Trajectory in \f$R^3\f$.
-  typedef Trajectory<StampedVector3d> TrajectoryV3d;
-  /// \brief Trajectory in \f$R^n\f$.
-  typedef Trajectory<StampedVectorNd> TrajectoryNd;
+  /// \brief DiscretizedTrajectory in \f$SO(3)\f$.
+  typedef DiscretizedTrajectory<StampedPosition3d> DiscretizedTrajectory3d;
+  /// \brief DiscretizedTrajectory in \f$SO(2)\f$.
+  typedef DiscretizedTrajectory<StampedPosition2d> DiscretizedTrajectory2d;
+  /// \brief DiscretizedTrajectory in \f$R^2\f$.
+  typedef DiscretizedTrajectory<StampedVector2d> DiscretizedTrajectoryV2d;
+  /// \brief DiscretizedTrajectory in \f$R^3\f$.
+  typedef DiscretizedTrajectory<StampedVector3d> DiscretizedTrajectoryV3d;
+  /// \brief DiscretizedTrajectory in \f$R^n\f$.
+  typedef DiscretizedTrajectory<StampedVectorNd> DiscretizedTrajectoryNd;
 
   /// \brief Display a trajectory.
   ///
   /// \param stream Output stream
   /// \param trajectory Displayed trajectory
   template <typename T>
   std::ostream& operator<<(std::ostream& stream,
-			   const Trajectory<T>& trajectory);
+			   const DiscretizedTrajectory<T>& trajectory);
 
 } // end of namespace walk.
 
-# include <walk_interfaces/trajectory.hxx>
-#endif //! WALK_INTERFACE_STAMPED_TRAJECTORY_HH
+# include <walk_interfaces/discretized-trajectory.hxx>
+#endif //! WALK_INTERFACE_DISCRETIZED_TRAJECTORY_HH

walk_interfaces/include/walk_interfaces/trajectory.hxx → walk_interfaces/include/walk_interfaces/discretized-trajectory.hxx

@@ -1,26 +1,27 @@
-#ifndef WALK_INTERFACE_STAMPED_TRAJECTORY_HXX
-# define WALK_INTERFACE_STAMPED_TRAJECTORY_HXX
+#ifndef WALK_INTERFACE_DISCRETIZED_TRAJECTORY_HXX
+# define WALK_INTERFACE_DISCRETIZED_TRAJECTORY_HXX
 # include <iostream>
 
 namespace walk
 {
   template <typename T>
-  Trajectory<T>::Trajectory()
+  DiscretizedTrajectory<T>::DiscretizedTrajectory()
     : data_()
   {}
 
   template <typename T>
-  Trajectory<T>::Trajectory(const Trajectory<T>& gamma)
+  DiscretizedTrajectory<T>::DiscretizedTrajectory
+  (const DiscretizedTrajectory<T>& gamma)
     : data_(gamma.data_)
   {}
 
   template <typename T>
-  Trajectory<T>::~Trajectory()
+  DiscretizedTrajectory<T>::~DiscretizedTrajectory()
   {}
 
   template <typename T>
-  Trajectory<T>&
-  Trajectory<T>::operator=(const Trajectory<T>& gamma)
+  DiscretizedTrajectory<T>&
+  DiscretizedTrajectory<T>::operator=(const DiscretizedTrajectory<T>& gamma)
   {
     if (&gamma == this)
       return *this;
@@ -29,22 +30,22 @@ namespace walk
   }
 
   template <typename T>
-  typename Trajectory<T>::data_t&
-  Trajectory<T>::data()
+  typename DiscretizedTrajectory<T>::data_t&
+  DiscretizedTrajectory<T>::data()
   {
     return data_;
   }
 
   template <typename T>
-  const typename Trajectory<T>::data_t&
-  Trajectory<T>::data() const
+  const typename DiscretizedTrajectory<T>::data_t&
+  DiscretizedTrajectory<T>::data() const
   {
     return data_;
   }
 
   template <typename T>
   TimeDuration
-  Trajectory<T>::computeLength() const
+  DiscretizedTrajectory<T>::computeLength() const
   {
     TimeDuration length;
     typename data_t::const_iterator iter = data_.begin ();
@@ -55,14 +56,14 @@ namespace walk
 
   template <typename T>
   std::ostream&
-  operator<<(std::ostream& os, const Trajectory<T>& gamma)
+  operator<<(std::ostream& os, const DiscretizedTrajectory<T>& gamma)
   {
-    typename Trajectory<T>::data_t::const_iterator iter =
+    typename DiscretizedTrajectory<T>::data_t::const_iterator iter =
       gamma.data().begin ();
     for (; iter != gamma.data().end(); ++iter)
       os << (*iter) << std::endl;
     return os;
   }
 } // end of namespace walk.
 
-#endif //! WALK_INTERFACE_STAMPED_TRAJECTORY_HXX
+#endif //! WALK_INTERFACE_DISCRETIZED_TRAJECTORY_HXX

walk_interfaces/include/walk_interfaces/pattern-generator.hh

@@ -2,17 +2,22 @@
 # define WALK_INTERFACE_WALK_HH
 # include <vector>
 
+# include <boost/static_assert.hpp>
+
 # include <walk_interfaces/types.hh>
-# include <walk_interfaces/trajectory.hh>
+# include <walk_interfaces/discretized-trajectory.hh>
 # include <walk_interfaces/stamped-footprint.hh>
 
 namespace walk
 {
   template <typename T>
   class PatternGenerator;
 
-  /// \brief Pattern generator expecting 2d footprints as input.
-  typedef PatternGenerator<StampedFootprint2d> PatternGenerator2d;
+  template <typename T>
+  struct PatternGeneratorTraits
+  {
+    BOOST_STATIC_ASSERT(sizeof(T) == 0);
+  };
 
   /// \brief A pattern generator computes walking reference
   /// trajectories.
@@ -41,13 +46,33 @@ namespace walk
   ///   algorithm specific. Please see the pattern generator
   ///   documentation for more details.
   ///
-  /// \tparam T Footprint type.
+  /// \tparam T Pattern generator concrete type.
   template <typename T>
   class PatternGenerator
   {
   public:
+    typedef T concreteType_t;
+
     /// \brief Footprint type.
-    typedef T footprint_t;
+    typedef typename PatternGeneratorTraits<concreteType_t>::Footprint
+    footprint_t;
+
+    /// \brief DiscretizedTrajectory in \f$SO(3)\f$.
+    typedef typename PatternGeneratorTraits<concreteType_t>::Trajectory3d
+    Trajectory3d;
+    /// \brief DiscretizedTrajectory in \f$SO(3)\f$.
+    typedef typename PatternGeneratorTraits<concreteType_t>::Trajectory2d
+    Trajectory2d;
+    /// \brief DiscretizedTrajectory in \f$R^2\f$.
+    typedef typename PatternGeneratorTraits<concreteType_t>::TrajectoryV2d
+    TrajectoryV2d;
+    /// \brief DiscretizedTrajectory in \f$R^3\f$.
+    typedef typename PatternGeneratorTraits<concreteType_t>::TrajectoryV3d
+    TrajectoryV3d;
+    /// \brief DiscretizedTrajectory in \f$R^n\f$.
+    typedef typename PatternGeneratorTraits<concreteType_t>::TrajectoryNd
+    TrajectoryNd;
+
     /// \brief Vector of footprints.
     typedef WALK_INTERFACES_EIGEN_STL_VECTOR(footprint_t) footprints_t;
 
@@ -229,6 +254,31 @@ namespace walk
   std::ostream& operator<<(std::ostream& stream,
 			   const PatternGenerator<T>& pg);
 
+
+  class DiscretizedPatternGenerator2d;
+  template <>
+  struct PatternGeneratorTraits<DiscretizedPatternGenerator2d>
+  {
+    /// \brief Footprint definition.
+    typedef StampedFootprint2d Footprint;
+
+    /// \brief Trajectory in \f$SO(3)\f$.
+    typedef DiscretizedTrajectory<StampedPosition3d> Trajectory3d;
+    /// \brief Trajectory in \f$SO(2)\f$.
+    typedef DiscretizedTrajectory<StampedPosition2d> Trajectory2d;
+    /// \brief Trajectory in \f$R^2\f$.
+    typedef DiscretizedTrajectory<StampedVector2d> TrajectoryV2d;
+    /// \brief Trajectory in \f$R^3\f$.
+    typedef DiscretizedTrajectory<StampedVector3d> TrajectoryV3d;
+    /// \brief Trajectory in \f$R^n\f$.
+    typedef DiscretizedTrajectory<StampedVectorNd> TrajectoryNd;
+  };
+
+
+  class DiscretizedPatternGenerator2d
+    : public PatternGenerator<DiscretizedPatternGenerator2d>
+  {};
+
 } // end of namespace walk.
 
 # include <walk_interfaces/pattern-generator.hxx>