Directory: | ./ |
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File: | src/kinodynamic-path.cc |
Date: | 2024-12-13 16:14:03 |
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Lines: | 159 | 198 | 80.3% |
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1 | // Copyright (c) 2016, LAAS-CNRS | ||
2 | // Authors: Pierre Fernbach (pierre.fernbach@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-projector.hh> | ||
30 | #include <hpp/core/kinodynamic-path.hh> | ||
31 | #include <hpp/core/projection-error.hh> | ||
32 | #include <hpp/pinocchio/configuration.hh> | ||
33 | #include <hpp/pinocchio/device.hh> | ||
34 | #include <hpp/pinocchio/joint.hh> | ||
35 | #include <hpp/util/debug.hh> | ||
36 | |||
37 | namespace hpp { | ||
38 | namespace core { | ||
39 | 2007 | KinodynamicPath::KinodynamicPath(const DevicePtr_t& device, | |
40 | ConfigurationIn_t init, ConfigurationIn_t end, | ||
41 | value_type length, ConfigurationIn_t a1, | ||
42 | ConfigurationIn_t t0, ConfigurationIn_t t1, | ||
43 | ConfigurationIn_t tv, ConfigurationIn_t t2, | ||
44 | 2007 | ConfigurationIn_t vLim) | |
45 | 2007 | : parent_t(device->RnxSOnConfigSpace(), init, end, interval_t(0, length)), | |
46 | 2007 | device_(device), | |
47 |
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2007 | a1_(a1), |
48 |
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2007 | t0_(t0), |
49 |
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2007 | t1_(t1), |
50 |
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2007 | tv_(tv), |
51 |
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2007 | t2_(t2), |
52 |
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6021 | vLim_(vLim) { |
53 |
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2007 | assert(device); |
54 |
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2007 | assert(length >= 0); |
55 |
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2007 | assert(!constraints()); |
56 | hppDout(notice, "Create kinodynamic path with values : "); | ||
57 | hppDout(notice, "a1 = " << pinocchio::displayConfig(a1_)); | ||
58 | hppDout(notice, "t0 = " << pinocchio::displayConfig(t0_)); | ||
59 | hppDout(notice, "t1 = " << pinocchio::displayConfig(t1_)); | ||
60 | hppDout(notice, "tv = " << pinocchio::displayConfig(tv_)); | ||
61 | hppDout(notice, "t2 = " << pinocchio::displayConfig(t2_)); | ||
62 | hppDout(notice, "length = " << length); | ||
63 | hppDout(notice, "vLim = " << pinocchio::displayConfig(vLim_)); | ||
64 | |||
65 | // for now, this class only deal with the translation part of a freeflyer : | ||
66 |
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2007 | assert(a1.size() == 3 && t0.size() == 3 && t1.size() == 3 && tv.size() == 3 && |
67 | t2.size() == 3 && vLim.size() == 3 && | ||
68 | "Inputs vector of kinodynamicPath are not of size 3"); | ||
69 |
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8028 | for (size_t i = 0; i < 3; i++) { |
70 |
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6021 | assert(fabs(length - (t0[i] + t1[i] + tv[i] + t2[i])) < |
71 | std::numeric_limits<float>::epsilon() && | ||
72 | "Kinodynamic path : length is not coherent with switch times at " | ||
73 | "index " + | ||
74 | i); | ||
75 | } | ||
76 | 2007 | } | |
77 | |||
78 | 20004 | KinodynamicPath::KinodynamicPath(const DevicePtr_t& device, | |
79 | ConfigurationIn_t init, ConfigurationIn_t end, | ||
80 | value_type length, ConfigurationIn_t a1, | ||
81 | ConfigurationIn_t t0, ConfigurationIn_t t1, | ||
82 | ConfigurationIn_t tv, ConfigurationIn_t t2, | ||
83 | ConfigurationIn_t vLim, | ||
84 | 20004 | ConstraintSetPtr_t constraints) | |
85 | 20004 | : parent_t(device->RnxSOnConfigSpace(), init, end, interval_t(0, length), | |
86 | constraints), | ||
87 | 20004 | device_(device), | |
88 |
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20004 | a1_(a1), |
89 |
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20004 | t0_(t0), |
90 |
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20004 | t1_(t1), |
91 |
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20004 | tv_(tv), |
92 |
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20004 | t2_(t2), |
93 |
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60012 | vLim_(vLim) { |
94 |
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20004 | assert(device); |
95 |
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20004 | assert(length >= 0); |
96 | hppDout(notice, "Create kinodynamic path with constraints, with values : "); | ||
97 | hppDout(notice, "a1 = " << pinocchio::displayConfig(a1_)); | ||
98 | hppDout(notice, "t0 = " << pinocchio::displayConfig(t0_)); | ||
99 | hppDout(notice, "t1 = " << pinocchio::displayConfig(t1_)); | ||
100 | hppDout(notice, "tv = " << pinocchio::displayConfig(tv_)); | ||
101 | hppDout(notice, "t2 = " << pinocchio::displayConfig(t2_)); | ||
102 | hppDout(notice, "length = " << length); | ||
103 | hppDout(notice, "vLim = " << pinocchio::displayConfig(vLim_)); | ||
104 | |||
105 | // for now, this class only deal with the translation part of a freeflyer : | ||
106 |
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20004 | assert(a1.size() == 3 && t0.size() == 3 && t1.size() == 3 && tv.size() == 3 && |
107 | t2.size() == 3 && vLim.size() == 3 && | ||
108 | "Inputs vector of kinodynamicPath are not of size 3"); | ||
109 |
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80016 | for (size_t i = 0; i < 3; i++) { |
110 |
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60012 | assert(fabs(length - (t0[i] + t1[i] + tv[i] + t2[i])) < |
111 | Eigen::NumTraits<value_type>::dummy_precision() && | ||
112 | "Kinodynamic path : length is not coherent with switch times"); | ||
113 |
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60012 | assert(t0[i] >= 0 && |
114 | "Duration of the phases in kinodynamicPath must be positives."); | ||
115 |
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60012 | assert(t1[i] >= 0 && |
116 | "Duration of the phases in kinodynamicPath must be positives."); | ||
117 |
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60012 | assert(tv[i] >= 0 && |
118 | "Duration of the phases in kinodynamicPath must be positives."); | ||
119 |
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60012 | assert(t2[i] >= 0 && |
120 | "Duration of the phases in kinodynamicPath must be positives."); | ||
121 | } | ||
122 | // check if given parameters correctly reach end config after the given time : | ||
123 | value_type pf, v2; | ||
124 | size_type indexVel; | ||
125 | size_type configSize = | ||
126 |
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20004 | device->configSize() - device->extraConfigSpace().dimension(); |
127 |
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80016 | for (size_t id = 0; id < 3; id++) { |
128 | 60012 | indexVel = id + configSize; | |
129 |
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60012 | if (tv[id] > 0) // v2 : velocity at the beginning of t2 phase |
130 |
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29769 | v2 = vLim[id]; |
131 | else | ||
132 |
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30243 | v2 = t1[id] * a1[id] + init[indexVel]; |
133 |
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60012 | pf = init[id] + init[indexVel] * (t0[id] + t1[id]) + |
134 |
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60012 | 0.5 * t1[id] * t1[id] * a1[id] + tv[id] * vLim[id] + v2 * t2[id] - |
135 |
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60012 | 0.5 * t2[id] * t2[id] * a1[id]; |
136 |
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60012 | if (fabs(pf - end[id]) > 1e-6) { |
137 | hppDout(error, | ||
138 | "ERROR : kinodynamic path do not connect to end config for index " | ||
139 | << id << " , pf = " << pf << " should be : " << end[id]); | ||
140 | } | ||
141 |
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60012 | assert( |
142 | fabs(pf - end[id]) < 1e-6 && | ||
143 | "Kinodynamic path do not connect to end config with given parameters."); | ||
144 | } | ||
145 | 20004 | } | |
146 | |||
147 | 11000 | KinodynamicPath::KinodynamicPath(const KinodynamicPath& path) | |
148 | : parent_t(path), | ||
149 | 11000 | device_(path.device_), | |
150 |
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11000 | a1_(path.a1_), |
151 |
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11000 | t0_(path.t0_), |
152 |
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11000 | t1_(path.t1_), |
153 |
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11000 | tv_(path.tv_), |
154 |
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11000 | t2_(path.t2_), |
155 |
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22000 | vLim_(path.vLim_) {} |
156 | |||
157 | ✗ | KinodynamicPath::KinodynamicPath(const KinodynamicPath& path, | |
158 | ✗ | const ConstraintSetPtr_t& constraints) | |
159 | : parent_t(path, constraints), | ||
160 | ✗ | device_(path.device_), | |
161 | ✗ | a1_(path.a1_), | |
162 | ✗ | t0_(path.t0_), | |
163 | ✗ | t1_(path.t1_), | |
164 | ✗ | tv_(path.tv_), | |
165 | ✗ | t2_(path.t2_), | |
166 | ✗ | vLim_(path.vLim_) { | |
167 | ✗ | assert(constraints->apply(initial_)); | |
168 | ✗ | assert(constraints->apply(end_)); | |
169 | ✗ | assert(constraints->isSatisfied(initial_)); | |
170 | ✗ | assert(constraints->isSatisfied(end_)); | |
171 | } | ||
172 | |||
173 | 196701 | bool KinodynamicPath::impl_compute(ConfigurationOut_t result, | |
174 | value_type t) const { | ||
175 |
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196701 | assert(result.size() == device()->configSize()); |
176 | |||
177 |
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196701 | if (t == timeRange().first || timeRange().second == 0) { |
178 |
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22008 | result = initial_; |
179 | 22008 | return true; | |
180 | } | ||
181 |
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174693 | if (t == timeRange().second) { |
182 |
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22007 | result = end_; |
183 | 22007 | return true; | |
184 | } | ||
185 | |||
186 | size_type configSize = | ||
187 |
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152686 | device()->configSize() - device()->extraConfigSpace().dimension(); |
188 | double v2, t2, t1, tv; | ||
189 | size_type indexVel; | ||
190 | size_type indexAcc; | ||
191 | // straight path for all the joints, except the translations of the base : | ||
192 | 152686 | value_type u = t / timeRange().second; | |
193 |
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152686 | if (timeRange().second == 0) u = 0; |
194 | |||
195 |
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305372 | pinocchio::interpolate(device_, initial_.head(configSize), |
196 |
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152686 | end_.head(configSize), u, result); |
197 | |||
198 |
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610744 | for (int id = 0; id < 3; |
199 | id++) { // FIX ME : only work for freeflyer (translation part) | ||
200 | |||
201 | 458058 | indexVel = id + configSize; | |
202 | 458058 | indexAcc = id + configSize + 3; | |
203 | |||
204 |
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458058 | if (device()->getJointAtConfigRank(id)->name() != "base_joint_SO3") { |
205 | // 3 case (each segment of the trajectory) : | ||
206 |
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458058 | if (t <= t0_[id]) { // before first segment |
207 | // hppDout(info,"before 1° segment"); | ||
208 | ✗ | result[id] = initial_[id] + t * initial_[indexVel]; | |
209 | ✗ | result[indexVel] = initial_[indexVel]; | |
210 | ✗ | result[indexAcc] = 0; | |
211 |
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458058 | } else if (t <= (t0_[id] + t1_[id])) { |
212 | // hppDout(info,"on 1° segment"); | ||
213 |
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127300 | t1 = t - t0_[id]; |
214 |
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127300 | result[id] = 0.5 * t1 * t1 * a1_[id] + t1 * initial_[indexVel] + |
215 |
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127300 | initial_[id] + t0_[id] * initial_[indexVel]; |
216 |
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127300 | result[indexVel] = t1 * a1_[id] + initial_[indexVel]; |
217 |
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127300 | result[indexAcc] = a1_[id]; |
218 |
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330758 | } else if (t <= (t0_[id] + t1_[id] + tv_[id])) { |
219 | // hppDout(info,"on constant velocity segment"); | ||
220 |
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205134 | tv = t - t0_[id] - t1_[id]; |
221 |
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205134 | result[id] = 0.5 * t1_[id] * t1_[id] * a1_[id] + |
222 |
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205134 | t1_[id] * initial_[indexVel] + initial_[id] + |
223 |
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205134 | t0_[id] * initial_[indexVel] + (tv)*vLim_[id]; |
224 |
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205134 | result[indexVel] = vLim_[id]; |
225 |
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205134 | result[indexAcc] = 0.; |
226 | |||
227 |
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125624 | } else if (t <= (t0_[id] + t1_[id] + tv_[id] + t2_[id])) { |
228 | // hppDout(info,"on 3° segment"); | ||
229 |
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125624 | t2 = t - tv_[id] - t1_[id] - t0_[id]; |
230 |
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125624 | if (tv_[id] > 0) |
231 |
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41283 | v2 = vLim_[id]; |
232 | else | ||
233 |
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84341 | v2 = t1_[id] * a1_[id] + initial_[indexVel]; |
234 |
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125624 | result[id] = 0.5 * t1_[id] * t1_[id] * a1_[id] + |
235 |
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125624 | t1_[id] * initial_[indexVel] + initial_[id] + |
236 |
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125624 | t0_[id] * initial_[indexVel] + tv_[id] * vLim_[id] - |
237 |
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125624 | 0.5 * t2 * t2 * a1_[id] + t2 * v2; |
238 |
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125624 | result[indexVel] = v2 - t2 * a1_[id]; |
239 |
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125624 | result[indexAcc] = -a1_[id]; |
240 | |||
241 | } else { // after last segment : constant velocity (null ?) | ||
242 | ✗ | if (end_[indexVel] != 0 && | |
243 | ✗ | (t - (t0_[id] + t1_[id] + tv_[id] + t2_[id])) > | |
244 | 0.00015) { // epsilon from rbprm-steering-kinodynamic | ||
245 | hppDout(notice, | ||
246 | "Should not happen : You should not have a constant velocity " | ||
247 | "segment at the end if the velocity is not null"); | ||
248 | hppDout(notice, "index Joint = " << id); | ||
249 | hppDout(notice, "t = " << t << " ; length = " | ||
250 | << t0_[id] + t1_[id] + tv_[id] + t2_[id]); | ||
251 | } | ||
252 | ✗ | result[id] = end_[id]; | |
253 | ✗ | result[indexVel] = end_[indexVel]; | |
254 | ✗ | result[indexAcc] = 0; | |
255 | } | ||
256 | } // if not quaternion joint | ||
257 | } // for all joints | ||
258 | |||
259 | 152686 | return true; | |
260 | } | ||
261 | |||
262 | 20004 | PathPtr_t KinodynamicPath::impl_extract(const interval_t& subInterval) const { | |
263 |
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20004 | assert(subInterval.first >= 0 && subInterval.second >= 0 && |
264 | "Negative time values in extract path"); | ||
265 |
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20004 | assert(subInterval.first >= timeRange().first && |
266 | subInterval.second <= timeRange().second && | ||
267 | "Given interval not inside path interval"); | ||
268 | // Length is assumed to be proportional to interval range | ||
269 |
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20006 | if (subInterval.first == timeRange().first && |
270 |
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2 | subInterval.second == timeRange().second) { |
271 | hppDout(notice, "Call extract with same interval"); | ||
272 | ✗ | return weak_.lock(); | |
273 | } | ||
274 | bool success; | ||
275 | 20004 | value_type l = fabs(subInterval.second - subInterval.first); | |
276 |
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20004 | if (l <= 0) { |
277 | hppDout(notice, "Call Extract with a length null"); | ||
278 | ✗ | return StraightPath::create(device_, (eval(subInterval.first, success)), | |
279 | ✗ | (eval(subInterval.first, success)), 0.); | |
280 | } | ||
281 | |||
282 | hppDout(notice, "%% EXTRACT PATH : path interval : " | ||
283 | << timeRange().first << " ; " << timeRange().second); | ||
284 | hppDout(notice, "%% EXTRACT PATH : sub interval : " | ||
285 | << subInterval.first << " ; " << subInterval.second); | ||
286 | |||
287 |
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20004 | Configuration_t q1(eval(subInterval.first, success)); |
288 |
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20004 | if (!success) |
289 | ✗ | throw projection_error( | |
290 | ✗ | "Failed to apply constraints in KinodynamicPath::extract"); | |
291 |
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20004 | Configuration_t q2(eval(subInterval.second, success)); |
292 |
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20004 | if (!success) |
293 | ✗ | throw projection_error( | |
294 | ✗ | "Failed to apply constraints in KinodynamicPath::extract"); | |
295 | |||
296 | // set acceleration to 0 for initial and end config : | ||
297 | size_type configSize = | ||
298 |
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20004 | device()->configSize() - device()->extraConfigSpace().dimension(); |
299 |
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20004 | q1[configSize + 3] = 0.0; |
300 |
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20004 | q1[configSize + 4] = 0.0; |
301 |
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20004 | q1[configSize + 5] = 0.0; |
302 |
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20004 | q2[configSize + 3] = 0.0; |
303 |
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20004 | q2[configSize + 4] = 0.0; |
304 |
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20004 | q2[configSize + 5] = 0.0; |
305 | hppDout(info, "from : "); | ||
306 | hppDout(info, "q1 = " << pinocchio::displayConfig(initial_)); | ||
307 | hppDout(info, "q2 = " << pinocchio::displayConfig(end_)); | ||
308 | hppDout(info, "to : "); | ||
309 | hppDout(info, "q1 = " << pinocchio::displayConfig(q1)); | ||
310 | hppDout(info, "q2 = " << pinocchio::displayConfig(q2)); | ||
311 |
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20004 | if (!success) |
312 | ✗ | throw projection_error( | |
313 | ✗ | "Failed to apply constraints in KinodynamicPath::extract"); | |
314 | |||
315 |
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20004 | if (subInterval.first > subInterval.second) { // reversed path |
316 | hppDout(notice, "%% REVERSE PATH, not implemented yet !"); | ||
317 | ✗ | std::cout << "ERROR, you shouldn't call reverse() on a kinodynamic path" | |
318 | ✗ | << std::endl; | |
319 | ✗ | return PathPtr_t(); | |
320 | } | ||
321 | double ti, tf, oldT0, oldT2, oldT1, oldTv; | ||
322 | hppDout(notice, "%% subinterval PATH"); | ||
323 | // new timebounds | ||
324 |
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20004 | Configuration_t t0(t0_); |
325 |
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20004 | Configuration_t t1(t1_); |
326 |
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20004 | Configuration_t t2(t2_); |
327 |
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20004 | Configuration_t tv(tv_); |
328 |
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20004 | Configuration_t a1(a1_); |
329 | |||
330 |
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80016 | for (int i = 0; i < a1_.size(); ++i) { // adjust times bounds |
331 | 60012 | ti = subInterval.first - timeRange().first; | |
332 | 60012 | tf = timeRange().second - subInterval.second; | |
333 |
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60012 | t0[i] = t0_[i] - ti; |
334 |
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60012 | if (t0[i] <= 0) { |
335 |
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60012 | t0[i] = 0; |
336 |
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60012 | ti = ti - t0_[i]; |
337 |
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60012 | t1[i] = t1_[i] - ti; |
338 |
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60012 | if (t1[i] <= 0) { |
339 |
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34626 | t1[i] = 0; |
340 |
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34626 | ti = ti - t1_[i]; |
341 |
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34626 | tv[i] = tv_[i] - ti; |
342 |
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34626 | if (tv[i] <= 0) { |
343 |
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11108 | tv[i] = 0; |
344 |
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11108 | ti = ti - tv_[i]; |
345 |
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11108 | t2[i] = t2_[i] - ti; |
346 |
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11108 | if (t2[i] < 0) { |
347 | ✗ | t2[i] = 0; | |
348 | hppDout(notice, "Should not happen !"); | ||
349 | } | ||
350 | } | ||
351 | } | ||
352 | } | ||
353 |
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60012 | oldT0 = t0[i]; |
354 |
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60012 | oldT1 = t1[i]; |
355 |
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60012 | oldT2 = t2[i]; |
356 |
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60012 | oldTv = tv[i]; |
357 |
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60012 | t2[i] = oldT2 - tf; |
358 |
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60012 | if (t2[i] <= 0) { |
359 |
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33960 | t2[i] = 0; |
360 | 33960 | tf = tf - oldT2; | |
361 |
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33960 | tv[i] = oldTv - tf; |
362 |
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33960 | if (tv[i] <= 0) { |
363 |
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10336 | tv[i] = 0; |
364 | 10336 | tf = tf - oldTv; | |
365 |
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10336 | t1[i] = oldT1 - tf; |
366 |
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10336 | if (t1[i] <= 0) { |
367 | ✗ | t1[i] = 0; | |
368 | ✗ | tf = tf - oldT1; | |
369 | ✗ | t0[i] = oldT0 - tf; | |
370 | ✗ | if (t0[i] < 0) { | |
371 | ✗ | t0[i] = 0; | |
372 | hppDout(notice, "Should not happen !"); | ||
373 | } | ||
374 | } | ||
375 | } | ||
376 | } | ||
377 | |||
378 | } // for all joints | ||
379 |
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60012 | PathPtr_t result = KinodynamicPath::create(device_, q1, q2, l, a1, t0, t1, tv, |
380 |
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60012 | t2, vLim_, constraints()); |
381 | 20004 | return result; | |
382 | 20004 | } | |
383 | |||
384 | } // namespace core | ||
385 | } // namespace hpp | ||
386 |