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// |
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// Copyright (c) 2014 CNRS |
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// Authors: Florent Lamiraux |
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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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#include <hpp/core/bi-rrt-planner.hh> |
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#include <hpp/core/config-projector.hh> |
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#include <hpp/core/configuration-shooter.hh> |
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#include <hpp/core/edge.hh> |
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#include <hpp/core/node.hh> |
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#include <hpp/core/path-validation.hh> |
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#include <hpp/core/path.hh> |
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#include <hpp/core/problem.hh> |
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#include <hpp/core/roadmap.hh> |
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#include <hpp/core/steering-method.hh> |
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#include <hpp/pinocchio/configuration.hh> |
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#include <hpp/pinocchio/device.hh> |
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#include <hpp/util/debug.hh> |
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namespace hpp { |
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namespace core { |
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using pinocchio::displayConfig; |
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BiRRTPlannerPtr_t BiRRTPlanner::createWithRoadmap( |
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const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap) { |
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BiRRTPlanner* ptr = new BiRRTPlanner(problem, roadmap); |
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return BiRRTPlannerPtr_t(ptr); |
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} |
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BiRRTPlannerPtr_t BiRRTPlanner::create(const ProblemConstPtr_t& problem) { |
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BiRRTPlanner* ptr = new BiRRTPlanner(problem); |
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return BiRRTPlannerPtr_t(ptr); |
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} |
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BiRRTPlanner::BiRRTPlanner(const ProblemConstPtr_t& problem) |
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: PathPlanner(problem), |
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configurationShooter_(problem->configurationShooter()), |
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qProj_(problem->robot()->configSize()) {} |
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BiRRTPlanner::BiRRTPlanner(const ProblemConstPtr_t& problem, |
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const RoadmapPtr_t& roadmap) |
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: PathPlanner(problem, roadmap), |
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configurationShooter_(problem->configurationShooter()), |
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qProj_(problem->robot()->configSize()) {} |
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void BiRRTPlanner::init(const BiRRTPlannerWkPtr_t& weak) { |
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PathPlanner::init(weak); |
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weakPtr_ = weak; |
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} |
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PathPtr_t BiRRTPlanner::extendInternal(const SteeringMethodPtr_t& sm, |
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Configuration_t& qProj_, |
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const NodePtr_t& near, |
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const Configuration_t& target, |
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bool reverse) { |
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const ConstraintSetPtr_t& constraints(sm->constraints()); |
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if (constraints) { |
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ConfigProjectorPtr_t configProjector(constraints->configProjector()); |
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if (configProjector) { |
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configProjector->projectOnKernel(near->configuration(), target, qProj_); |
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} else { |
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qProj_ = target; |
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} |
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if (constraints->apply(qProj_)) { |
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return reverse ? (*sm)(qProj_, near->configuration()) |
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: (*sm)(near->configuration(), qProj_); |
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} else { |
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return PathPtr_t(); |
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} |
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} |
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return reverse ? (*sm)(target, near->configuration()) |
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: (*sm)(near->configuration(), target); |
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} |
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/// One step of extension. |
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void BiRRTPlanner::startSolve() { |
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PathPlanner::startSolve(); |
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startComponent_ = roadmap()->initNode()->connectedComponent(); |
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for (NodeVector_t::const_iterator cit = roadmap()->goalNodes().begin(); |
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cit != roadmap()->goalNodes().end(); ++cit) { |
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endComponents_.push_back((*cit)->connectedComponent()); |
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} |
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} |
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void BiRRTPlanner::oneStep() { |
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PathPtr_t validPath, path; |
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PathValidationPtr_t pathValidation(problem()->pathValidation()); |
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value_type distance; |
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NodePtr_t near, reachedNodeFromStart; |
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bool startComponentConnected(false), pathValidFromStart(false); |
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Configuration_t q_new; |
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// first try to connect to start component |
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Configuration_t q_rand; |
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configurationShooter_->shoot(q_rand); |
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near = roadmap()->nearestNode(q_rand, startComponent_, distance); |
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path = extendInternal(problem()->steeringMethod(), qProj_, near, q_rand); |
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if (path) { |
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PathValidationReportPtr_t report; |
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pathValidFromStart = |
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pathValidation->validate(path, false, validPath, report); |
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if (validPath) { |
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// Insert new path to q_near in roadmap |
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value_type t_final = validPath->timeRange().second; |
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if (t_final != path->timeRange().first) { |
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startComponentConnected = true; |
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q_new = validPath->end(); |
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reachedNodeFromStart = |
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roadmap()->addNodeAndEdge(near, q_new, validPath); |
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} |
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} |
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} |
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// now try to connect to end components |
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for (std::vector<ConnectedComponentPtr_t>::const_iterator itcc = |
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endComponents_.begin(); |
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itcc != endComponents_.end(); ++itcc) { |
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near = roadmap()->nearestNode(q_rand, *itcc, distance, true); |
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path = |
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extendInternal(problem()->steeringMethod(), qProj_, near, q_rand, true); |
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if (path) { |
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PathValidationReportPtr_t report; |
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if (pathValidation->validate(path, true, validPath, report) && |
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pathValidFromStart) { |
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// we won, a path is found |
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roadmap()->addEdge(reachedNodeFromStart, near, validPath); |
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return; |
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} else if (validPath) { |
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value_type t_final = validPath->timeRange().second; |
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if (t_final != path->timeRange().first) { |
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Configuration_t q_newEnd = validPath->initial(); |
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NodePtr_t newNode = |
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roadmap()->addNodeAndEdge(q_newEnd, near, validPath); |
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// now try to connect both nodes |
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if (startComponentConnected) { |
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path = (*(problem()->steeringMethod()))(q_new, q_newEnd); |
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if (path && |
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pathValidation->validate(path, false, validPath, report)) { |
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roadmap()->addEdge(reachedNodeFromStart, newNode, path); |
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return; |
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} |
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} |
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} |
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} |
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} |
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} |
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} |
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} // namespace core |
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} // namespace hpp |
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