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// Copyright (C) 2009, 2010 by Florent Lamiraux, Thomas Moulard, JRL. |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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// |
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// This software is provided "as is" without warranty of any kind, |
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// either expressed or implied, including but not limited to the |
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// implied warranties of fitness for a particular purpose. |
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// |
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// See the COPYING file for more information. |
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#ifndef HPP_CORBASERVER_PROBLEM_IMPL_HH |
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#define HPP_CORBASERVER_PROBLEM_IMPL_HH |
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#include <stdlib.h> |
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#include <vector> |
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#include "hpp/corbaserver/deprecated.hh" |
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#include "hpp/corbaserver/fwd.hh" |
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#include "hpp/corbaserver/problem-idl.hh" |
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#include "hpp/corbaserver/problem-solver-map.hh" |
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#include "hpp/core_idl/_problem-idl.hh" |
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#include "hpp/core_idl/distances-idl.hh" |
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namespace hpp { |
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namespace corbaServer { |
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namespace impl { |
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using CORBA::Any; |
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using CORBA::Boolean; |
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using CORBA::Long; |
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using CORBA::ULong; |
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using CORBA::UShort; |
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/// \brief Implement CORBA interface ``Problem''. |
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class Problem : public virtual POA_hpp::corbaserver::Problem { |
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public: |
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Problem(); |
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void setServer(ServerPlugin* server) { server_ = server; } |
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virtual Names_t* getAvailable(const char* what); |
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virtual Names_t* getSelected(const char* what); |
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virtual void setParameter(const char* name, const Any& value); |
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virtual Any* getParameter(const char* name); |
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virtual char* getParameterDoc(const char* name); |
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virtual bool selectProblem(const char* problemName); |
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virtual void resetProblem(); |
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virtual bool loadPlugin(const char* pluginName); |
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virtual void movePathToProblem(ULong pathId, const char* problemName, |
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const Names_t& jointNames); |
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virtual void setMaxNumThreads(UShort n); |
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virtual UShort getMaxNumThreads(); |
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virtual void setRandomSeed(const Long seed) { srand((int)seed); } |
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virtual void setInitialConfig(const hpp::floatSeq& dofArray); |
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virtual hpp::floatSeq* getInitialConfig(); |
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virtual void addGoalConfig(const hpp::floatSeq& dofArray); |
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virtual hpp::floatSeqSeq* getGoalConfigs(); |
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virtual void resetGoalConfigs(); |
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void setGoalConstraints(const Names_t& constraints); |
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void resetGoalConstraints(); |
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virtual void createOrientationConstraint(const char* constraintName, |
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const char* joint1Name, |
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const char* joint2Name, |
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const Double* p, |
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const hpp::boolSeq& mask); |
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virtual void createTransformationConstraint(const char* constraintName, |
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const char* joint1Name, |
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const char* joint2Name, |
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const Transform_ p, |
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const hpp::boolSeq& mask); |
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virtual void createTransformationConstraint2(const char* constraintName, |
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const char* joint1Name, |
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const char* joint2Name, |
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const Transform_ frame1, |
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const Transform_ frame2, |
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const hpp::boolSeq& mask); |
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virtual void createTransformationR3xSO3Constraint(const char* constraintName, |
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const char* joint1Name, |
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const char* joint2Name, |
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const Transform_ frame1, |
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const Transform_ frame2, |
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const hpp::boolSeq& mask); |
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virtual void createLockedJoint(const char* lockedJointName, |
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const char* jointName, |
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const hpp::floatSeq& value); |
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virtual void createLockedJointWithComp(const char* lockedJointName, |
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const char* jointName, |
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const hpp::floatSeq& value, |
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const hpp::ComparisonTypes_t& comp); |
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virtual void createLockedExtraDof(const char* lockedDofName, ULong index, |
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const hpp::floatSeq& value); |
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virtual void createManipulability(const char* name, const char* function); |
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void createRelativeComConstraint(const char* constraintName, const char* comn, |
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const char* jointName, const floatSeq& point, |
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const hpp::boolSeq& mask); |
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void createComBeetweenFeet(const char* constraintName, const char* comn, |
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const char* jointLName, const char* jointRName, |
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const floatSeq& pointL, const floatSeq& pointR, |
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const char* jointRefName, const floatSeq& pRef, |
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const hpp::boolSeq& mask); |
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virtual void createConvexShapeContactConstraint( |
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const char* constraintName, const Names_t& floorJoints, |
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const Names_t& objectJoints, const hpp::floatSeqSeq& points, |
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const hpp::intSeqSeq& objTriangles, const hpp::intSeqSeq& floorTriangles); |
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virtual void createPositionConstraint(const char* constraintName, |
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const char* joint1Name, |
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const char* joint2Name, |
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const hpp::floatSeq& point1, |
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const hpp::floatSeq& point2, |
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const hpp::boolSeq& mask); |
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virtual void createConfigurationConstraint(const char* constraintName, |
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const hpp::floatSeq& goal, |
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const hpp::floatSeq& weights); |
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virtual void createDistanceBetweenJointConstraint(const char* constraintName, |
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const char* joint1Name, |
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const char* joint2Name, |
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Double distance); |
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virtual void createDistanceBetweenJointAndObjects(const char* constraintName, |
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const char* joint1Name, |
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const hpp::Names_t& objects, |
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Double distance); |
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virtual void createIdentityConstraint(const char* constraintName, |
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const Names_t& inJoints, |
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const hpp::Names_t& outJoints); |
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virtual bool applyConstraints(const hpp::floatSeq& input, |
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hpp::floatSeq_out output, |
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Double& residualError); |
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virtual bool optimize(const hpp::floatSeq& input, hpp::floatSeq_out output, |
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hpp::floatSeq_out residualError); |
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virtual void computeValueAndJacobian(const hpp::floatSeq& config, |
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hpp::floatSeq_out value, |
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hpp::floatSeqSeq_out jacobian); |
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virtual bool generateValidConfig(ULong maxIter, hpp::floatSeq_out output, |
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Double& residualError); |
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virtual void addPassiveDofs(const char* constraintName, |
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const hpp::Names_t& dofName); |
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virtual void getConstraintDimensions(const char* constraintName, |
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ULong& inputSize, |
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ULong& inputDerivativeSize, |
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ULong& outputSize, |
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ULong& outputDerivativeSize); |
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virtual void setConstantRightHandSide(const char* constraintName, |
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CORBA::Boolean constant); |
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virtual bool getConstantRightHandSide(const char* constraintName); |
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virtual floatSeq* getRightHandSide(); |
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virtual void setRightHandSide(const hpp::floatSeq& rhs); |
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virtual void setRightHandSideFromConfig(const hpp::floatSeq& config); |
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virtual void setRightHandSideByName(const char* constraintName, |
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const hpp::floatSeq& rhs); |
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virtual void setRightHandSideFromConfigByName(const char* constraintName, |
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const hpp::floatSeq& config); |
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virtual void resetConstraints(); |
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virtual void resetConstraintMap(); |
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virtual void addNumericalConstraints(const char* constraintName, |
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const hpp::Names_t& constraintNames, |
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const hpp::intSeq& priorities); |
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virtual void setNumericalConstraintsLastPriorityOptional(const bool optional); |
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virtual void addLockedJointConstraints(const char* configProjName, |
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const hpp::Names_t& lockedJointNames); |
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virtual char* displayConstraints(); |
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virtual void filterCollisionPairs(); |
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virtual Double getErrorThreshold(); |
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virtual void setErrorThreshold(Double threshold); |
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virtual void setDefaultLineSearchType(const char* type); |
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virtual ULong getMaxIterProjection(); |
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virtual void setMaxIterProjection(ULong iterations); |
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virtual ULong getMaxIterPathPlanning(); |
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virtual void setMaxIterPathPlanning(ULong iterations); |
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virtual void setTimeOutPathPlanning(double timeOut); |
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virtual double getTimeOutPathPlanning(); |
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virtual void addPathOptimizer(const char* pathOptimizerType); |
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virtual void clearPathOptimizers(); |
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virtual void addConfigValidation(const char* configValidationType); |
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virtual void clearConfigValidations(); |
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virtual void selectPathValidation(const char* pathValidationType, |
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Double tolerance); |
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virtual void selectPathProjector(const char* pathProjectorType, |
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Double tolerance); |
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virtual void selectPathPlanner(const char* pathPlannerType); |
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virtual void selectDistance(const char* distanceType); |
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virtual void selectSteeringMethod(const char* steeringMethodType); |
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virtual void selectConfigurationShooter(const char* configurationShooterType); |
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virtual bool prepareSolveStepByStep(); |
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virtual bool executeOneStep(); |
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virtual void finishSolveStepByStep(); |
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virtual hpp::intSeq* solve(); |
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virtual bool directPath(const hpp::floatSeq& startConfig, |
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const hpp::floatSeq& endConfig, |
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CORBA::Boolean validate, ULong& pathId, |
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CORBA::String_out report); |
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virtual bool reversePath(ULong pathId, ULong& reversedPathId); |
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virtual void addConfigToRoadmap(const hpp::floatSeq& config); |
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virtual void addEdgeToRoadmap(const hpp::floatSeq& config1, |
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const hpp::floatSeq& config2, ULong pathId, |
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bool bothEdges); |
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virtual void appendDirectPath(ULong pathId, const hpp::floatSeq& config, |
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Boolean validate); |
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virtual void concatenatePath(ULong startId, ULong endId); |
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virtual void extractPath(ULong pathId, Double start, Double end); |
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virtual void erasePath(ULong pathId); |
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virtual bool projectPath(ULong pathId); |
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virtual void interruptPathPlanning(); |
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virtual Long numberPaths(); |
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virtual hpp::intSeq* optimizePath(ULong pathId); |
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virtual Double pathLength(ULong pathId); |
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virtual hpp::floatSeq* configAtParam(ULong pathId, Double atDistance); |
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virtual hpp::floatSeq* derivativeAtParam(ULong pathId, ULong order, |
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Double atDistance); |
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virtual hpp::floatSeqSeq* getWaypoints(ULong inPathId, floatSeq_out times); |
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virtual hpp::floatSeqSeq* nodes(); |
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virtual Long numberEdges(); |
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virtual void edge(ULong edgeId, hpp::floatSeq_out q1, hpp::floatSeq_out q2); |
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virtual Long connectedComponentOfEdge(ULong edgeId); |
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virtual hpp::floatSeq* node(ULong nodeId); |
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virtual Long connectedComponentOfNode(ULong nodeId); |
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virtual Long numberNodes(); |
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virtual Long numberConnectedComponents(); |
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virtual hpp::floatSeqSeq* nodesConnectedComponent(ULong connectedComponentId); |
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virtual hpp::floatSeq* getNearestConfig(const hpp::floatSeq& config, |
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const Long connectedComponentId, |
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hpp::core::value_type& distance); |
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virtual void clearRoadmap(); |
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virtual void resetRoadmap(); |
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virtual void saveRoadmap(const char* filename); |
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virtual void loadRoadmap(const char* filename); |
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virtual void savePath(hpp::core_idl::Path_ptr path, const char* filename); |
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virtual hpp::core_idl::Path_ptr loadPath(const char* filename); |
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virtual void scCreateScalarMultiply(const char* outName, Double scalar, |
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const char* inName); |
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hpp::core_idl::Distance_ptr getDistance(); |
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void setDistance(hpp::core_idl::Distance_ptr distance); |
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hpp::core_idl::Path_ptr getPath(ULong pathId); |
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ULong addPath(hpp::core_idl::PathVector_ptr _path); |
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hpp::core_idl::SteeringMethod_ptr getSteeringMethod(); |
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hpp::core_idl::PathValidation_ptr getPathValidation(); |
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hpp::core_idl::PathPlanner_ptr getPathPlanner(); |
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hpp::core_idl::Problem_ptr getProblem(); |
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hpp::constraints_idl::Implicit_ptr getConstraint(const char* name); |
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void setRobot(hpp::pinocchio_idl::Device_ptr robot); |
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pinocchio_idl::CollisionObject_ptr getObstacle(const char* name); |
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core_idl::Problem_ptr createProblem(pinocchio_idl::Device_ptr robot); |
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core_idl::Roadmap_ptr createRoadmap(core_idl::Distance_ptr distance, |
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pinocchio_idl::Device_ptr robot); |
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core_idl::Roadmap_ptr readRoadmap(const char* filename, |
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pinocchio_idl::Device_ptr robot); |
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void writeRoadmap(const char* filename, core_idl::Roadmap_ptr roadmap, |
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pinocchio_idl::Device_ptr robot); |
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core_idl::PathPlanner_ptr createPathPlanner(const char* type, |
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core_idl::Problem_ptr _problem, |
| 367 |
|
|
core_idl::Roadmap_ptr roadmap); |
| 368 |
|
|
core_idl::PathOptimizer_ptr createPathOptimizer( |
| 369 |
|
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const char* type, core_idl::Problem_ptr _problem); |
| 370 |
|
|
|
| 371 |
|
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core_idl::PathProjector_ptr createPathProjector(const char* type, |
| 372 |
|
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core_idl::Problem_ptr robot, |
| 373 |
|
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value_type parameter); |
| 374 |
|
|
core_idl::PathValidation_ptr createPathValidation( |
| 375 |
|
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const char* type, pinocchio_idl::Device_ptr robot, value_type parameter); |
| 376 |
|
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core_idl::ConfigValidation_ptr createConfigValidation( |
| 377 |
|
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const char* type, pinocchio_idl::Device_ptr robot) override; |
| 378 |
|
|
core_idl::ConfigurationShooter_ptr createConfigurationShooter( |
| 379 |
|
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const char* type, core_idl::Problem_ptr _problem); |
| 380 |
|
|
core_idl::Distance_ptr createDistance(const char* type, |
| 381 |
|
|
core_idl::Problem_ptr _problem); |
| 382 |
|
|
core_idl::SteeringMethod_ptr createSteeringMethod( |
| 383 |
|
|
const char* type, core_idl::Problem_ptr _problem); |
| 384 |
|
|
|
| 385 |
|
|
core_idl::Constraint_ptr createConstraintSet(pinocchio_idl::Device_ptr robot, |
| 386 |
|
|
const char* name); |
| 387 |
|
|
core_idl::Constraint_ptr createConfigProjector( |
| 388 |
|
|
pinocchio_idl::Device_ptr robot, const char* name, Double threshold, |
| 389 |
|
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ULong iterations); |
| 390 |
|
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|
| 391 |
|
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private: |
| 392 |
|
|
/// Return the selected problem solver |
| 393 |
|
|
core::ProblemSolverPtr_t problemSolver(); |
| 394 |
|
|
/// \brief Pointer to the ServerPlugin owning this object. |
| 395 |
|
|
ServerPlugin* server_; |
| 396 |
|
|
}; |
| 397 |
|
|
} // end of namespace impl. |
| 398 |
|
|
} // end of namespace corbaServer. |
| 399 |
|
|
} // end of namespace hpp. |
| 400 |
|
|
|
| 401 |
|
|
#endif //! HPP_CORBASERVER_OBSTACLE_IMPL_HH |
| 402 |
|
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