Directory: | ./ |
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File: | src/path-optimizer.cc |
Date: | 2024-08-10 11:29:48 |
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Lines: | 35 | 46 | 76.1% |
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1 | // Copyright (c) 2015, 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/path-optimizer.hh> | ||
30 | #include <hpp/core/path-projector.hh> | ||
31 | #include <hpp/core/problem.hh> | ||
32 | #include <hpp/core/steering-method.hh> | ||
33 | |||
34 | namespace bpt = boost::posix_time; | ||
35 | |||
36 | namespace hpp { | ||
37 | namespace core { | ||
38 | 15 | PathOptimizer::PathOptimizer(const ProblemConstPtr_t& problem) | |
39 | 15 | : interrupt_(false), | |
40 | 15 | problem_(problem), | |
41 | 15 | maxIterations_(std::numeric_limits<unsigned long int>::infinity()), | |
42 |
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30 | timeOut_(std::numeric_limits<double>::infinity()) { |
43 | 15 | monitor_.enabled = false; | |
44 | |||
45 |
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15 | initFromParameters(); |
46 | 15 | } | |
47 | |||
48 | ✗ | PathPtr_t PathOptimizer::steer(ConfigurationIn_t q1, | |
49 | ConfigurationIn_t q2) const { | ||
50 | ✗ | PathPtr_t dp = (*problem()->steeringMethod())(q1, q2); | |
51 | ✗ | if (dp) { | |
52 | ✗ | if (!problem()->pathProjector()) return dp; | |
53 | ✗ | PathPtr_t pp; | |
54 | ✗ | if (problem()->pathProjector()->apply(dp, pp)) return pp; | |
55 | } | ||
56 | ✗ | return PathPtr_t(); | |
57 | } | ||
58 | |||
59 | 15 | void PathOptimizer::monitorExecution() { | |
60 | 15 | interrupt_ = false; | |
61 | 15 | monitor_.enabled = true; | |
62 | 15 | monitor_.iteration = 0; | |
63 | 15 | monitor_.timeStart = bpt::microsec_clock::universal_time(); | |
64 | 15 | } | |
65 | |||
66 | 21 | bool PathOptimizer::shouldStop() const { | |
67 |
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21 | if (interrupt_) return true; |
68 |
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21 | if (!monitor_.enabled) return false; |
69 |
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21 | if (monitor_.iteration >= maxIterations_) return true; |
70 | |||
71 |
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21 | bpt::ptime timeStop(bpt::microsec_clock::universal_time()); |
72 | 21 | if (static_cast<value_type>( | |
73 |
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21 | (timeStop - monitor_.timeStart).total_milliseconds()) > |
74 |
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21 | timeOut_ * 1e3) |
75 | ✗ | return true; | |
76 | 21 | return false; | |
77 | } | ||
78 | |||
79 | 15 | void PathOptimizer::initFromParameters() { | |
80 | 15 | maxIterations_ = | |
81 |
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15 | problem()->getParameter("PathOptimizer/maxIterations").intValue(); |
82 |
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15 | timeOut_ = problem()->getParameter("PathOptimizer/timeOut").floatValue(); |
83 | 15 | } | |
84 | |||
85 | ✗ | void PathOptimizer::maxIterations(const unsigned long int& n) { | |
86 | ✗ | maxIterations_ = n; | |
87 | } | ||
88 | |||
89 | ✗ | void PathOptimizer::timeOut(const double& timeOut) { timeOut_ = timeOut; } | |
90 | |||
91 | // ----------- Declare parameters ------------------------------------- // | ||
92 | |||
93 | 18 | HPP_START_PARAMETER_DECLARATION(PathOptimizer) | |
94 |
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18 | Problem::declareParameter( |
95 |
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36 | ParameterDescription(Parameter::INT, "PathOptimizer/maxIterations", |
96 | "Maximal number of iterations.", | ||
97 |
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36 | Parameter(std::numeric_limits<size_type>::max()))); |
98 |
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18 | Problem::declareParameter(ParameterDescription( |
99 | Parameter::FLOAT, "PathOptimizer/timeOut", | ||
100 | "Duration in seconds above which execution will stop." | ||
101 | "The iteration at the moment the duration is elapsed will be completed.", | ||
102 |
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36 | Parameter(std::numeric_limits<double>::infinity()))); |
103 | 18 | HPP_END_PARAMETER_DECLARATION(PathOptimizer) | |
104 | } // namespace core | ||
105 | } // namespace hpp | ||
106 |