kinematic_planner.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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 *    3. Neither the name of the copyright holder nor the names of its
 *       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 )
 */

//
// Base class for all kinematic planners. Geometric planners are planners that
// operate directly in the configuration space and use only kinematics instead
// of dynamics.
//

#ifndef FASTRACK_PLANNING_KINEMATIC_PLANNER_H
#define FASTRACK_PLANNING_KINEMATIC_PLANNER_H

#include <fastrack/planning/planner.h>
#include <fastrack/dynamics/kinematics.h>

#include <fastrack_srvs/KinematicPlannerDynamics.h>

namespace fastrack {
namespace planning {

using dynamics::Kinematics;

template<typename S, typename E, typename B, typename SB>
class KinematicPlanner : public Planner< S, E,
  Kinematics<S>, fastrack_srvs::KinematicPlannerDynamics, B, SB > {
public:
  virtual ~KinematicPlanner() {}

protected:
  explicit KinematicPlanner()
    : Planner<S, E, Kinematics<S>, fastrack_srvs::KinematicPlannerDynamics, B, SB>() {}

  // Plan a trajectory from the given start to goal states starting
  // at the given time.
  // NOTE! The states in the output trajectory are essentially configurations.
  virtual Trajectory<S> Plan(
    const S& start, const S& goal, double start_time=0.0) const = 0;
}; //\class KinematicPlanner

} //\namespace planning
} //\namespace fastrack

#endif