hermite_curve.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef GEOMETRY__SPLINE__HERMITE_CURVE_HPP_
#define GEOMETRY__SPLINE__HERMITE_CURVE_HPP_
 
#include <gtest/gtest.h>
 
#include <geometry/solver/polynomial_solver.hpp>
#include <geometry_msgs/msg/point.hpp>
#include <geometry_msgs/msg/pose.hpp>
#include <geometry_msgs/msg/vector3.hpp>
#include <optional>
#include <vector>
 
namespace math
{
namespace geometry
{
class HermiteCurve
{
private:
  friend class HermiteCurveTest;
  double ax_;
  double bx_;
  double cx_;
  double dx_;
 
  double ay_;
  double by_;
  double cy_;
  double dy_;
 
  double az_;
  double bz_;
  double cz_;
  double dz_;
  math::geometry::PolynomialSolver solver_;
 
public:
  HermiteCurve(
    const geometry_msgs::msg::Pose & start_pose, const geometry_msgs::msg::Pose & goal_pose,
    const geometry_msgs::msg::Vector3 & start_vec, const geometry_msgs::msg::Vector3 & goal_vec);
  HermiteCurve(
    double ax, double bx, double cx, double dx, double ay, double by, double cy, double dy,
    double az, double bz, double cz, double dz);
  std::vector<geometry_msgs::msg::Point> getTrajectory(size_t num_points = 30) const;
  const std::vector<geometry_msgs::msg::Point> getTrajectory(
    double start_s, double end_s, double resolution, bool denormalize_s = false) const;
  const geometry_msgs::msg::Pose getPose(
    double s, bool denormalize_s = false, bool fill_pitch = true) const;
  const geometry_msgs::msg::Point getPoint(double s, bool denormalize_s = false) const;
  const geometry_msgs::msg::Vector3 getTangentVector(double s, bool denormalize_s = false) const;
  const geometry_msgs::msg::Vector3 getNormalVector(double s, bool denormalize_s = false) const;
  double get2DCurvature(double s, bool denormalize_s = false) const;
  double getMaximum2DCurvature() const;
  double getLength(size_t num_points) const;
  double getLength() const { return length_; }
  std::optional<double> getSValue(
    const geometry_msgs::msg::Pose & pose, double threshold_distance = 3.0,
    bool denormalize_s = false) const;
  double getSquaredDistanceIn2D(
    const geometry_msgs::msg::Point & point, double s, bool denormalize_s = false) const;
  geometry_msgs::msg::Vector3 getSquaredDistanceVector(
    const geometry_msgs::msg::Point & point, double s, bool denormalize_s = false) const;
  std::set<double> getCollisionPointsIn2D(
    const geometry_msgs::msg::Point & point0, const geometry_msgs::msg::Point & point1,
    bool search_backward = false, bool denormalize_s = false) const;
  std::optional<double> getCollisionPointIn2D(
    const geometry_msgs::msg::Point & point0, const geometry_msgs::msg::Point & point1,
    bool search_backward = false, bool denormalize_s = false) const;
  std::set<double> getCollisionPointsIn2D(
    const std::vector<geometry_msgs::msg::Point> & polygon, bool search_backward = false,
    bool close_start_end = true, bool denormalize_s = false) const;
  std::optional<double> getCollisionPointIn2D(
    const std::vector<geometry_msgs::msg::Point> & polygon, bool search_backward = false,
    bool close_start_end = true, bool denormalize_s = false) const;
 
private:
  std::pair<double, double> get2DMinMaxCurvatureValue() const;
  double length_;
};
}  // namespace geometry
}  // namespace math
 
#endif  // GEOMETRY__SPLINE__HERMITE_CURVE_HPP_