CPTG_RobotShape_Circular.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "nav-precomp.h"  // Precomp header

#include <mrpt/core/round.h>
#include <mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h>
#include <mrpt/opengl/CSetOfLines.h>
#include <mrpt/serialization/CArchive.h>

using namespace mrpt::nav;

CPTG_RobotShape_Circular::CPTG_RobotShape_Circular() = default;
CPTG_RobotShape_Circular::~CPTG_RobotShape_Circular() = default;
void CPTG_RobotShape_Circular::setRobotShapeRadius(const double robot_radius)
{
    m_robotRadius = robot_radius;
    internal_processNewRobotShape();
}

void CPTG_RobotShape_Circular::loadDefaultParams() { m_robotRadius = 0.2; }
void CPTG_RobotShape_Circular::loadShapeFromConfigFile(
    const mrpt::config::CConfigFileBase& cfg, const std::string& sSection)
{
    const double old_R = m_robotRadius;
    MRPT_LOAD_HERE_CONFIG_VAR(
        robot_radius, double, m_robotRadius, cfg, sSection);

    if (m_robotRadius != old_R) internal_processNewRobotShape();
}
void CPTG_RobotShape_Circular::saveToConfigFile(
    mrpt::config::CConfigFileBase& cfg, const std::string& sSection) const
{
    const int WN = 25, WV = 30;

    cfg.write(
        sSection, "robot_radius", m_robotRadius, WN, WV, "Robot radius [m].");
}

void CPTG_RobotShape_Circular::add_robotShape_to_setOfLines(
    mrpt::opengl::CSetOfLines& gl_shape,
    const mrpt::poses::CPose2D& origin) const
{
    const double R = m_robotRadius;
    const int N = 17;
    // Transform coordinates:
    std::vector<double> shap_x(N), shap_y(N), shap_z(N);
    for (int i = 0; i < N; i++)
    {
        origin.composePoint(
            R * cos(i * 2 * M_PI / (N - 1)), R * sin(i * 2 * M_PI / (N - 1)), 0,
            shap_x[i], shap_y[i], shap_z[i]);
    }
    // Draw a "radius" to identify the "forward" orientation (phi=0)
    gl_shape.appendLine(
        origin.x(), origin.y(), .0, shap_x[0], shap_y[0], shap_z[0]);
    for (unsigned int i = 1; i <= shap_x.size(); i++)
    {
        const unsigned int idx = i % shap_x.size();
        gl_shape.appendLineStrip(shap_x[idx], shap_y[idx], shap_z[idx]);
    }
    // Draw a "cross" to identify the robot center
    gl_shape.appendLine(
        origin.x() - R * 0.02, origin.y(), .0, origin.x() + R * 0.02,
        origin.y(), .0);
    gl_shape.appendLine(
        origin.x(), origin.y() - R * 0.02, .0, origin.x(),
        origin.y() + R * 0.02, .0);
}

void CPTG_RobotShape_Circular::internal_shape_loadFromStream(
    mrpt::serialization::CArchive& in)
{
    uint8_t version;
    in >> version;

    switch (version)
    {
        case 0:
            in >> m_robotRadius;
            break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    }
}

void CPTG_RobotShape_Circular::internal_shape_saveToStream(
    mrpt::serialization::CArchive& out) const
{
    uint8_t version = 0;
    out << version;

    out << m_robotRadius;
}

double CPTG_RobotShape_Circular::getMaxRobotRadius() const
{
    return m_robotRadius;
}

bool CPTG_RobotShape_Circular::isPointInsideRobotShape(
    const double x, const double y) const
{
    return mrpt::hypot_fast(x, y) < m_robotRadius;
}

double CPTG_RobotShape_Circular::evalClearanceToRobotShape(
    const double ox, const double oy) const
{
    return mrpt::hypot_fast(ox, oy) - m_robotRadius;
}