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// Copyright (c) 2014, LAAS-CNRS |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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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/path-projector/dichotomy.hh" |
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#include <hpp/core/config-projector.hh> |
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#include <hpp/core/path-vector.hh> |
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#include <hpp/core/straight-path.hh> |
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#include <queue> |
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#include <stack> |
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#include <stdexcept> |
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namespace hpp { |
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namespace core { |
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namespace pathProjector { |
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Dichotomy::Dichotomy(const DistancePtr_t& distance, |
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const SteeringMethodPtr_t& steeringMethod, |
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value_type maxPathLength) |
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: PathProjector(distance, steeringMethod), maxPathLength_(maxPathLength) {} |
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bool Dichotomy::impl_apply(const PathPtr_t& path, PathPtr_t& proj) const { |
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assert(path); |
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bool success = false; |
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PathVectorPtr_t pv = HPP_DYNAMIC_PTR_CAST(PathVector, path); |
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if (!pv) { |
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StraightPathPtr_t sp = HPP_DYNAMIC_PTR_CAST(StraightPath, path); |
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if (!sp) throw std::invalid_argument("Unknow inherited class of Path"); |
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success = applyToStraightPath(sp, proj); |
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} else { |
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PathVectorPtr_t res = |
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PathVector::create(pv->outputSize(), pv->outputDerivativeSize()); |
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PathPtr_t part; |
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success = true; |
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for (size_t i = 0; i < pv->numberPaths(); i++) { |
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if (!apply(pv->pathAtRank(i), part)) { |
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// We add the path only if part is not NULL and: |
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// - either its length is not zero, |
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// - or it's not the first one. |
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if (part && (part->length() > 0 || i == 0)) { |
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res->appendPath(part); |
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} |
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success = false; |
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break; |
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} |
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res->appendPath(part); |
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} |
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proj = res; |
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} |
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assert(proj); |
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assert((proj->initial() - path->initial()).isZero()); |
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assert(!success || (proj->end() - path->end()).isZero()); |
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return success; |
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} |
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bool Dichotomy::applyToStraightPath(const StraightPathPtr_t& path, |
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PathPtr_t& projection) const { |
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ConstraintSetPtr_t constraints = path->constraints(); |
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const ConfigProjectorPtr_t& cp = constraints->configProjector(); |
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core::interval_t timeRange = path->timeRange(); |
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const Configuration_t& q1 = path->initial(); |
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const Configuration_t& q2 = path->end(); |
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if (cp) cp->rightHandSideFromConfig(q1); |
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if (!constraints->isSatisfied(q1) || !constraints->isSatisfied(q2)) { |
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return false; |
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} |
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if (!cp || cp->dimension() == 0) { |
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projection = path; |
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return true; |
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} |
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bool pathIsFullyProjected = true; |
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std::queue<PathPtr_t> paths; |
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std::stack<PathPtr_t> pathToSplit; |
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Configuration_t qi(q1.size()); |
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PathPtr_t sPath = steer(q1, q2); |
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pathToSplit.push(sPath); |
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while (!pathToSplit.empty()) { |
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sPath = pathToSplit.top(); |
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pathToSplit.pop(); |
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double l = sPath->length(); |
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if (l < maxPathLength_) { |
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paths.push(sPath); |
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continue; |
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} |
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timeRange = sPath->timeRange(); |
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const Configuration_t& qb = sPath->initial(); |
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sPath->eval(qi, timeRange.first + l / 2); |
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const Configuration_t& qe = sPath->end(); |
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if (!constraints->apply(qi)) { |
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pathIsFullyProjected = false; |
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break; |
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} |
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PathPtr_t firstPart = steer(qb, qi); |
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PathPtr_t secondPart = steer(qi, qe); |
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if (secondPart->length() == 0 || firstPart->length() == 0) { |
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pathIsFullyProjected = false; |
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break; |
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} |
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pathToSplit.push(secondPart); |
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pathToSplit.push(firstPart); |
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} |
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switch (paths.size()) { |
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case 0: |
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return false; |
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break; |
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case 1: |
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projection = paths.front()->copy(constraints); |
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break; |
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default: |
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core::PathVectorPtr_t pv = core::PathVector::create( |
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path->outputSize(), path->outputDerivativeSize()); |
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while (!paths.empty()) { |
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pv->appendPath(paths.front()->copy(constraints)); |
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paths.pop(); |
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} |
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projection = pv; |
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break; |
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} |
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return pathIsFullyProjected; |
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} |
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} // namespace pathProjector |
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} // namespace core |
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} // namespace hpp |
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