| Directory: | ./ |
|---|---|
| File: | src/problem-target/goal-configurations.cc |
| Date: | 2024-12-13 16:14:03 |
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| Lines: | 31 | 34 | 91.2% |
| Branches: | 15 | 38 | 39.5% |
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| 1 | // Copyright (c) 2016, Joseph Mirabel | ||
| 2 | // Authors: Joseph Mirabel (joseph.mirabel@laas.fr) | ||
| 3 | // | ||
| 4 | |||
| 5 | // Redistribution and use in source and binary forms, with or without | ||
| 6 | // modification, are permitted provided that the following conditions are | ||
| 7 | // met: | ||
| 8 | // | ||
| 9 | // 1. Redistributions of source code must retain the above copyright | ||
| 10 | // notice, this list of conditions and the following disclaimer. | ||
| 11 | // | ||
| 12 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 13 | // notice, this list of conditions and the following disclaimer in the | ||
| 14 | // documentation and/or other materials provided with the distribution. | ||
| 15 | // | ||
| 16 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 17 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 18 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 19 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 20 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 21 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 22 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 23 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 24 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 26 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 27 | // DAMAGE. | ||
| 28 | |||
| 29 | #include <hpp/core/config-validations.hh> | ||
| 30 | #include <hpp/core/connected-component.hh> | ||
| 31 | #include <hpp/core/problem-target/goal-configurations.hh> | ||
| 32 | #include <hpp/core/problem.hh> | ||
| 33 | #include <hpp/core/roadmap.hh> | ||
| 34 | #include <hpp/util/debug.hh> | ||
| 35 | #include <stdexcept> | ||
| 36 | |||
| 37 | #include "../astar.hh" | ||
| 38 | |||
| 39 | namespace hpp { | ||
| 40 | namespace core { | ||
| 41 | namespace problemTarget { | ||
| 42 | 62 | GoalConfigurationsPtr_t GoalConfigurations::create( | |
| 43 | const ProblemPtr_t& problem) { | ||
| 44 | 62 | GoalConfigurations* gc = new GoalConfigurations(problem); | |
| 45 | 62 | GoalConfigurationsPtr_t shPtr(gc); | |
| 46 | 62 | gc->init(shPtr); | |
| 47 | 62 | return shPtr; | |
| 48 | } | ||
| 49 | |||
| 50 | 8 | void GoalConfigurations::check(const RoadmapPtr_t& /*roadmap*/) const {} | |
| 51 | |||
| 52 | 32 | bool GoalConfigurations::reached(const RoadmapPtr_t& roadmap) const { | |
| 53 |
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32 | if (!roadmap->initNode()) return false; |
| 54 | const ConnectedComponentPtr_t ccInit = | ||
| 55 |
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32 | roadmap->initNode()->connectedComponent(); |
| 56 | 32 | const NodeVector_t& goals = roadmap->goalNodes(); | |
| 57 |
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56 | for (NodeVector_t::const_iterator _goal = goals.begin(); _goal != goals.end(); |
| 58 | 24 | ++_goal) { | |
| 59 |
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32 | if (ccInit->canReach((*_goal)->connectedComponent())) { |
| 60 | 8 | return true; | |
| 61 | } | ||
| 62 | } | ||
| 63 | 24 | return false; | |
| 64 | 32 | } | |
| 65 | |||
| 66 | 8 | PathVectorPtr_t GoalConfigurations::computePath( | |
| 67 | const RoadmapPtr_t& roadmap) const { | ||
| 68 | 8 | ProblemPtr_t problem(problem_.lock()); | |
| 69 |
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8 | assert(problem); |
| 70 | 8 | Astar astar(roadmap, problem->distance()); | |
| 71 | 8 | PathVectorPtr_t sol = PathVector::create(problem->robot()->configSize(), | |
| 72 |
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16 | problem->robot()->numberDof()); |
| 73 |
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8 | astar.solution(sol); |
| 74 | // This happens when q_init == q_goal | ||
| 75 |
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8 | if (sol->numberPaths() == 0) { |
| 76 | ✗ | Configuration_t q(roadmap->initNode()->configuration()); | |
| 77 | ✗ | sol->appendPath((*problem->steeringMethod())(q, q)); | |
| 78 | } | ||
| 79 | 16 | return sol; | |
| 80 | 8 | } | |
| 81 | // ====================================================================== | ||
| 82 | |||
| 83 | 26 | const Configurations_t& GoalConfigurations::configurations() const { | |
| 84 | 26 | return configurations_; | |
| 85 | } | ||
| 86 | |||
| 87 | // ====================================================================== | ||
| 88 | |||
| 89 | 9 | void GoalConfigurations::addConfiguration(ConfigurationIn_t config) { | |
| 90 |
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9 | configurations_.push_back(config); |
| 91 | 9 | } | |
| 92 | |||
| 93 | // ====================================================================== | ||
| 94 | |||
| 95 | ✗ | void GoalConfigurations::resetConfigurations() { configurations_.clear(); } | |
| 96 | |||
| 97 | } // namespace problemTarget | ||
| 98 | } // namespace core | ||
| 99 | } // namespace hpp | ||
| 100 |