GCC Code Coverage Report

Directory: ./
File: src/path-optimization/spline-gradient-based/collision-constraint.hh
Date: 2024-08-10 11:29:48
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Branches: 78 274 28.5%
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1 //
2 // Copyright (c) 2015 CNRS
3 // Author: Mylene Campana, Joseph Mirabel
4 //
5 //
6
7 // Redistribution and use in source and binary forms, with or without
8 // modification, are permitted provided that the following conditions are
9 // met:
10 //
11 // 1. Redistributions of source code must retain the above copyright
12 // notice, this list of conditions and the following disclaimer.
13 //
14 // 2. Redistributions in binary form must reproduce the above copyright
15 // notice, this list of conditions and the following disclaimer in the
16 // documentation and/or other materials provided with the distribution.
17 //
18 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
19 // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
20 // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
21 // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
22 // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
23 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
24 // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
25 // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
26 // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
27 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
28 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
29 // DAMAGE.
30
31 #ifndef HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_COLLISION_CONSTRAINTS_HH
32 #define HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_COLLISION_CONSTRAINTS_HH
33
34 #include <hpp/fcl/collision.h>
35 #include <hpp/fcl/distance.h>
36
37 #include <hpp/constraints/generic-transformation.hh>
38 #include <hpp/pinocchio/configuration.hh>
39 #include <hpp/pinocchio/util.hh>
40 #include <hpp/util/exception-factory.hh>
41 #include <pinocchio/multibody/liegroup/liegroup.hpp>
42
43 namespace hpp {
44 namespace core {
45 namespace pathOptimization {
46
47 template <typename SplinePtr_t>
48 class CollisionFunction : public DifferentiableFunction {
49 public:
50 typedef shared_ptr<CollisionFunction> Ptr_t;
51 12 virtual ~CollisionFunction() {}
52 3 static Ptr_t create(const DevicePtr_t& robot, const SplinePtr_t& freeSpline,
53 const SplinePtr_t& collSpline,
54 const PathValidationReportPtr_t& report) {
55 6 CollisionFunction* ptr =
56
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 6 new CollisionFunction(robot, freeSpline, collSpline, report);
57 6 return Ptr_t(ptr);
58 }
59
60 ✗ void updateConstraint(const Configuration_t& q) {
61 ✗ fcl::CollisionResult result = checkCollision(q, true);
62
63 ✗ if (result.numContacts() == 1) { // Update qColl_
64 ✗ qColl_ = q;
65 ✗ contactPoint_ = result.getContact(0).pos;
66 hppDout(info, "contact point = " << contactPoint_.transpose());
67 } else { // Update qFree_
68 ✗ qFree_ = q;
69 }
70
71 ✗ computeJacobian();
72 }
73
74 Configuration_t qFree_, qColl_;
75
76 protected:
77 6 CollisionFunction(const DevicePtr_t& robot, const SplinePtr_t& freeSpline,
78 const SplinePtr_t& collSpline,
79 const PathValidationReportPtr_t& report)
80 : DifferentiableFunction(robot->configSize(), robot->numberDof(),
81 LiegroupSpace::R1(), ""),
82 6 qFree_(),
83
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 6 qColl_(),
84 6 robot_(robot),
85 6 object1_(),
86 6 object2_(),
87
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 6 J_(),
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 12 difference_(robot->numberDof()) {
89 6 const value_type& tColl = report->parameter;
90 bool success;
91
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 6 qColl_ = collSpline->eval(tColl, success);
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 6 assert(success);
93
94 6 CollisionValidationReportPtr_t collisionReport = (HPP_DYNAMIC_PTR_CAST(
95 CollisionValidationReport, report->configurationReport));
96
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 6 if (!collisionReport) {
97 ✗ std::stringstream ss;
98 ✗ ss << "Expected a CollisionValidationReport. Got a "
99 ✗ << *report->configurationReport;
100 ✗ throw std::logic_error(ss.str());
101 }
102 6 object1_ = collisionReport->object1;
103 6 object2_ = collisionReport->object2;
104
105 hppDout(info, "obj1 = " << object1_->name()
106 << " and obj2 = " << object2_->name());
107 hppDout(info, "qColl = " << pinocchio::displayConfig(qColl_));
108
109 // Backtrack collision in previous path (x0) to create constraint
110
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 6 value_type tFree = tColl * freeSpline->length() / collSpline->length();
111 12 tFree = std::min(tFree,
112
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 6 freeSpline->length()); // can be slightly above freeSpline
113 // length due to round-offs
114
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 6 qFree_ = freeSpline->eval(tFree, success);
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 6 assert(success);
117 hppDout(info, "qFree = " << pinocchio::displayConfig(qFree_));
118 // Compute contact point in configuration qColl
119 6 const fcl::CollisionResult& result(collisionReport->result);
120
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 6 if (result.numContacts() < 1) {
121 ✗ abort();
122 }
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 6 assert(result.numContacts() >= 1);
124
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 6 contactPoint_ = result.getContact(0).pos;
125 hppDout(info, "contact point = " << contactPoint_.transpose());
126
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 6 computeJacobian();
127 }
128
129 ✗ fcl::CollisionResult checkCollision(const Configuration_t& q,
130 bool enableContact) {
131 ✗ pinocchio::DeviceSync device(robot_);
132 ✗ device.currentConfiguration(q);
133 ✗ device.computeForwardKinematics(pinocchio::JOINT_POSITION);
134 ✗ device.updateGeometryPlacements();
135 ✗ fcl::CollisionResult result;
136 ✗ fcl::CollisionRequestFlag flag =
137 ✗ enableContact ? fcl::CONTACT : fcl::NO_REQUEST;
138 ✗ fcl::CollisionRequest collisionRequest(flag, 1);
139 using ::pinocchio::toFclTransform3f;
140 ✗ fcl::collide(object1_->geometry().get(),
141 ✗ toFclTransform3f(object1_->getTransform(device.d())),
142 ✗ object2_->geometry().get(),
143 ✗ toFclTransform3f(object2_->getTransform(device.d())),
144 collisionRequest, result);
145 ✗ return result;
146 }
147
148 6 void computeJacobian() {
149
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 6 static const matrix3_t I3(matrix3_t::Identity());
150
151 6 DifferentiableFunctionPtr_t f;
152
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 6 vector3_t u;
153
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 6 pinocchio::DeviceSync device(robot_);
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 6 device.currentConfiguration(qColl_);
156
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 6 device.computeForwardKinematics(pinocchio::JOINT_POSITION |
157 pinocchio::JACOBIAN);
158
159
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 6 if (!object2_->joint() || object2_->joint()->index() == 0) {
160 6 object1_.swap(object2_);
161 }
162
163
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 6 JointConstPtr_t joint1 = object1_->joint();
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 6 JointConstPtr_t joint2 = object2_->joint();
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 6 assert(joint2 && joint2->index() > 0);
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 6 Transform3f M2(joint2->currentTransformation(device.d()));
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 6 vector3_t x2_J2(M2.actInv(contactPoint_));
168
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 6 if (joint1 && joint1->index() > 0) { // object1 = body part
170 ✗ Transform3f M1(joint1->currentTransformation(device.d()));
171 // Position of contact point in each object local frame
172 ✗ vector3_t x1_J1 = M1.actInv(contactPoint_);
173 // Compute contact points in configuration qFree
174 ✗ device.currentConfiguration(qFree_);
175 ✗ device.computeForwardKinematics(pinocchio::JOINT_POSITION);
176 ✗ M2 = joint2->currentTransformation(device.d());
177 ✗ M1 = joint1->currentTransformation(device.d());
178 ✗ device.unlock();
179 // Position of x1 in local frame of joint2
180 ✗ vector3_t x1_J2(M2.actInv(M1.act(x1_J1)));
181 hppDout(info, "x2 in J2 = " << x2_J2.transpose());
182 hppDout(info, "x1 in J2 = " << x1_J2.transpose());
183
184 ✗ u = (x1_J2 - x2_J2).normalized();
185 ✗ f = constraints::RelativePosition::create("", robot_, joint1, joint2,
186 ✗ Transform3f(I3, x1_J1),
187 ✗ Transform3f(I3, x2_J2));
188 } else { // object1 = fixed obstacle and has no joint
189
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 6 vector3_t x1_J1(contactPoint_);
190 // Compute contact points in configuration qFree
191
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 6 device.currentConfiguration(qFree_);
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 6 device.computeForwardKinematics(pinocchio::JOINT_POSITION);
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 6 Transform3f M2(joint2->currentTransformation(device.d()));
194
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 6 device.unlock();
195 // position of x2 in global frame
196
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 6 vector3_t x2_J1(M2.act(x2_J2));
197 hppDout(info, "x2 in J1 = " << x2_J1.transpose());
198
199
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 6 u = (x2_J1 - x2_J2).normalized();
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 18 f = constraints::Position::create(
201
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 12 "", robot_, joint2, Transform3f(I3, x2_J2), Transform3f(I3, x1_J1));
202 }
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 6 matrix_t Jpos(f->outputSize(), f->inputDerivativeSize());
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 6 f->jacobian(Jpos, qFree_);
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 6 J_ = u.transpose() * Jpos;
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 6 assert(J_.rows() == 1);
207 }
208
209 6 virtual void impl_compute(LiegroupElementRef result,
210 vectorIn_t argument) const {
211
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 12 pinocchio::difference<pinocchio::DefaultLieGroupMap>(robot_, argument,
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 6 qFree_, difference_);
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 6 result.vector() = J_ * difference_;
214 6 result.check();
215 }
216 3 virtual void impl_jacobian(matrixOut_t jacobian, vectorIn_t) const {
217 6 jacobian = J_;
218 }
219
220 private:
221 DevicePtr_t robot_;
222 CollisionObjectConstPtr_t object1_, object2_;
223 matrix_t J_;
224 vector3_t contactPoint_;
225 mutable vector_t difference_;
226 }; // class CollisionFunction
227 } // namespace pathOptimization
228 } // namespace core
229 } // namespace hpp
230 #endif // HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_COLLISION_CONSTRAINTS_HH
231