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// Copyright (c) 2015, Joseph Mirabel |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#include <hpp/constraints/locked-joint.hh> |
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#include <hpp/core/config-projector.hh> |
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#include <hpp/core/distance.hh> |
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#include <hpp/core/path-optimization/partial-shortcut.hh> |
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#include <hpp/core/path-validation.hh> |
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#include <hpp/core/path-vector.hh> |
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#include <hpp/core/problem.hh> |
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#include <hpp/pinocchio/device.hh> |
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#include <hpp/pinocchio/joint-collection.hh> |
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#include <hpp/pinocchio/joint.hh> |
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#include <hpp/pinocchio/liegroup.hh> |
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#include <hpp/util/debug.hh> |
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#include <pinocchio/algorithm/joint-configuration.hpp> |
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namespace hpp { |
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namespace core { |
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namespace pathOptimization { |
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namespace { |
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void unpack(PathPtr_t path, PathVectorPtr_t out) { |
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PathVectorPtr_t pv = HPP_DYNAMIC_PTR_CAST(PathVector, path); |
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if (!pv) { |
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out->appendPath(path); |
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} else { |
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for (std::size_t i = 0; i < pv->numberPaths(); ++i) |
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unpack(pv->pathAtRank(i), out); |
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} |
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} |
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// Compute the length of a vector of paths assuming that each element |
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// is optimal for the given distance. |
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static value_type pathLength(const PathVectorPtr_t& path, |
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const DistancePtr_t& distance) { |
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value_type result = 0; |
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for (std::size_t i = 0; i < path->numberPaths(); ++i) { |
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const PathPtr_t& element(path->pathAtRank(i)); |
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result += (*distance)(element->initial(), element->end()); |
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} |
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return result; |
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} |
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} // namespace |
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PartialShortcut::Parameters::Parameters() |
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: removeLockedJoints(true), |
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onlyFullShortcut(true), |
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numberOfConsecutiveFailurePerJoints(5), |
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progressionMargin(1e-3) {} |
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PartialShortcutPtr_t PartialShortcut::create(const ProblemConstPtr_t& problem) { |
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return createWithTraits<PartialShortcutTraits>(problem); |
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} |
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PartialShortcut::PartialShortcut(const ProblemConstPtr_t& problem) |
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: PathOptimizer(problem) {} |
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PathVectorPtr_t PartialShortcut::optimize(const PathVectorPtr_t& path) { |
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PathVectorPtr_t unpacked = |
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PathVector::create(path->outputSize(), path->outputDerivativeSize()); |
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unpack(path, unpacked); |
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/// Step 1: Generate a suitable vector of joints |
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JointStdVector_t straight_jv = generateJointVector(unpacked); |
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JointStdVector_t jv; |
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/// Step 2: First try to optimize each joint from beginning to end |
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PathVectorPtr_t result = optimizeFullPath(unpacked, straight_jv, jv); |
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if (parameters.onlyFullShortcut) return result; |
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/// Step 3: Optimize randomly each joint |
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return optimizeRandom(result, jv); |
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} |
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PathVectorPtr_t PartialShortcut::generatePath( |
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PathVectorPtr_t path, JointConstPtr_t joint, const value_type t1, |
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ConfigurationIn_t q1, const value_type t2, ConfigurationIn_t q2) const { |
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value_type lt1, lt2; |
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// TODO: correct API so thatn these casts are no longer necessary!! |
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JointPtr_t j = const_pointer_cast<pinocchio::Joint>(joint); |
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std::size_t rkAtP1 = path->rankAtParam(t1, lt1); |
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std::size_t rkAtP2 = path->rankAtParam(t2, lt2); |
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if (rkAtP2 == rkAtP1) return PathVectorPtr_t(); |
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PathVectorPtr_t pv = |
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PathVector::create(path->outputSize(), path->outputDerivativeSize()); |
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PathPtr_t last; |
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Configuration_t qi = q1; |
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Configuration_t q_inter(path->outputSize()); |
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value_type t = -lt1; |
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for (std::size_t i = rkAtP1; i < rkAtP2; ++i) { |
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t += path->pathAtRank(i)->length(); |
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q_inter = path->pathAtRank(i)->end(); |
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// q_inter.segment(rkCfg,szCfg) = j->jointModel().interpolate ( q1, q2, |
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// t / (t2-t1)); |
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typedef pinocchio::RnxSOnLieGroupMap LG_t; |
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typedef ::pinocchio::InterpolateStep< |
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LG_t, ConfigurationIn_t, ConfigurationIn_t, value_type, Configuration_t> |
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IS_t; |
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value_type u = t / (t2 - t1); |
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IS_t::run(j->jointModel(), IS_t::ArgsType(q1, q2, u, q_inter)); |
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if (path->pathAtRank(i)->constraints()) { |
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if (!path->pathAtRank(i)->constraints()->apply(q_inter)) { |
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hppDout(warning, |
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"PartialShortcut could not apply " |
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"the constraints"); |
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return PathVectorPtr_t(); |
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} |
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} |
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last = (steer)(qi, q_inter); |
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if (!last) return PathVectorPtr_t(); |
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pv->appendPath(last); |
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qi = q_inter; |
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} |
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last = steer(qi, q2); |
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if (!last) return PathVectorPtr_t(); |
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pv->appendPath(last); |
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PathVectorPtr_t out = |
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PathVector::create(path->outputSize(), path->outputDerivativeSize()); |
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pv->flatten(out); |
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return out; |
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} |
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JointStdVector_t PartialShortcut::generateJointVector( |
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const PathVectorPtr_t& pv) const { |
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DevicePtr_t robot = problem()->robot(); |
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JointStdVector_t jv; |
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ConfigProjectorPtr_t proj = |
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pv->pathAtRank(0)->constraints()->configProjector(); |
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NumericalConstraints_t constraints; |
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if (proj) constraints = proj->numericalConstraints(); |
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for (size_type iJ = 0; iJ < robot->nbJoints(); ++iJ) { |
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JointPtr_t joint = robot->jointAt(iJ); |
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// TODO this test is always true. |
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if (joint->numberDof() > 0) { |
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bool lock = false; |
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if (parameters.removeLockedJoints && proj) { |
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const size_type rkCfg = joint->rankInConfiguration(); |
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for (NumericalConstraints_t::const_iterator it(constraints.begin()); |
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it != constraints.end(); ++it) { |
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LockedJointPtr_t lj(HPP_DYNAMIC_PTR_CAST(LockedJoint, *it)); |
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if (lj && lj->rankInConfiguration() == rkCfg) { |
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lock = true; |
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break; |
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} |
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} |
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} |
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if (!lock) jv.push_back(joint); |
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} |
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} |
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return jv; |
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} |
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PathVectorPtr_t PartialShortcut::optimizeFullPath( |
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const PathVectorPtr_t& pv, const JointStdVector_t& jvIn, |
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JointStdVector_t& jvOut) const { |
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Configuration_t q0 = pv->initial(); |
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Configuration_t q3 = pv->end(); |
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const value_type t0 = 0; |
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value_type t3; |
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PathVectorPtr_t opted = pv; |
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/// First try to optimize each joint from beginning to end |
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for (std::size_t iJ = 0; iJ < jvIn.size(); ++iJ) { |
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t3 = opted->timeRange().second; |
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JointConstPtr_t joint = jvIn.at(iJ); |
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// Validate sub parts |
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bool valid; |
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PathVectorPtr_t straight; |
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straight = generatePath(opted, joint, t0, q0, t3, q3); |
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{ |
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PathPtr_t validPart; |
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PathValidationReportPtr_t report; |
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if (!straight) |
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valid = false; |
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else { |
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valid = problem()->pathValidation()->validate(straight, false, |
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validPart, report); |
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} |
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} |
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if (!valid) { |
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jvOut.push_back(joint); |
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continue; |
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} |
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opted = straight; |
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hppDout(info, "length = " << pathLength(opted, problem()->distance()) |
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<< ", joint " << joint->name()); |
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} |
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return opted; |
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} |
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PathVectorPtr_t PartialShortcut::optimizeRandom( |
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const PathVectorPtr_t& pv, const JointStdVector_t& jv) const { |
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PathVectorPtr_t current = pv, result = pv; |
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const value_type t0 = 0; |
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value_type t3; |
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Configuration_t q0 = pv->initial(); |
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Configuration_t q3 = pv->end(); |
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value_type length = pathLength(pv, problem()->distance()), |
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newLength = std::numeric_limits<value_type>::infinity(); |
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hppDout(info, "random partial shorcut on " << jv.size() << " joints."); |
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// Maximal number of iterations without improvements |
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const std::size_t maxFailure = |
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jv.size() * parameters.numberOfConsecutiveFailurePerJoints; |
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std::size_t nbFail = 0; |
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std::size_t iJ = 0; |
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Configuration_t q1(pv->outputSize()), q2(pv->outputSize()); |
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while (nbFail < maxFailure) { |
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iJ %= jv.size(); |
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JointConstPtr_t joint = jv.at(iJ); |
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++iJ; |
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t3 = current->timeRange().second; |
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value_type u2 = t3 * rand() / RAND_MAX; |
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value_type u1 = t3 * rand() / RAND_MAX; |
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value_type t1, t2; |
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if (u1 < u2) { |
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t1 = u1; |
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t2 = u2; |
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} else { |
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t1 = u2; |
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t2 = u1; |
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} |
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bool success = current->eval(q1, t1) && current->eval(q2, t2); |
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if (success) { |
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hppDout(warning, |
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"The constraints could not be applied to the " |
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"current path"); |
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nbFail++; |
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continue; |
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} |
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// Validate sub parts |
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bool valid[3]; |
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PathVectorPtr_t straight[3]; |
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straight[0] = generatePath(current, joint, t0, q0, t1, q1); |
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straight[1] = generatePath(current, joint, t1, q1, t2, q2); |
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straight[2] = generatePath(current, joint, t2, q2, t3, q3); |
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for (unsigned i = 0; i < 3; ++i) { |
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PathPtr_t validPart; |
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PathValidationReportPtr_t report; |
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if (!straight[i]) |
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valid[i] = false; |
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else { |
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valid[i] = problem()->pathValidation()->validate(straight[i], false, |
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validPart, report); |
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} |
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} |
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if (!valid[0] && !valid[1] && !valid[2]) { |
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nbFail++; |
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continue; |
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} |
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// Replace valid parts |
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result = PathVector::create(pv->outputSize(), pv->outputDerivativeSize()); |
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if (valid[0]) |
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result->concatenate(straight[0]); |
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else |
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result->concatenate( |
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(current->extract(std::make_pair(t0, t1))->as<PathVector>())); |
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if (valid[1]) |
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result->concatenate(straight[1]); |
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else |
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result->concatenate( |
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(current->extract(std::make_pair(t1, t2))->as<PathVector>())); |
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if (valid[2]) |
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result->concatenate(straight[2]); |
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else |
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result->concatenate( |
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current->extract(std::make_pair(t2, t3))->as<PathVector>()); |
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newLength = pathLength(result, problem()->distance()); |
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if (newLength >= length) { |
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nbFail++; |
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continue; |
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} |
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if (newLength >= length - parameters.progressionMargin) |
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nbFail++; |
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else |
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nbFail = 0; |
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--iJ; // This joint could be optimized. Try another time on it. |
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length = newLength; |
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hppDout(info, "length = " << length << ", nbFail = " << nbFail << ", joint " |
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<< joint->name()); |
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current = result; |
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} |
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return result; |
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} |
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} // namespace pathOptimization |
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} // namespace core |
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} // namespace hpp |
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