Directory: | ./ |
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File: | src/continuous-validation/dichotomy.cc |
Date: | 2024-08-10 11:29:48 |
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1 | // | ||
2 | // Copyright (c) 2014 CNRS | ||
3 | // Authors: Florent Lamiraux | ||
4 | // | ||
5 | |||
6 | // Redistribution and use in source and binary forms, with or without | ||
7 | // modification, are permitted provided that the following conditions are | ||
8 | // met: | ||
9 | // | ||
10 | // 1. Redistributions of source code must retain the above copyright | ||
11 | // notice, this list of conditions and the following disclaimer. | ||
12 | // | ||
13 | // 2. Redistributions in binary form must reproduce the above copyright | ||
14 | // notice, this list of conditions and the following disclaimer in the | ||
15 | // documentation and/or other materials provided with the distribution. | ||
16 | // | ||
17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
18 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
19 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
20 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
21 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
22 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
23 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
24 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
25 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
26 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
27 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
28 | // DAMAGE. | ||
29 | |||
30 | #include <hpp/core/collision-path-validation-report.hh> | ||
31 | #include <hpp/core/continuous-validation/dichotomy.hh> | ||
32 | #include <hpp/core/path-vector.hh> | ||
33 | #include <hpp/core/straight-path.hh> | ||
34 | #include <hpp/util/debug.hh> | ||
35 | #include <hpp/util/timer.hh> | ||
36 | #include <iterator> | ||
37 | |||
38 | #include "continuous-validation/helper.hh" | ||
39 | #include "continuous-validation/intervals.hh" | ||
40 | |||
41 | namespace hpp { | ||
42 | namespace core { | ||
43 | namespace continuousValidation { | ||
44 | |||
45 | HPP_DEFINE_TIMECOUNTER(CV_Dichotomy_validateStraightPath); | ||
46 | |||
47 | 4 | DichotomyPtr_t Dichotomy::create(const DevicePtr_t& robot, | |
48 | const value_type& tolerance) { | ||
49 |
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4 | Dichotomy* ptr = new Dichotomy(robot, tolerance); |
50 | 4 | DichotomyPtr_t shPtr(ptr); | |
51 |
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4 | ptr->init(shPtr); |
52 |
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4 | ptr->initialize(); |
53 | 4 | return shPtr; | |
54 | } | ||
55 | |||
56 | 8 | Dichotomy::~Dichotomy() {} | |
57 | |||
58 | 318 | bool Dichotomy::validateStraightPath(IntervalValidations_t& bpc, | |
59 | const PathPtr_t& path, bool reverse, | ||
60 | PathPtr_t& validPart, | ||
61 | PathValidationReportPtr_t& report) { | ||
62 |
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318 | if (reverse) |
63 | 86 | return validateStraightPath<true>(bpc, path, validPart, report); | |
64 | else | ||
65 | 232 | return validateStraightPath<false>(bpc, path, validPart, report); | |
66 | } | ||
67 | |||
68 | template <bool reverse> | ||
69 | 636 | bool Dichotomy::validateStraightPath(IntervalValidations_t& bodyPairCollisions, | |
70 | const PathPtr_t& path, | ||
71 | PathPtr_t& validPart, | ||
72 | PathValidationReportPtr_t& report) { | ||
73 | HPP_START_TIMECOUNTER(CV_Dichotomy_validateStraightPath); | ||
74 | |||
75 | // start by validating end of path | ||
76 | 636 | bool finished = false; | |
77 | 636 | bool valid = true; | |
78 |
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636 | setPath(bodyPairCollisions, path, reverse); |
79 | 636 | Intervals validSubset; | |
80 | 636 | const interval_t& tr(path->timeRange()); | |
81 | 636 | value_type t = first(tr, reverse); | |
82 |
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636 | validSubset.unionInterval(std::make_pair(t, t)); |
83 |
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636 | Configuration_t q(path->outputSize()); |
84 | value_type t0, t1, tmin, tmax; | ||
85 | 636 | int niters = 0; | |
86 |
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18448 | while (!finished) { |
87 | 17812 | ++niters; | |
88 |
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17812 | bool success = path->eval(q, t); |
89 | 17812 | PathValidationReportPtr_t pathReport; | |
90 | 17812 | interval_t interval; | |
91 |
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17812 | if (!success) { |
92 | ✗ | report = PathValidationReportPtr_t(new PathValidationReport( | |
93 | ✗ | t, ValidationReportPtr_t(new ProjectionError()))); | |
94 | ✗ | valid = false; | |
95 |
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17812 | } else if (!validateConfiguration(bodyPairCollisions, q, t, interval, |
96 | pathReport)) { | ||
97 | 102 | report = pathReport; | |
98 | 102 | valid = false; | |
99 | } else { | ||
100 |
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17710 | validSubset.unionInterval(interval); |
101 | } | ||
102 |
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17812 | finished = (!valid || validSubset.contains(tr)); |
103 | // Compute next parameter to check as middle of first non tested | ||
104 | // interval | ||
105 | 17812 | t0 = second(begin(validSubset.list(), reverse), reverse); | |
106 | 17812 | t1 = second(tr, reverse); | |
107 |
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17812 | if (validSubset.list().size() > 1) |
108 |
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15296 | t1 = first(Nth(validSubset.list(), 1, reverse), reverse); |
109 | 17812 | t = .5 * (t0 + t1); | |
110 | } | ||
111 |
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636 | if (!valid) { |
112 |
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102 | assert(begin(validSubset.list(), reverse).first <= first(tr, reverse)); |
113 |
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102 | assert(begin(validSubset.list(), reverse).second >= first(tr, reverse)); |
114 | if (reverse) { | ||
115 |
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26 | tmin = validSubset.list().rbegin()->first; |
116 | 26 | tmax = tr.second; | |
117 | } else { | ||
118 | 76 | tmin = tr.first; | |
119 | 76 | tmax = validSubset.list().begin()->second; | |
120 | } | ||
121 |
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102 | validPart = path->extract(tmin, tmax); |
122 | } else { | ||
123 | 534 | validPart = path; | |
124 | } | ||
125 | HPP_STOP_AND_DISPLAY_TIMECOUNTER(CV_Dichotomy_validateStraightPath); | ||
126 | if (niters > 1000) { | ||
127 | hppDout(notice, | ||
128 | "nb iterations, path length: " << niters << ", " << path->length()); | ||
129 | hppDout(info, "path: " << *path); | ||
130 | } | ||
131 | 636 | return valid; | |
132 | 636 | } | |
133 | |||
134 | 4 | void Dichotomy::init(const DichotomyWkPtr_t weak) { | |
135 |
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4 | ContinuousValidation::init(weak); |
136 | 4 | weak_ = weak; | |
137 | 4 | } | |
138 | |||
139 | 4 | Dichotomy::Dichotomy(const DevicePtr_t& robot, const value_type& tolerance) | |
140 | 4 | : ContinuousValidation(robot, tolerance), weak_() { | |
141 | // Tolerance should be equal to 0, otherwise end of valid | ||
142 | // sub-path might be in collision. | ||
143 |
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4 | if (tolerance != 0) { |
144 | ✗ | throw std::runtime_error( | |
145 | "Dichotomy path validation method does not" | ||
146 | ✗ | "support penetration."); | |
147 | } | ||
148 | 4 | } | |
149 | } // namespace continuousValidation | ||
150 | } // namespace core | ||
151 | } // namespace hpp | ||
152 |