CPTG_DiffDrive_CS.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "nav-precomp.h"  // Precomp header

#include <mrpt/nav/tpspace/CPTG_DiffDrive_CS.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/os.h>

using namespace mrpt;
using namespace mrpt::nav;
using namespace std;
using namespace mrpt::system;

IMPLEMENTS_SERIALIZABLE(
    CPTG_DiffDrive_CS, CParameterizedTrajectoryGenerator, mrpt::nav)

void CPTG_DiffDrive_CS::loadFromConfigFile(
    const mrpt::config::CConfigFileBase& cfg, const std::string& sSection)
{
    CPTG_DiffDrive_CollisionGridBased::loadFromConfigFile(cfg, sSection);

    MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(K, double, cfg, sSection);

    // The constant curvature turning radius used in this PTG:
    R = V_MAX / W_MAX;
}
void CPTG_DiffDrive_CS::saveToConfigFile(
    mrpt::config::CConfigFileBase& cfg, const std::string& sSection) const
{
    MRPT_START
    const int WN = 25, WV = 30;
    CPTG_DiffDrive_CollisionGridBased::saveToConfigFile(cfg, sSection);

    cfg.write(
        sSection, "K", K, WN, WV,
        "K=+1 forward paths; K=-1 for backwards paths.");

    MRPT_END
}

void CPTG_DiffDrive_CS::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    CPTG_DiffDrive_CollisionGridBased::internal_readFromStream(in);

    switch (version)
    {
        case 0:
            in >> K;
            break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

uint8_t CPTG_DiffDrive_CS::serializeGetVersion() const { return 0; }
void CPTG_DiffDrive_CS::serializeTo(mrpt::serialization::CArchive& out) const
{
    CPTG_DiffDrive_CollisionGridBased::internal_writeToStream(out);
    out << K;
}
std::string CPTG_DiffDrive_CS::getDescription() const
{
    char str[100];
    os::sprintf(str, 100, "CPTG_DiffDrive_CS,K=%i", (int)K);
    return std::string(str);
}

void CPTG_DiffDrive_CS::ptgDiffDriveSteeringFunction(
    float alpha, float t, [[maybe_unused]] float x, [[maybe_unused]] float y,
    [[maybe_unused]] float phi, float& v, float& w) const
{
    const float T = 0.847f * std::sqrt(std::abs(alpha)) * R / V_MAX;

    if (t < T)
    {
        // l+
        v = V_MAX;
        w = W_MAX * min(1.0f, 1.0f - (float)exp(-square(alpha)));
    }
    else
    {
        // s+:
        v = V_MAX;
        w = 0;
    }

    // Turn in the opposite direction??
    if (alpha < 0) w *= -1;

    v *= K;
    w *= K;
}

bool CPTG_DiffDrive_CS::PTG_IsIntoDomain(double x, double y) const
{
    // If signs of K and X are different, it is not into the domain:
    if ((K * x) < 0) return false;

    if (fabs(y) >= R)
    {
        // Segmento de arriba:
        return (fabs(x) > R - 0.10f);
    }
    else
    {
        // The circle at (0,R):
        return (square(x) + square(fabs(y) - (R + 0.10f))) > square(R);
    }
}

void CPTG_DiffDrive_CS::loadDefaultParams()
{
    CPTG_DiffDrive_CollisionGridBased::loadDefaultParams();
    K = +1.0;
}