Directory: | ./ |
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File: | src/extracted-path.hh |
Date: | 2024-12-13 16:14:03 |
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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 | #ifndef HPP_CORE_EXTRACTED_PATH_HH | ||
31 | #define HPP_CORE_EXTRACTED_PATH_HH | ||
32 | |||
33 | #include <hpp/core/path.hh> | ||
34 | |||
35 | namespace hpp { | ||
36 | namespace core { | ||
37 | /// Result of restriction of a path to a sub interval or of reversion | ||
38 | /// \note Decorator design pattern | ||
39 | class ExtractedPath : public Path { | ||
40 | public: | ||
41 | typedef Path parent_t; | ||
42 | |||
43 | 180 | virtual ~ExtractedPath() {} | |
44 | |||
45 | /// Return a shared pointer to a copy of this | ||
46 | ✗ | virtual PathPtr_t copy() const { return createCopy(weak_.lock()); } | |
47 | |||
48 | /// Return a shared pointer to a copy of this and set constraints | ||
49 | /// | ||
50 | /// \param constraints constraints to apply to the copy | ||
51 | /// \precond *this should not have constraints. | ||
52 | ✗ | virtual PathPtr_t copy(const ConstraintSetPtr_t& constraints) const { | |
53 | ✗ | return createCopy(weak_.lock(), constraints); | |
54 | } | ||
55 | |||
56 | 45 | static ExtractedPathPtr_t create(const PathPtr_t& original, | |
57 | const interval_t& subInterval) { | ||
58 |
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45 | ExtractedPath* ptr = new ExtractedPath(original, subInterval); |
59 | 45 | ExtractedPathPtr_t shPtr(ptr); | |
60 |
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45 | ptr->init(shPtr); |
61 | 45 | return shPtr; | |
62 | } | ||
63 | |||
64 | ✗ | static ExtractedPathPtr_t createCopy(const ExtractedPathPtr_t& path) { | |
65 | ✗ | ExtractedPath* ptr = new ExtractedPath(*path); | |
66 | ✗ | ExtractedPathPtr_t shPtr(ptr); | |
67 | ✗ | ptr->init(shPtr); | |
68 | ✗ | return shPtr; | |
69 | } | ||
70 | |||
71 | ✗ | static ExtractedPathPtr_t createCopy(const ExtractedPathPtr_t& path, | |
72 | const ConstraintSetPtr_t& constraints) { | ||
73 | ✗ | ExtractedPath* ptr = new ExtractedPath(*path, constraints); | |
74 | ✗ | ExtractedPathPtr_t shPtr(ptr); | |
75 | ✗ | ptr->init(shPtr); | |
76 | ✗ | return shPtr; | |
77 | } | ||
78 | |||
79 | ✗ | virtual bool impl_compute(ConfigurationOut_t result, value_type param) const { | |
80 | ✗ | param = sInOriginalPath(param); | |
81 | ✗ | return original_->impl_compute(result, param); | |
82 | } | ||
83 | |||
84 | ✗ | virtual void impl_derivative(vectorOut_t result, const value_type& s, | |
85 | size_type order) const { | ||
86 | ✗ | if (reversed_) { | |
87 | ✗ | value_type param = (paramRange().second - s); | |
88 | ✗ | original_->impl_derivative(result, param, order); | |
89 | ✗ | if (order % 2 == 1) result *= -1.; | |
90 | } else { | ||
91 | ✗ | original_->impl_derivative(result, s, order); | |
92 | } | ||
93 | } | ||
94 | |||
95 | ✗ | void impl_velocityBound(vectorOut_t result, const value_type& t0, | |
96 | const value_type& t1) const override { | ||
97 | ✗ | value_type tmin = sInOriginalPath(t0), tmax = sInOriginalPath(t1); | |
98 | ✗ | if (tmin > tmax) std::swap(tmin, tmax); | |
99 | ✗ | original_->velocityBound(result, tmin, tmax); | |
100 | } | ||
101 | |||
102 | ✗ | virtual PathPtr_t impl_extract(const interval_t& subInterval) const { | |
103 | ✗ | ExtractedPathPtr_t path = createCopy(weak_.lock()); | |
104 | ✗ | value_type tmin = sInOriginalPath(subInterval.first), | |
105 | ✗ | tmax = sInOriginalPath(subInterval.second); | |
106 | ✗ | path->reversed_ = tmin > tmax; | |
107 | ✗ | if (path->reversed_) std::swap(tmin, tmax); | |
108 | // path->reversed_ = ((this->reversed_) && (!reversed)) || | ||
109 | // ((!this->reversed_) && (reversed)); | ||
110 | ✗ | path->timeParameterization(TimeParameterizationPtr_t(), | |
111 | ✗ | std::make_pair(tmin, tmax)); | |
112 | ✗ | assert(path->timeRange().first >= | |
113 | timeRange().first - std::numeric_limits<float>::epsilon()); | ||
114 | ✗ | assert(path->timeRange().second <= | |
115 | timeRange().second + std::numeric_limits<float>::epsilon()); | ||
116 | ✗ | return path; | |
117 | } | ||
118 | |||
119 | /// Get the initial configuration | ||
120 | 36 | inline Configuration_t initial() const { | |
121 | bool success; | ||
122 | 36 | return original_->eval(reversed_ ? timeRange().second : timeRange().first, | |
123 |
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108 | success); |
124 | } | ||
125 | |||
126 | /// Get the final configuration | ||
127 | ✗ | inline Configuration_t end() const { | |
128 | bool success; | ||
129 | ✗ | return original_->eval(reversed_ ? timeRange().first : timeRange().second, | |
130 | ✗ | success); | |
131 | } | ||
132 | |||
133 | protected: | ||
134 | /// Print path in a stream | ||
135 | ✗ | virtual std::ostream& print(std::ostream& os) const { | |
136 | ✗ | os << "Extracted Path:" << std::endl; | |
137 | ✗ | Path::print(os); | |
138 | ✗ | os << "original path:" << std::endl; | |
139 | ✗ | os << *original_ << std::endl; | |
140 | ✗ | return os; | |
141 | } | ||
142 | |||
143 | /// Constructor | ||
144 | /// | ||
145 | /// \param original Path to extract, | ||
146 | /// \param subInterval definition interval of the extracted path | ||
147 | /// \note If subInterval.first is bigger than subInterval.second, then, | ||
148 | /// the path is reversed. | ||
149 | 45 | ExtractedPath(const PathPtr_t& original, const interval_t& subInterval) | |
150 | 45 | : Path(std::pair<value_type, value_type>(0, 0), original->outputSize(), | |
151 | original->outputDerivativeSize(), original->constraints()), | ||
152 |
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90 | original_(original) { |
153 | 45 | reversed_ = subInterval.first <= subInterval.second ? false : true; | |
154 | 45 | interval_t tr; | |
155 |
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45 | if (reversed_) { |
156 | 3 | tr.first = subInterval.second; | |
157 | 3 | tr.second = subInterval.first; | |
158 | } else { | ||
159 | 42 | tr = subInterval; | |
160 | } | ||
161 |
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45 | timeRange(tr); |
162 |
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45 | assert(timeRange().first >= original->timeRange().first); |
163 |
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45 | assert(timeRange().second <= original->timeRange().second); |
164 | 45 | } | |
165 | |||
166 | ✗ | ExtractedPath(const ExtractedPath& path) | |
167 | ✗ | : Path(path), | |
168 | ✗ | original_(path.original_), | |
169 | ✗ | reversed_(path.reversed_), | |
170 | ✗ | weak_() {} | |
171 | |||
172 | ✗ | ExtractedPath(const ExtractedPath& path, | |
173 | const ConstraintSetPtr_t& constraints) | ||
174 | ✗ | : Path(path, constraints), | |
175 | ✗ | original_(path.original_), | |
176 | ✗ | reversed_(path.reversed_), | |
177 | ✗ | weak_() {} | |
178 | |||
179 | 45 | void init(ExtractedPathPtr_t self) { | |
180 |
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45 | parent_t::init(self); |
181 | 45 | weak_ = self; | |
182 | 45 | } | |
183 | |||
184 | /// For serialization only. | ||
185 | ✗ | ExtractedPath() {} | |
186 | |||
187 | private: | ||
188 | ✗ | inline value_type sInOriginalPath(const value_type& s) const { | |
189 | ✗ | assert(paramRange().first <= s && s <= paramRange().second); | |
190 | ✗ | if (!reversed_) return s; | |
191 | ✗ | return paramRange().second - s; | |
192 | } | ||
193 | |||
194 | PathPtr_t original_; | ||
195 | bool reversed_; | ||
196 | ExtractedPathWkPtr_t weak_; | ||
197 | |||
198 | HPP_SERIALIZABLE(); | ||
199 | }; | ||
200 | } // namespace core | ||
201 | } // namespace hpp | ||
202 | #endif // HPP_CORE_EXTRACTED_PATH_HH | ||
203 |