Directory: | ./ |
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File: | src/path-projector.cc |
Date: | 2024-08-10 11:29:48 |
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1 | // Copyright (c) 2014, LAAS-CNRS | ||
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-projector.hh" | ||
30 | |||
31 | #include <hpp/core/distance.hh> | ||
32 | #include <hpp/core/path-vector.hh> | ||
33 | #include <hpp/core/problem.hh> | ||
34 | #include <hpp/core/steering-method.hh> | ||
35 | #include <hpp/util/pointer.hh> | ||
36 | #include <hpp/util/timer.hh> | ||
37 | |||
38 | namespace hpp { | ||
39 | namespace core { | ||
40 | namespace { | ||
41 | HPP_DEFINE_TIMECOUNTER(PathProjection); | ||
42 | } | ||
43 | |||
44 | 12 | PathProjector::PathProjector(const DistancePtr_t& distance, | |
45 | const SteeringMethodPtr_t& steeringMethod, | ||
46 | 12 | bool keepSteeringMethodConstraints) | |
47 | 12 | : steeringMethod_(steeringMethod->copy()), distance_(distance) { | |
48 |
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12 | assert(distance_ != NULL); |
49 |
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12 | assert(steeringMethod_ != NULL); |
50 |
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12 | if (!keepSteeringMethodConstraints) { |
51 | 12 | steeringMethod_->constraints(ConstraintSetPtr_t()); | |
52 | } | ||
53 | 12 | } | |
54 | |||
55 | 24 | PathProjector::~PathProjector() { | |
56 | HPP_DISPLAY_TIMECOUNTER(PathProjection); | ||
57 | HPP_RESET_TIMECOUNTER(PathProjection); | ||
58 | } | ||
59 | |||
60 | 11338 | value_type PathProjector::d(ConfigurationIn_t q1, ConfigurationIn_t q2) const { | |
61 |
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11338 | return (*distance_)(q1, q2); |
62 | } | ||
63 | |||
64 | 1856360 | PathPtr_t PathProjector::steer(ConfigurationIn_t q1, | |
65 | ConfigurationIn_t q2) const { | ||
66 |
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3712720 | PathPtr_t result((*steeringMethod_)(q1, q2)); |
67 | // In the case of hermite path, we want the paths to be constrained. | ||
68 | // assert (!result->constraints ()); | ||
69 | 1856360 | return result; | |
70 | } | ||
71 | |||
72 | 192 | bool PathProjector::apply(const PathPtr_t& path, PathPtr_t& proj) const { | |
73 | HPP_START_TIMECOUNTER(PathProjection); | ||
74 | 192 | bool ret = impl_apply(path, proj); | |
75 | HPP_STOP_TIMECOUNTER(PathProjection); | ||
76 | 192 | return ret; | |
77 | } | ||
78 | |||
79 | // ----------- Declare parameters ------------------------------------- // | ||
80 | |||
81 | 18 | HPP_START_PARAMETER_DECLARATION(pathProjection) | |
82 |
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18 | Problem::declareParameter( |
83 |
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36 | ParameterDescription(Parameter::FLOAT, "PathProjection/HessianBound", |
84 | "A bound on the norm of the hessian of the " | ||
85 | "constraints. Not considered if negative.", | ||
86 |
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36 | Parameter(-1.))); |
87 |
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18 | Problem::declareParameter( |
88 |
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36 | ParameterDescription(Parameter::FLOAT, "PathProjection/MinimalDist", |
89 | "The threshold which stops the projection (distance " | ||
90 | "between consecutive interpolation points.)", | ||
91 |
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36 | Parameter(1e-3))); |
92 |
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18 | Problem::declareParameter(ParameterDescription( |
93 | Parameter::FLOAT, "PathProjection/RecursiveHermite/Beta", | ||
94 | "See \"Fast Interpolation and Time-Optimization on Implicit Contact " | ||
95 | "Submanifolds\" from Kris Hauser.", | ||
96 |
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36 | Parameter(0.9))); |
97 | 18 | HPP_END_PARAMETER_DECLARATION(pathProjection) | |
98 | } // namespace core | ||
99 | } // namespace hpp | ||
100 |