Directory: | ./ |
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File: | src/path-validation/discretized.cc |
Date: | 2024-08-10 11:29:48 |
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1 | // | ||
2 | // Copyright (c) 2015 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/collision-validation.hh> | ||
32 | #include <hpp/core/config-validations.hh> | ||
33 | #include <hpp/core/path-validation/discretized.hh> | ||
34 | #include <hpp/core/path.hh> | ||
35 | #include <hpp/core/projection-error.hh> | ||
36 | #include <hpp/pinocchio/device.hh> | ||
37 | #include <hpp/util/debug.hh> | ||
38 | |||
39 | namespace hpp { | ||
40 | namespace core { | ||
41 | namespace pathValidation { | ||
42 | |||
43 | 62 | DiscretizedPtr_t Discretized::create(const value_type& stepSize) { | |
44 | 62 | Discretized* ptr = new Discretized(stepSize); | |
45 | 62 | return DiscretizedPtr_t(ptr); | |
46 | } | ||
47 | |||
48 | ✗ | DiscretizedPtr_t Discretized::create( | |
49 | const value_type& stepSize, | ||
50 | std::initializer_list<ConfigValidationPtr_t> validations) { | ||
51 | ✗ | Discretized* ptr = new Discretized(stepSize, validations); | |
52 | ✗ | return DiscretizedPtr_t(ptr); | |
53 | } | ||
54 | |||
55 | 280 | bool Discretized::validate(const PathPtr_t& path, bool reverse, | |
56 | PathPtr_t& validPart, | ||
57 | PathValidationReportPtr_t& validationReport) { | ||
58 | hppDout(notice, "path validation, reverse : " << reverse); | ||
59 | 280 | ValidationReportPtr_t configReport; | |
60 |
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280 | assert(path); |
61 | 280 | bool valid = true; | |
62 | 280 | const value_type tmin = path->timeRange().first; | |
63 | 280 | const value_type tmax = path->timeRange().second; | |
64 | 280 | unsigned finished = 0; | |
65 |
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280 | Configuration_t q(path->outputSize()); |
66 | value_type T1, step, lastValidTime; | ||
67 |
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280 | if (reverse) { |
68 | 96 | lastValidTime = tmax; | |
69 | 96 | T1 = tmin; | |
70 | 96 | step = -stepSize_; | |
71 | } else { | ||
72 | 184 | lastValidTime = tmin; | |
73 | 184 | T1 = tmax; | |
74 | 184 | step = stepSize_; | |
75 | } | ||
76 | |||
77 | 280 | value_type t = lastValidTime; | |
78 |
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49333 | while (finished < 2 && valid) { |
79 |
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49053 | bool success = path->eval(q, t); |
80 |
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49053 | if (!success) { |
81 | ✗ | validationReport = PathValidationReportPtr_t(new PathValidationReport( | |
82 | ✗ | t, ValidationReportPtr_t(new ProjectionError()))); | |
83 | ✗ | valid = false; | |
84 |
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49053 | } else if (!ConfigValidations::validate(q, configReport)) { |
85 |
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146 | validationReport = CollisionPathValidationReportPtr_t( |
86 |
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146 | new CollisionPathValidationReport(t, configReport)); |
87 | 73 | valid = false; | |
88 | } else { | ||
89 | 48980 | lastValidTime = t; | |
90 | 48980 | t += step; | |
91 | } | ||
92 |
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49053 | if ((reverse && t < T1) || (!reverse && t > T1)) { |
93 | 417 | t = T1; | |
94 | 417 | finished++; | |
95 | } | ||
96 | } | ||
97 |
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280 | if (valid) { |
98 | 207 | validPart = path; | |
99 | 207 | return true; | |
100 | } else { | ||
101 |
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73 | if (reverse) |
102 |
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13 | validPart = path->extract(lastValidTime, tmax); |
103 | else | ||
104 |
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60 | validPart = path->extract(tmin, lastValidTime); |
105 | 73 | return false; | |
106 | } | ||
107 | 280 | } | |
108 | |||
109 | 100 | bool Discretized::validate(ConfigurationIn_t q, ValidationReportPtr_t& report) { | |
110 |
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100 | return ConfigValidations::validate(q, report); |
111 | } | ||
112 | |||
113 | } // namespace pathValidation | ||
114 | } // namespace core | ||
115 | } // namespace hpp | ||
116 |