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File: | include/hpp/core/continuous-validation/interval-validation.hh |
Date: | 2024-08-10 11:29:48 |
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1 | // | ||
2 | // Copyright (c) 2014,2015,2016,2018 CNRS | ||
3 | // Authors: Florent Lamiraux, Joseph Mirabel, Diane Bury | ||
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_CONTINUOUS_VALIDATION_INTERVAL_VALIDATION_HH | ||
31 | #define HPP_CORE_CONTINUOUS_VALIDATION_INTERVAL_VALIDATION_HH | ||
32 | |||
33 | #include <hpp/fcl/collision.h> | ||
34 | #include <hpp/fcl/collision_data.h> | ||
35 | |||
36 | #include <boost/icl/continuous_interval.hpp> | ||
37 | #include <boost/icl/interval_set.hpp> | ||
38 | #include <hpp/core/deprecated.hh> | ||
39 | #include <hpp/core/fwd.hh> | ||
40 | #include <hpp/pinocchio/body.hh> | ||
41 | #include <hpp/pinocchio/collision-object.hh> | ||
42 | #include <hpp/pinocchio/joint.hh> | ||
43 | #include <iterator> | ||
44 | #include <limits> | ||
45 | |||
46 | namespace hpp { | ||
47 | namespace core { | ||
48 | namespace continuousValidation { | ||
49 | /// Validation of a parameter interval of a path | ||
50 | /// | ||
51 | /// During path planning, some criteria need to be checked to be | ||
52 | /// valid over the whole interval of definition of a path. | ||
53 | /// The most common criterion is the absence of collision (implemented | ||
54 | /// by derived class BodyPairCollision), but some other criteria might | ||
55 | /// need to be checked. For instance the tension of the cables of a | ||
56 | /// parallel cable driven robot need to remain in an interval. | ||
57 | /// | ||
58 | /// This class provides a common interface for continuous validation | ||
59 | /// through method \link IntervalValidation::validateConfiguration | ||
60 | /// validateConfiguration \endlink. | ||
61 | /// | ||
62 | /// A \link IntervalValidation::tolerance tolerance \endlink | ||
63 | /// may be provided at construction. An interval will be | ||
64 | /// considered as valid if the criterion is violated by less than the | ||
65 | /// tolerance. This parameter interpretation is left to the | ||
66 | /// specialization designers. | ||
67 | class IntervalValidation { | ||
68 | public: | ||
69 | /// Validate an interval for a given criterion | ||
70 | /// \param t center of the interval to validate | ||
71 | /// \param interval over which the criterion should be checked, | ||
72 | /// \retval interval part of the input interval that is valid, | ||
73 | /// \retval report report in case of non validity of the configuration | ||
74 | /// at parameter t | ||
75 | /// \param data data resulting from forward kinematics computed at | ||
76 | /// parameter t. | ||
77 | virtual bool validateConfiguration(const value_type &t, interval_t &interval, | ||
78 | ValidationReportPtr_t &report, | ||
79 | const pinocchio::DeviceData &data) = 0; | ||
80 | |||
81 | /// Set path to validate | ||
82 | /// \param path path to validate, | ||
83 | /// \param reverse whether path is validated from end to beginning. | ||
84 | 6917 | void path(const PathPtr_t &path, bool reverse) { | |
85 | 6917 | path_ = path; | |
86 | 6917 | reverse_ = reverse; | |
87 | 6917 | valid_ = false; | |
88 |
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6917 | validInterval_ = interval_set(); |
89 | 6917 | setupPath(); | |
90 | 6917 | } | |
91 | |||
92 | /// Get path | ||
93 | 241805 | PathConstPtr_t path() const { return path_; } | |
94 | |||
95 | value_type tolerance() const { return tolerance_; } | ||
96 | |||
97 | virtual std::string name() const = 0; | ||
98 | virtual std::ostream &print(std::ostream &os) const = 0; | ||
99 | virtual IntervalValidationPtr_t copy() const = 0; | ||
100 | |||
101 | protected: | ||
102 | typedef boost::icl::continuous_interval<value_type> continuous_interval; | ||
103 | typedef boost::icl::interval_set<value_type> interval_set; | ||
104 | PathPtr_t path_; | ||
105 | value_type tolerance_; | ||
106 | bool reverse_; | ||
107 | bool refine_; | ||
108 | bool valid_; | ||
109 | interval_set validInterval_; | ||
110 | /// Constructor of interval validation element | ||
111 | /// | ||
112 | /// \param tolerance allowed penetration should be positive | ||
113 | 49 | IntervalValidation(value_type tolerance) | |
114 |
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49 | : tolerance_(tolerance), reverse_(false), refine_(true) { |
115 |
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49 | if (tolerance < 0) { |
116 | ✗ | throw std::runtime_error("tolerance should be non-negative."); | |
117 | } | ||
118 | 49 | } | |
119 | |||
120 | 153 | IntervalValidation(const IntervalValidation &other) | |
121 |
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153 | : tolerance_(other.tolerance_), refine_(true) { |
122 |
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153 | if (tolerance_ < 0) { |
123 | ✗ | throw std::runtime_error("tolerance should be non-negative."); | |
124 | } | ||
125 | 153 | } | |
126 | |||
127 | private: | ||
128 | virtual void setupPath() = 0; | ||
129 | }; // class IntervalValidation | ||
130 | |||
131 | inline std::ostream &operator<<(std::ostream &os, const IntervalValidation &b) { | ||
132 | return b.print(os); | ||
133 | } | ||
134 | } // namespace continuousValidation | ||
135 | } // namespace core | ||
136 | } // namespace hpp | ||
137 | #endif // HPP_CORE_CONTINUOUS_VALIDATION_INTERVAL_VALIDATION_HH | ||
138 |