CPTG_Holo_Blend.h

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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          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/expr/CRuntimeCompiledExpression.h>
#include <mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h>

namespace mrpt::nav
{
/** A PTG for circular-shaped robots with holonomic kinematics.
 * - **Compatible kinematics**: Holonomic robot capable of velocity commands
 * with a linear interpolation ("ramp "or "blending") time. See
 * mrpt::kinematics::CVehicleSimul_Holo
 * - **Compatible robot shape**: Circular robots
 * - **PTG parameters**: Use the app `ptg-configurator`
 *
 * \note [New in MRPT 1.5.0]
 *  \ingroup nav_tpspace
 */
class CPTG_Holo_Blend : public CPTG_RobotShape_Circular
{
    DEFINE_SERIALIZABLE(CPTG_Holo_Blend, mrpt::nav)
   public:
    CPTG_Holo_Blend();
    CPTG_Holo_Blend(
        const mrpt::config::CConfigFileBase& cfg, const std::string& sSection);
    ~CPTG_Holo_Blend() override;

    void loadFromConfigFile(
        const mrpt::config::CConfigFileBase& cfg,
        const std::string& sSection) override;
    void saveToConfigFile(
        mrpt::config::CConfigFileBase& cfg,
        const std::string& sSection) const override;
    void loadDefaultParams() override;
    bool supportVelCmdNOP() const override;
    double maxTimeInVelCmdNOP(int path_k) const override;

    std::string getDescription() const override;
    bool inverseMap_WS2TP(
        double x, double y, int& out_k, double& out_d,
        double tolerance_dist = 0.10) const override;
    bool PTG_IsIntoDomain(double x, double y) const override;
    void onNewNavDynamicState() override;

    /** Converts a discretized "alpha" value into a feasible motion command or
     * action. See derived classes for the meaning of these actions */
    mrpt::kinematics::CVehicleVelCmd::Ptr directionToMotionCommand(
        uint16_t k) const override;
    mrpt::kinematics::CVehicleVelCmd::Ptr getSupportedKinematicVelocityCommand()
        const override;

    size_t getPathStepCount(uint16_t k) const override;
    void getPathPose(
        uint16_t k, uint32_t step, mrpt::math::TPose2D& p) const override;
    double getPathDist(uint16_t k, uint32_t step) const override;
    bool getPathStepForDist(
        uint16_t k, double dist, uint32_t& out_step) const override;
    double getPathStepDuration() const override;
    double getMaxLinVel() const override { return V_MAX; }
    double getMaxAngVel() const override { return W_MAX; }
    void updateTPObstacle(
        double ox, double oy, std::vector<double>& tp_obstacles) const override;
    void updateTPObstacleSingle(
        double ox, double oy, uint16_t k, double& tp_obstacle_k) const override;

    /** Duration of each PTG "step"  (default: 10e-3=10 ms) */
    static double PATH_TIME_STEP;
    /** Mathematical "epsilon", to detect ill-conditioned situations (e.g. 1/0)
     * (Default: 1e-4) */
    static double eps;

   protected:
    double T_ramp_max{-1.0};
    double V_MAX{-1.0}, W_MAX{-1.0};
    double turningRadiusReference{0.30};

    std::string expr_V, expr_W, expr_T_ramp;
    mutable std::vector<int> m_pathStepCountCache;

    // Compilation of user-given expressions
    mrpt::expr::CRuntimeCompiledExpression m_expr_v, m_expr_w, m_expr_T_ramp;
    double m_expr_dir;  // Used as symbol "dir" in m_expr_v and m_expr_w

    /** Evals expr_v */
    double internal_get_v(const double dir) const;
    /** Evals expr_w */
    double internal_get_w(const double dir) const;
    /** Evals expr_T_ramp */
    double internal_get_T_ramp(const double dir) const;

    void internal_construct_exprs();

    void internal_processNewRobotShape() override;
    void internal_initialize(
        const std::string& cacheFilename = std::string(),
        const bool verbose = true) override;
    void internal_deinitialize() override;

   public:
    /** Axiliary function for computing the line-integral distance along the
     * trajectory, handling special cases of 1/0: */
    static double calc_trans_distance_t_below_Tramp(
        double k2, double k4, double vxi, double vyi, double t);
    /** Axiliary function for calc_trans_distance_t_below_Tramp() and others */
    static double calc_trans_distance_t_below_Tramp_abc(
        double t, double a, double b, double c);
};
}  // namespace mrpt::nav