UnicycleBasedRobotModel.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.
 *
 * GNU General Public License Usage:
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 *   General Public License version 3.0 as published by the Free Software
 *   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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 *   met: http://www.gnu.org/copyleft/gpl.html.
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 */

#ifndef _MIRA_UNICYCLEBASEDROBOTMODEL_H_
#define _MIRA_UNICYCLEBASEDROBOTMODEL_H_

#include <serialization/PropertySerializer.h>

#include <robot/RobotModel.h>

namespace mira { namespace robot {


class MIRA_ROBOT_DATATYPES_EXPORT UnicycleBasedRobotModel : public RobotModel
{
    MIRA_ABSTRACT_OBJECT(UnicycleBasedRobotModel)

public:

        // keep using Angle for serialization compatibility
        template<typename Reflector>
        void reflectDegrees(Reflector& r,
                            const char* name, float& member, const char* comment) {
            if (Reflector::isReadOnly::value) {
                Anglef a(member);
                r.property(name, a, comment, PropertyHint(), REFLECT_CTRLFLAG_TEMP_TRACKING);
            } else {
                Anglef a;
                r.property(name, a, comment, PropertyHint(), REFLECT_CTRLFLAG_TEMP_TRACKING);
                member = a.rad();
            }
        }

        void reflectDegrees(PropertySerializer& r,
                            const char* name, float& member, const char* comment) {
            r.property(name,
                       rad2degGetter(member), deg2radSetter(member, Deg2RadNonNegative),
                       comment, PropertyHints::minimum(0.f));
        }

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, RigidModel);
        r.property("MaxBackwardVelocity", maxBackwardVelocity,
                   "The maximum velocity for driving backward (both wheels) [m/s]");
        r.property("MaxForwardVelocity", maxForwardVelocity,
                   "The maximum velocity for driving forward (both wheels) [m/s]");
        reflectDegrees(r, "MaxRotVelocity", maxRotVelocity,
                       "The maximum velocity for rotating [deg/s]");
        r.property("TransEpsilonVelocity", transEpsilonVelocity,
                   "The min. translational speed that the robot platform can do [m/s]. "
                   "Lower velocities result in standing still.");
        reflectDegrees(r, "RotEpsilonVelocity", rotEpsilonVelocity,
                       "The min. rotational speed that the robot platform can do [deg/s]. "
                       "Lower velocities result in standing still.");

        r.property("MaxTransAcceleration", maxTransAcceleration,
                   "Max. acceleration [m/s^2]");
        r.property("MaxTransDeceleration", maxTransDeceleration,
                   "Max. deceleration [m/s^2]");
        reflectDegrees(r, "MaxRotAcceleration", maxRotAcceleration,
                       "Max. acceleration [deg/s^2]");
        reflectDegrees(r, "MaxRotDeceleration", maxRotDeceleration,
                       "Max. deceleration [deg/s^2]");
        r.property("MaxEmergencyDeceleration", maxEmergencyDeceleration,
                   "Max. deceleration in case of an emergency [m/s^2]. Must be greater than zero.");
    }

    float getMaxTransVelocity() const;

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

    float maxBackwardVelocity;

    float maxForwardVelocity;

    float maxRotVelocity;

    float transEpsilonVelocity;
    float rotEpsilonVelocity;

    float maxTransAcceleration;
    float maxTransDeceleration;
    float maxEmergencyDeceleration;

    float maxRotAcceleration;
    float maxRotDeceleration;
};

typedef boost::shared_ptr<UnicycleBasedRobotModel> UnicycleBasedRobotModelPtr;


inline float UnicycleBasedRobotModel::getMaxTransVelocity() const
{
    return std::max(std::abs(maxBackwardVelocity), std::abs(maxForwardVelocity));
}


}} // namespace

#endif