path_circle_generator.h

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#pragma once
 
#include <kdl/path.hpp>
#include <kdl/path_circle.hpp>
#include <kdl/rotational_interpolation_sa.hpp>
#include <kdl/utilities/error.h>
 
#include <memory>
 
namespace pilz_industrial_motion_planner
{
class PathCircleGenerator
{
public:
  static std::unique_ptr<KDL::Path> circleFromCenter(const KDL::Frame& start_pose, const KDL::Frame& goal_pose,
                                                     const KDL::Vector& center_point, double eqradius);
 
  static std::unique_ptr<KDL::Path> circleFromInterim(const KDL::Frame& start_pose, const KDL::Frame& goal_pose,
                                                      const KDL::Vector& interim_point, double eqradius);
 
private:
  PathCircleGenerator(){};  // no instantiation of this helper class!
 
  static double cosines(const double a, const double b, const double c);
 
  static constexpr double MAX_RADIUS_DIFF{ 1e-2 };
  static constexpr double MAX_COLINEAR_NORM{ 1e-5 };
};
 
}  // namespace pilz_industrial_motion_planner
 
class ErrorMotionPlanningCenterPointDifferentRadius : public KDL::Error_MotionPlanning
{
public:
  const char* Description() const override
  {
    return "Distances between start-center and goal-center are different."
           " A circle cannot be created.";
  }
  int GetType() const override
  {
    return ERROR_CODE_CENTER_POINT_DIFFERENT_RADIUS;
  }  // LCOV_EXCL_LINE
 
private:
  static constexpr int ERROR_CODE_CENTER_POINT_DIFFERENT_RADIUS{ 3006 };
};