analytical_kinematic_box_quadrotor_decoupled_6d.h

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/*
 * Copyright (c) 2018, The Regents of the University of California (Regents).
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 *    2. Redistributions in binary form must reproduce the above
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 *       with the distribution.
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 *       contributors may be used to endorse or promote products derived
 *       from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * Please contact the author(s) of this library if you have any questions.
 * Authors: David Fridovich-Keil   ( dfk@eecs.berkeley.edu )
 */

//
// Defines the AnalyticalKinematicBoxQuadrotorDecoupled6D class, which inherits
// from the ValueFunction base class. This class assumes Kinematic planner
// dynamics and QuadrotorDecoupled6D tracker dynamics, and uses a Box tracking
// error bound.
//

#ifndef FASTRACK_VALUE_ANALYTICAL_KINEMATIC_BOX_QUADROTOR_DECOUPLED_6D_H
#define FASTRACK_VALUE_ANALYTICAL_KINEMATIC_BOX_QUADROTOR_DECOUPLED_6D_H

#include <fastrack/bound/box.h>
#include <fastrack/control/quadrotor_control.h>
#include <fastrack/dynamics/kinematics.h>
#include <fastrack/dynamics/quadrotor_decoupled_6d.h>
#include <fastrack/dynamics/quadrotor_decoupled_6d_rel_kinematics.h>
#include <fastrack/state/position_velocity.h>
#include <fastrack/state/position_velocity_rel_position_velocity.h>
#include <fastrack/utils/types.h>
#include <fastrack/utils/uncopyable.h>
#include <fastrack/value/value_function.h>

#include <ros/ros.h>

namespace fastrack {
namespace value {

using bound::Box;
using control::QuadrotorControl;
using control::QuadrotorControlBoundBox;
using control::VectorBoundBox;
using dynamics::Kinematics;
using dynamics::QuadrotorDecoupled6D;
using dynamics::QuadrotorDecoupled6DRelKinematics;
using state::PositionVelocity;
using state::PositionVelocityRelPositionVelocity;

class AnalyticalKinematicBoxQuadrotorDecoupled6D
    : public ValueFunction<PositionVelocity, QuadrotorControl,
                           QuadrotorDecoupled6D<QuadrotorControlBoundBox>,
                           PositionVelocity, VectorXd,
                           Kinematics<PositionVelocity>, Box> {
 public:
  ~AnalyticalKinematicBoxQuadrotorDecoupled6D() {}
  explicit AnalyticalKinematicBoxQuadrotorDecoupled6D() : ValueFunction() {}

  // Value and gradient at particular relative states.
  double Value(const PositionVelocity& vehicle_x,
               const PositionVelocity& planner_x) const;

  std::unique_ptr<RelativeState<PositionVelocity, PositionVelocity>> Gradient(
      const PositionVelocity& vehicle_x,
      const PositionVelocity& planner_x) const;

  // Priority of the optimal control at the given vehicle and planner states.
  // This is a number between 0 and 1, where 1 means the final control signal
  // should be exactly the optimal control signal computed by this
  // value function.
  double Priority(const PositionVelocity& vehicle_x,
                  const PositionVelocity& planner_x) const;

 private:
  // Load parameters and register callbacks.
  bool LoadParameters(const ros::NodeHandle& n);
  bool RegisterCallbacks(const ros::NodeHandle& n);

  // Maximum acceleration.
  Vector3d max_acc_;

  // Disturbance bounds (assumed to be symmetric).
  Vector3d vel_dist_;
  Vector3d acc_dist_;

  // Position/velocity expansion.
  Vector3d pos_exp_;
  Vector3d vel_exp_;
};  //\class AnalyticalKinematicBoxQuadrotorDecoupled6D

}  // namespace value
}  // namespace fastrack

#endif