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// Copyright (c) 2014 CNRS |
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// Authors: Florent Lamiraux |
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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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#ifndef HPP_CORE_PATH_OPTIMIZER_HH |
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#define HPP_CORE_PATH_OPTIMIZER_HH |
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#include <boost/date_time/posix_time/ptime.hpp> |
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#include <hpp/core/config.hh> |
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#include <hpp/core/fwd.hh> |
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namespace hpp { |
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namespace core { |
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/// \addtogroup path_optimization |
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/// \{ |
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/// Abstraction of path optimizer |
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/// |
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class HPP_CORE_DLLAPI PathOptimizer { |
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public: |
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virtual ~PathOptimizer() {}; |
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/// Get problem |
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ProblemConstPtr_t problem() const { return problem_; } |
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/// Optimize path |
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virtual PathVectorPtr_t optimize(const PathVectorPtr_t& path) = 0; |
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/// Interrupt path optimization |
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void interrupt() { interrupt_ = true; } |
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/// Set maximal number of iterations |
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void maxIterations(const unsigned long int& n); |
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/// set time out (in seconds) |
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void timeOut(const double& timeOut); |
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protected: |
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/// Whether to interrupt computation |
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/// Set to false at start of optimize method, set to true by method |
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/// interrupt. |
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bool interrupt_; |
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PathOptimizer(const ProblemConstPtr_t& problem); |
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PathPtr_t steer(ConfigurationIn_t q1, ConfigurationIn_t q2) const; |
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void monitorExecution(); |
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void endIteration() { ++monitor_.iteration; } |
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bool shouldStop() const; |
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void initFromParameters(); |
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private: |
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ProblemConstPtr_t problem_; |
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/// Maximal number of iterations to solve a problem |
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/// reaching this bound raises an exception. |
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size_type maxIterations_; |
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/// Time out (in seconds) before interrupting the planning |
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double timeOut_; |
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/// Information used to monitor the execution of the algorithm. |
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/// This information is: |
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/// \li initialized by \ref monitorExecution |
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/// \li updated by \ref endIteration |
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/// \li read by \ref shouldStop |
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struct { |
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bool enabled; |
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size_type iteration; |
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boost::posix_time::ptime timeStart; |
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} monitor_; |
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}; // class PathOptimizer; |
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/// } |
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} // namespace core |
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} // namespace hpp |
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#endif // HPP_CORE_PATH_OPTIMIZER_HH |
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