# Copyright 2021-2023 AIPlan4EU project
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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from abc import ABC
from dataclasses import dataclass
from typing import Tuple, List
from unified_planning.model.motion.objects import SE2, SE3
[docs]
class Path(ABC):
"""
This class represents a geometric path.
A geometric path is a list of waypoints,
either in the joint space or in the operating space of the robot,
usually bringing the robot from an initial to a final configuration.
"""
pass
[docs]
@dataclass(eq=True, frozen=True)
class SE2Path(Path):
"""
This class represents an SE2 Path.
It is composed of a list of tuple where each element is a waypoint (e.g., pose of the robot in N-d space).
"""
path: List[SE2]
[docs]
@dataclass(eq=True, frozen=True)
class SE3Path(Path):
"""
This class represents an SE3 Path.
It is composed of a list of tuple where each element is a waypoint (e.g., pose of the robot in N-d space).
"""
path: List[SE3]
[docs]
@dataclass(eq=True, frozen=True)
class SE2WithControlsPath(Path):
"""
This class represents a ReedsShepp Path.
It is composed of a list of tuple where:
- the first element is the waypoint (e.g., pose of the robot in N-d space);
- the second element is the linear velocity to be applied at that waypoint.
- the third element is the angular velocity to be applied at that waypoint.
- the fourth element is the duration of the applied control.
"""
path: List[Tuple[SE2, float, float, float]]