RobotModel.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
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 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
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 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
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#include <transform/Pose.h>
#include <transform/Velocity.h>

#include <model/RigidModel.h>

#include <robot/RobotDataTypesExports.h>
#include <robot/Trajectory.h>

#ifndef _MIRA_ROBOTMODEL_H_
#define _MIRA_ROBOTMODEL_H_

namespace mira { namespace robot {


class MIRA_ROBOT_DATATYPES_EXPORT RobotModel : public mira::model::RigidModel
{
    MIRA_ABSTRACT_OBJECT(RobotModel)

public:

    virtual Pose2 localKinematics(const Velocity2& v, float dt) const = 0;

    Pose2 globalKinematics(const Velocity2& v, float dt, const Pose2& p0) const
    {
        Pose2 dp = localKinematics(v, dt); // delta pose
        float sinphi0=sin(p0.phi());
        float cosphi0=cos(p0.phi());
        return Pose2(cosphi0*dp.x() - sinphi0*dp.y() + p0.x(),
                     sinphi0*dp.x() + cosphi0*dp.y() + p0.y(),
                     dp.phi()+p0.phi());
    }

    virtual float predictStandstillDistance(const Velocity2& v) const = 0;

    virtual float predictStandstillRotation(const Velocity2& v) const = 0;

    virtual PoseVelocityTrajectory generateTrajectory(Velocity2 v, const Velocity2& targetV,
                                                      float lookAheadTime, int samples) = 0;
};

typedef boost::shared_ptr<RobotModel> RobotModelPtr;


} } // namespace

#endif