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include/okapi/squiggles/constraints.hpp

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+/**
+ * Copyright 2020 Jonathan Bayless
+ *
+ * Use of this source code is governed by an MIT-style license that can be found
+ * in the LICENSE file or at https://opensource.org/licenses/MIT.
+ */
+#ifndef _SQUIGGLES_CONSTRAINTS_HPP_
+#define _SQUIGGLES_CONSTRAINTS_HPP_
+
+#include <cmath>
+#include <string>
+
+namespace squiggles {
+struct Constraints {
+  /**
+   * Defines the motion constraints for a path.
+   *
+   * @param imax_vel The maximum allowable velocity for the robot in meters per
+   *                 second.
+   * @param imax_accel The maximum allowable acceleration for the robot in
+   *                   meters per second per second.
+   * @param imax_jerk The maximum allowable jerk for the robot in meters per
+   *                  second per second per second (m/s^3).
+   * @param imax_curvature The maximum allowable change in heading in radians
+   *                       per second. This is not set to the numeric limits by
+   *                       default as that will allow for wild paths.
+   * @param imin_accel The minimum allowable acceleration for the robot in
+   *                   meters per second per second.
+   */
+  Constraints(double imax_vel,
+              double imax_accel = std::numeric_limits<double>::max(),
+              double imax_jerk = std::numeric_limits<double>::max(),
+              double imax_curvature = 1000,
+              double imin_accel = std::nan(""))
+    : max_vel(imax_vel),
+      max_accel(imax_accel),
+      max_jerk(imax_jerk),
+      max_curvature(imax_curvature) {
+    if (imax_accel == std::numeric_limits<double>::max()) {
+      min_accel = std::numeric_limits<double>::lowest();
+    } else {
+      min_accel = std::isnan(imin_accel) ? -imax_accel : imin_accel;
+    }
+  }
+
+  /**
+   * Serializes the Constraints data for debugging.
+   *
+   * @return The Constraints data.
+   */
+  std::string to_string() const {
+    return "Constraints: {max_vel: " + std::to_string(max_vel) +
+           ", max_accel: " + std::to_string(max_accel) +
+           ", max_jerk: " + std::to_string(max_jerk) +
+           ", min_accel: " + std::to_string(min_accel) + "}";
+  }
+
+  double max_vel;
+  double max_accel;
+  double max_jerk;
+  double min_accel;
+  double max_curvature;
+};
+} // namespace squiggles
+#endif