Initial commit - test serial

SerialTest/include/okapi/squiggles/physicalmodel/passthroughmodel.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 _PHYSICAL_MODEL_PASSTHROUGH_MODEL_HPP_
+#define _PHYSICAL_MODEL_PASSTHROUGH_MODEL_HPP_
+
+#include "physicalmodel/physicalmodel.hpp"
+
+namespace squiggles {
+class PassthroughModel : public PhysicalModel {
+  public:
+  /**
+   * Defines a Physical Model that imposes no constraints of its own.
+   */
+  PassthroughModel() = default;
+
+  Constraints constraints([[maybe_unused]] const Pose pose,
+                          [[maybe_unused]] double curvature,
+                          double vel) override {
+    return Constraints(vel);
+  };
+
+  std::vector<double>
+  linear_to_wheel_vels([[maybe_unused]] double lin_vel,
+                       [[maybe_unused]] double curvature) override {
+    return std::vector<double>{};
+  }
+
+  std::string to_string() const override {
+    return "PassthroughModel {}";
+  }
+};
+} // namespace squiggles
+
+#endif

SerialTest/include/okapi/squiggles/physicalmodel/physicalmodel.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 _PHYSICAL_MODEL_PHYSICAL_MODEL_HPP_
+#define _PHYSICAL_MODEL_PHYSICAL_MODEL_HPP_
+
+#include "constraints.hpp"
+#include "geometry/pose.hpp"
+
+namespace squiggles {
+class PhysicalModel {
+  public:
+  /**
+   * Calculate a set of stricter constraints for the path at the given state
+   * than the general constraints based on the robot's kinematics.
+   *
+   * @param pose The 2D pose for this state in the path.
+   * @param curvature The change in heading at this state in the path in 1 /
+   *                  meters.
+   * @param vel The linear velocity at this state in the path in meters per
+   * second.
+   */
+  virtual Constraints
+  constraints(const Pose pose, double curvature, double vel) = 0;
+
+  /**
+   * Converts a linear velocity and desired curvature into the component for
+   * each wheel of the robot.
+   *
+   * @param linear The linear velocity for the robot in meters per second.
+   * @param curvature The change in heading for the robot in 1 / meters.
+   */
+  virtual std::vector<double> linear_to_wheel_vels(double linear,
+                                                   double curvature) = 0;
+
+  virtual std::string to_string() const = 0;
+};
+} // namespace squiggles
+
+#endif

SerialTest/include/okapi/squiggles/physicalmodel/tankmodel.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 _PHYSICAL_MODEL_TANK_MODEL_HPP_
+#define _PHYSICAL_MODEL_TANK_MODEL_HPP_
+
+#include <tuple>
+#include <vector>
+
+#include "physicalmodel/physicalmodel.hpp"
+
+namespace squiggles {
+class TankModel : public PhysicalModel {
+  public:
+  /**
+   * Defines a model of a tank drive or differential drive robot.
+   *
+   * @param itrack_width The distance between the the wheels on each side of the
+   *                     robot in meters.
+   * @param ilinear_constraints The maximum values for the robot's movement.
+   */
+  TankModel(double itrack_width, Constraints ilinear_constraints);
+
+  Constraints
+  constraints(const Pose pose, double curvature, double vel) override;
+
+  std::vector<double> linear_to_wheel_vels(double lin_vel,
+                                           double curvature) override;
+
+  std::string to_string() const override;
+
+  private:
+  double vel_constraint(const Pose pose, double curvature, double vel);
+  std::tuple<double, double>
+  accel_constraint(const Pose pose, double curvature, double vel) const;
+
+  double track_width;
+  Constraints linear_constraints;
+};
+} // namespace squiggles
+
+#endif