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// |
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// Copyright (c) 2005, 2006, 2007, 2008, 2009, 2010, 2011 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_PROBLEM_SOLVER_HH |
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#define HPP_CORE_PROBLEM_SOLVER_HH |
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#include <functional> |
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#include <hpp/core/config.hh> |
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#include <hpp/core/container.hh> |
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#include <hpp/core/deprecated.hh> |
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#include <hpp/core/fwd.hh> |
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#include <hpp/pinocchio/fwd.hh> |
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#include <stdexcept> |
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namespace hpp { |
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namespace core { |
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/// member ProblemSolver::lockedJoints has been removed. LockedJointPtr_t |
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/// instances are now stored with constraints::ImplicitPtr_t in |
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/// member numericalConstraints. |
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class |
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Member_lockedJoints_in_class_ProblemSolver_has_been_removed_use_member_numericalConstraints_instead { |
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}; |
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typedef std::function<DevicePtr_t(const std::string&)> RobotBuilder_t; |
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typedef std::function<PathOptimizerPtr_t(const ProblemConstPtr_t&)> |
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PathOptimizerBuilder_t; |
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typedef std::function<PathPlannerPtr_t(const ProblemConstPtr_t&, |
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const RoadmapPtr_t&)> |
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PathPlannerBuilder_t; |
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typedef std::function<PathValidationPtr_t(const DevicePtr_t&, |
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const value_type&)> |
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PathValidationBuilder_t; |
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typedef std::function<ConfigValidationPtr_t(const DevicePtr_t&)> |
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ConfigValidationBuilder_t; |
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typedef std::function<PathProjectorPtr_t(const ProblemConstPtr_t&, |
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const value_type&)> |
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PathProjectorBuilder_t; |
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typedef std::function<ConfigurationShooterPtr_t(const ProblemConstPtr_t&)> |
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ConfigurationShooterBuilder_t; |
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typedef std::function<DistancePtr_t(const ProblemConstPtr_t&)> |
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DistanceBuilder_t; |
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typedef std::function<SteeringMethodPtr_t(const ProblemConstPtr_t&)> |
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SteeringMethodBuilder_t; |
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typedef std::vector<std::pair<std::string, CollisionObjectPtr_t> > |
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AffordanceObjects_t; |
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typedef vector3_t AffordanceConfig_t; |
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/// Set and solve a path planning problem |
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/// |
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/// This class is a container that does the interface between |
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/// hpp-core library and component to be running in a middleware |
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/// like CORBA or ROS. |
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class HPP_CORE_DLLAPI ProblemSolver { |
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public: |
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typedef std::vector<PathOptimizerPtr_t> PathOptimizers_t; |
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typedef std::vector<std::string> PathOptimizerTypes_t; |
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typedef std::vector<std::string> ConfigValidationTypes_t; |
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/// Create instance and return pointer |
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static ProblemSolverPtr_t create(); |
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/// Destructor |
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virtual ~ProblemSolver(); |
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/// Set robot type |
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/// \param type type of the robots that will be created later |
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void robotType(const std::string& type); |
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/// Get robot type |
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const std::string& robotType() const; |
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/// Create a robot of a type defined by method setRobotType |
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/// |
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/// \param name name of the robot |
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/// |
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/// Robot is stored in problemSolver. |
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DevicePtr_t createRobot(const std::string& name); |
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/// Set robot |
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virtual void robot(const DevicePtr_t& robot); |
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/// Get robot |
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const DevicePtr_t& robot() const; |
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/// Get pointer to problem |
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ProblemPtr_t problem() { return problem_; } |
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/// Get shared pointer to initial configuration. |
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const Configuration_t& initConfig() const { return initConf_; } |
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/// Set initial configuration. |
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virtual void initConfig(ConfigurationIn_t config); |
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/// Get number of goal configuration. |
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const Configurations_t& goalConfigs() const; |
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/// Add goal configuration. |
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virtual void addGoalConfig(ConfigurationIn_t config); |
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/// Reset the set of goal configurations |
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void resetGoalConfigs(); |
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/// Set goal of path planning as a set of constraints |
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void setGoalConstraints(const NumericalConstraints_t& constraints); |
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/// Stop defining the goal of path planning as a set of constraints |
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void resetGoalConstraints(); |
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/* |
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/// Add goal constraints |
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void addGoalConstraint (const ConstraintPtr_t& constraint); |
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/// Add goal LockedJoint |
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void addGoalConstraint (const LockedJointPtr_t& lj); |
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/// Add goal numerical constraints |
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void addGoalConstraint (const std::string& constraintName, |
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const std::string& functionName, const std::size_t priority); |
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/// Reset goal constraints |
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void resetGoalConstraint (); |
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*/ |
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/// Set path planner type |
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virtual void pathPlannerType(const std::string& type); |
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const std::string& pathPlannerType() const { return pathPlannerType_; } |
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/// Set distance type |
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void distanceType(const std::string& type); |
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const std::string& distanceType() const { return distanceType_; } |
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/// Set steering method type |
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void steeringMethodType(const std::string& type); |
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const std::string& steeringMethodType() const { return steeringMethodType_; } |
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/// Set configuration shooter type |
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void configurationShooterType(const std::string& type); |
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const std::string& configurationShooterType() const { |
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return configurationShooterType_; |
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} |
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/// Get path planner |
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const PathPlannerPtr_t& pathPlanner() const { return pathPlanner_; } |
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/// Add a path optimizer in the vector |
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/// |
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/// \param name of the type of path optimizer that should be added |
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void addPathOptimizer(const std::string& type); |
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const PathOptimizerTypes_t& pathOptimizerTypes() const { |
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return pathOptimizerTypes_; |
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} |
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/// Clear the vector of path optimizers |
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void clearPathOptimizers(); |
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/// Get path optimizer at given rank |
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const PathOptimizerPtr_t& pathOptimizer(std::size_t rank) const { |
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return pathOptimizers_[rank]; |
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} |
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/// Optimize path |
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/// |
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/// \param path path to optimize |
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/// Build vector of path optimizers if needed |
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/// \note each intermediate optimization output is stored in this object. |
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void optimizePath(PathVectorPtr_t path); |
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/// Set path validation method |
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/// \param type name of new path validation method |
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/// \param tolerance acceptable penetration for path validation |
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/// Path validation methods are used to validate edges in path planning |
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/// path optimization methods. |
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virtual void pathValidationType(const std::string& type, |
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const value_type& tolerance); |
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const std::string& pathValidationType(value_type& tolerance) const { |
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tolerance = pathValidationTolerance_; |
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return pathValidationType_; |
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} |
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/// Set path projector method |
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/// \param type name of new path validation method |
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/// \param step discontinuity tolerance |
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void pathProjectorType(const std::string& type, const value_type& step); |
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/// Get path projector current type and get tolerance |
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const std::string& pathProjectorType(value_type& tolerance) const { |
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tolerance = pathProjectorTolerance_; |
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return pathProjectorType_; |
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} |
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/// Add a config validation method |
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/// \param type name of new config validation method |
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/// Config validation methods are used to validate individual |
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/// configurations of the robot. |
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virtual void addConfigValidation(const std::string& type); |
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/// Get config validation current types |
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const ConfigValidationTypes_t configValidationTypes() { |
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return configValidationTypes_; |
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} |
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// Clear the vector of config validations |
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void clearConfigValidations(); |
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/// Add a new available config validation method |
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void addConfigValidationBuilder(const std::string& type, |
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const ConfigValidationBuilder_t& builder); |
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const RoadmapPtr_t& roadmap() const { return roadmap_; } |
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/// \name Constraints |
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/// \{ |
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/// Add a constraint |
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void addConstraint(const ConstraintPtr_t& constraint); |
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/// Get constraint set |
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const ConstraintSetPtr_t& constraints() const { return constraints_; } |
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/// Reset constraint set |
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virtual void resetConstraints(); |
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/// Add numerical constraint to the config projector |
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/// \param configProjName Name given to config projector if created by |
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/// this method. |
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/// \param constraintName name of the function as stored in internal map. |
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/// Build the config projector if not yet constructed. |
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virtual void addNumericalConstraintToConfigProjector( |
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const std::string& configProjName, const std::string& constraintName, |
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const std::size_t priority = 0); |
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/// Add a a numerical constraint in local map. |
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/// \param name name of the numerical constraint as stored in local map, |
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/// \param constraint numerical constraint |
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/// |
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/// Numerical constraints are to be inserted in the ConfigProjector of |
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/// the constraint set. |
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void addNumericalConstraint(const std::string& name, |
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const constraints::ImplicitPtr_t& constraint) { |
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numericalConstraints.add(name, constraint); |
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} |
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/// Set the comparison types of a constraint. |
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/// \param name name of the differentiable function. |
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void comparisonType(const std::string& name, const ComparisonTypes_t types); |
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void comparisonType(const std::string& name, const ComparisonType& type); |
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ComparisonTypes_t comparisonType(const std::string& name) const; |
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/// Get constraint with given name |
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constraints::ImplicitPtr_t numericalConstraint(const std::string& name) { |
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return numericalConstraints.get(name, constraints::ImplicitPtr_t()); |
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} |
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/// Compute value and Jacobian of numerical constraints |
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/// |
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/// \param configuration input configuration |
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/// \retval value values of the numerical constraints stacked in a unique |
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/// vector, |
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/// \retval jacobian Jacobian of the numerical constraints stacked in a |
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/// unique matrix. |
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/// |
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/// Columns of the Jacobian corresponding to locked joints are omitted, |
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/// columns corresponding to passive dofs are set to 0. |
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void computeValueAndJacobian(const Configuration_t& configuration, |
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vector_t& value, matrix_t& jacobian) const; |
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/// Set maximal number of iterations in config projector |
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void maxIterProjection(size_type iterations); |
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/// Get maximal number of iterations in config projector |
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size_type maxIterProjection() const { return maxIterProjection_; } |
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/// Set maximal number of iterations in config projector |
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void maxIterPathPlanning(size_type iterations); |
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/// Get maximal number of iterations in config projector |
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size_type maxIterPathPlanning() const { return maxIterPathPlanning_; } |
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/// set time out for the path planning ( in seconds) |
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void setTimeOutPathPlanning(double timeOut) { |
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timeOutPathPlanning_ = timeOut; |
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} |
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/// set time out for the path planning ( in seconds) |
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double getTimeOutPathPlanning() { return timeOutPathPlanning_; } |
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/// Set error threshold in config projector |
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void errorThreshold(const value_type& threshold); |
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/// Get errorimal number of threshold in config projector |
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value_type errorThreshold() const { return errorThreshold_; } |
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/// \} |
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/// Create new problem. |
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virtual void resetProblem(); |
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/// Reset the roadmap. |
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/// \note When joints bounds are changed, the roadmap must be reset |
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/// because the kd tree must be resized. |
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virtual void resetRoadmap(); |
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/// \name Solve problem and get paths |
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/// \{ |
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/// Create Path optimizer if needed |
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/// |
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/// If a path optimizer is already set, do nothing. |
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/// Type of optimizer is determined by method selectPathOptimizer. |
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void createPathOptimizers(); |
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/// Prepare the solver for a step by step planning. |
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/// and try to make direct connections (call PathPlanner::tryDirectPath) |
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/// \return the return value of PathPlanner::pathExists |
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virtual bool prepareSolveStepByStep(); |
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/// Execute one step of the planner. |
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/// \return the return value of PathPlanner::pathExists of the selected |
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/// planner. \note This won't check if a solution has been found before doing |
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/// one step. The decision to stop planning is let to the user. |
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virtual bool executeOneStep(); |
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/// Finish the solving procedure |
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/// The path optimizer is not called |
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virtual void finishSolveStepByStep(); |
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/// Set and solve the problem |
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virtual void solve(); |
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/// Make direct connection between two configurations |
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/// \param start, end: the configurations to link. |
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/// \param validate whether path should be validated. If true, path |
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/// validation is called and only valid part of path is inserted |
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/// in the path vector. |
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/// \retval pathId Id of the path that is inserted in the path vector, |
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/// \retval report Reason for non validation if relevant. |
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/// return false if direct path is not fully valid |
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/// |
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/// \note If path is only partly valid, valid part starting at start |
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/// configuration is inserted in path vector. |
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bool directPath(ConfigurationIn_t start, ConfigurationIn_t end, bool validate, |
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std::size_t& pathId, std::string& report); |
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/// Add random configuration into roadmap as new node. |
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void addConfigToRoadmap(ConfigurationIn_t config); |
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/// Add an edge between two roadmap nodes. |
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/// |
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/// \param config1 configuration of start node, |
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/// \param config2 configuration of destination node, |
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/// \param path path to store in the edge. |
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/// |
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/// Check that nodes containing config1 and config2 exist in the roadmap. |
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void addEdgeToRoadmap(ConfigurationIn_t config1, ConfigurationIn_t config2, |
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const PathPtr_t& path); |
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/// Interrupt path planning and path optimization |
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void interrupt(); |
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| 365 |
|
|
/// Add a path |
| 366 |
|
✗ |
std::size_t addPath(const PathVectorPtr_t& path) { |
| 367 |
|
✗ |
std::size_t s = paths_.size(); |
| 368 |
|
✗ |
paths_.push_back(path); |
| 369 |
|
✗ |
return s; |
| 370 |
|
|
} |
| 371 |
|
|
|
| 372 |
|
|
/// Erase a path. |
| 373 |
|
|
void erasePath(std::size_t pathId) { |
| 374 |
|
|
PathVectors_t::iterator it = paths_.begin(); |
| 375 |
|
|
std::advance(it, pathId); |
| 376 |
|
|
|
| 377 |
|
|
paths_.erase(it); |
| 378 |
|
|
} |
| 379 |
|
|
|
| 380 |
|
|
/// Return vector of paths |
| 381 |
|
|
const PathVectors_t& paths() const { return paths_; } |
| 382 |
|
|
/// \} |
| 383 |
|
|
|
| 384 |
|
|
/// \name Obstacles |
| 385 |
|
|
/// \{ |
| 386 |
|
|
|
| 387 |
|
|
/// Add collision objects of a device as obstacles to the list. |
| 388 |
|
|
/// \param device the Device to be added. |
| 389 |
|
|
/// \param collision whether collision checking should be performed |
| 390 |
|
|
/// for this object. |
| 391 |
|
|
/// \param distance whether distance computation should be performed |
| 392 |
|
|
/// for this object. |
| 393 |
|
|
virtual void addObstacle(const DevicePtr_t& device, bool collision, |
| 394 |
|
|
bool distance); |
| 395 |
|
|
|
| 396 |
|
|
/// Add obstacle to the list. |
| 397 |
|
|
/// \param inObject a new object. |
| 398 |
|
|
/// \param collision whether collision checking should be performed |
| 399 |
|
|
/// for this object. |
| 400 |
|
|
/// \param distance whether distance computation should be performed |
| 401 |
|
|
/// for this object. |
| 402 |
|
|
virtual void addObstacle(const CollisionObjectPtr_t& inObject, bool collision, |
| 403 |
|
|
bool distance); |
| 404 |
|
|
|
| 405 |
|
|
/// Remove obstacle from the list. |
| 406 |
|
|
/// \param name name of the obstacle |
| 407 |
|
|
virtual void removeObstacle(const std::string& name); |
| 408 |
|
|
|
| 409 |
|
|
/// Add obstacle to the list. |
| 410 |
|
|
/// \param inObject a new object. |
| 411 |
|
|
/// \param pose the object pose. |
| 412 |
|
|
/// \param collision whether collision checking should be performed |
| 413 |
|
|
/// for this object. |
| 414 |
|
|
/// \param distance whether distance computation should be performed |
| 415 |
|
|
/// for this object. |
| 416 |
|
|
virtual void addObstacle(const std::string& name, |
| 417 |
|
|
const CollisionGeometryPtr_t& inObject, |
| 418 |
|
|
const Transform3f& pose, bool collision, |
| 419 |
|
|
bool distance); |
| 420 |
|
|
|
| 421 |
|
|
/// Add obstacle to the list. |
| 422 |
|
|
/// \param inObject a new object. |
| 423 |
|
|
/// \param collision whether collision checking should be performed |
| 424 |
|
|
/// for this object. |
| 425 |
|
|
/// \param distance whether distance computation should be performed |
| 426 |
|
|
/// for this object. |
| 427 |
|
|
virtual void addObstacle(const std::string& name, |
| 428 |
|
|
/*const*/ FclCollisionObject& inObject, |
| 429 |
|
|
bool collision, bool distance); |
| 430 |
|
|
|
| 431 |
|
|
/// Remove collision pair between a joint and an obstacle |
| 432 |
|
|
/// \param jointName name of the joint, |
| 433 |
|
|
/// \param obstacleName name of the obstacle |
| 434 |
|
|
void removeObstacleFromJoint(const std::string& jointName, |
| 435 |
|
|
const std::string& obstacleName); |
| 436 |
|
|
|
| 437 |
|
|
/// Extract from the obstacle the part that can collide with aabb |
| 438 |
|
|
/// \warning the obstacle is removed if there are not possible collision. |
| 439 |
|
|
void cutObstacle(const std::string& name, const fcl::AABB& aabb); |
| 440 |
|
|
|
| 441 |
|
|
/// Build matrix of relative motions between joints |
| 442 |
|
|
/// |
| 443 |
|
|
/// Call Problem::filterCollisionPairs. |
| 444 |
|
|
void filterCollisionPairs(); |
| 445 |
|
|
|
| 446 |
|
|
/// Get obstacle by name |
| 447 |
|
|
/// Throws if obstacle does not exists. |
| 448 |
|
|
CollisionObjectPtr_t obstacle(const std::string& name) const; |
| 449 |
|
|
|
| 450 |
|
|
/// Get obstacle frame position by name |
| 451 |
|
|
/// Throws if obstacle frame does not exists. |
| 452 |
|
|
const Transform3f& obstacleFramePosition(const std::string& name) const; |
| 453 |
|
|
|
| 454 |
|
|
/// Get list of obstacle names |
| 455 |
|
|
/// |
| 456 |
|
|
/// \param collision whether to return collision obstacle names |
| 457 |
|
|
/// \param distance whether to return distance obstacle names |
| 458 |
|
|
/// \return list of obstacle names |
| 459 |
|
|
std::list<std::string> obstacleNames(bool collision, bool distance) const; |
| 460 |
|
|
|
| 461 |
|
|
/// Return list of pair of distance computations |
| 462 |
|
|
const DistanceBetweenObjectsPtr_t& distanceBetweenObjects() const { |
| 463 |
|
|
return distanceBetweenObjects_; |
| 464 |
|
|
} |
| 465 |
|
|
|
| 466 |
|
|
pinocchio::GeomModelPtr_t obstacleGeomModel() const { return obstacleModel_; } |
| 467 |
|
|
pinocchio::GeomDataPtr_t obstacleGeomData() const { return obstacleData_; } |
| 468 |
|
|
/// \} |
| 469 |
|
|
|
| 470 |
|
|
/// Local vector of objects considered for collision detection |
| 471 |
|
|
const ObjectStdVector_t& collisionObstacles() const; |
| 472 |
|
|
/// Local vector of objects considered for distance computation |
| 473 |
|
|
const ObjectStdVector_t& distanceObstacles() const; |
| 474 |
|
|
|
| 475 |
|
|
/// Set the roadmap |
| 476 |
|
|
void roadmap(const RoadmapPtr_t& roadmap) { roadmap_ = roadmap; } |
| 477 |
|
|
|
| 478 |
|
|
/// Initialize distance |
| 479 |
|
|
/// |
| 480 |
|
|
/// Set distance by calling the distance factory |
| 481 |
|
|
void initDistance(); |
| 482 |
|
|
|
| 483 |
|
|
/// Initialize steering method |
| 484 |
|
|
/// |
| 485 |
|
|
/// Set steering method by calling the steering method factory |
| 486 |
|
|
void initSteeringMethod(); |
| 487 |
|
|
|
| 488 |
|
|
/// Initialize path projector |
| 489 |
|
|
/// |
| 490 |
|
|
/// Set path projector by calling path projector factory |
| 491 |
|
|
void initPathProjector(); |
| 492 |
|
|
|
| 493 |
|
|
/// Set path validation by calling path validation factory |
| 494 |
|
|
void initPathValidation(); |
| 495 |
|
|
|
| 496 |
|
|
/// Set config validation by calling config validation factories |
| 497 |
|
|
void initConfigValidation(); |
| 498 |
|
|
|
| 499 |
|
|
/// Initialize the config and path validations and add the obstacles. |
| 500 |
|
|
void initValidations(); |
| 501 |
|
|
|
| 502 |
|
|
/// Initialize the problem target by calling the path validation factory |
| 503 |
|
|
virtual void initProblemTarget(); |
| 504 |
|
|
|
| 505 |
|
|
/// Container of static method that creates a Robot |
| 506 |
|
|
/// with string as input |
| 507 |
|
|
Container<RobotBuilder_t> robots; |
| 508 |
|
|
/// Container of static method that creates a ConfigurationShooter |
| 509 |
|
|
/// with a robot as input |
| 510 |
|
|
Container<ConfigurationShooterBuilder_t> configurationShooters; |
| 511 |
|
|
/// Container of static method that creates a SteeringMethod |
| 512 |
|
|
/// with a problem as input |
| 513 |
|
|
Container<SteeringMethodBuilder_t> steeringMethods; |
| 514 |
|
|
/// Container of static method that creates a Distance |
| 515 |
|
|
/// with problem as input |
| 516 |
|
|
Container<DistanceBuilder_t> distances; |
| 517 |
|
|
/// Container of static method that creates a PathValidation |
| 518 |
|
|
/// with a robot and a tolerance as input. |
| 519 |
|
|
Container<PathValidationBuilder_t> pathValidations; |
| 520 |
|
|
/// Container of static method that creates a ConfigValidation |
| 521 |
|
|
/// with a robot as input. |
| 522 |
|
|
Container<ConfigValidationBuilder_t> configValidations; |
| 523 |
|
|
/// Container of static method that creates a PathProjection |
| 524 |
|
|
/// with a problem and a tolerance as input. |
| 525 |
|
|
Container<PathProjectorBuilder_t> pathProjectors; |
| 526 |
|
|
/// Container of static method that creates a PathPlanner |
| 527 |
|
|
/// with a problem and a roadmap as input |
| 528 |
|
|
Container<PathPlannerBuilder_t> pathPlanners; |
| 529 |
|
|
/// Container of static method that creates a PathOptimizer |
| 530 |
|
|
/// with a problem as input |
| 531 |
|
|
Container<PathOptimizerBuilder_t> pathOptimizers; |
| 532 |
|
|
|
| 533 |
|
|
/// Container of constraints::Implicit |
| 534 |
|
|
Container<constraints::ImplicitPtr_t> numericalConstraints; |
| 535 |
|
|
/// member lockedJoints has been removed. LockedJointPtr_t |
| 536 |
|
|
/// instances are now stored with constraints::ImplicitPtr_t in |
| 537 |
|
|
/// member numericalConstraints. |
| 538 |
|
|
Member_lockedJoints_in_class_ProblemSolver_has_been_removed_use_member_numericalConstraints_instead |
| 539 |
|
|
lockedJoints; |
| 540 |
|
|
/// Container of CenterOfMassComputation |
| 541 |
|
|
Container<CenterOfMassComputationPtr_t> centerOfMassComputations; |
| 542 |
|
|
/// Container of passive DoFs (as segments_t) |
| 543 |
|
|
Container<segments_t> passiveDofs; |
| 544 |
|
|
/// Container of JointAndShapes_t |
| 545 |
|
|
Container<JointAndShapes_t> jointAndShapes; |
| 546 |
|
|
/// Container of AffordanceObjects_t |
| 547 |
|
|
Container<AffordanceObjects_t> affordanceObjects; |
| 548 |
|
|
/// Container of AffordanceConfig_t |
| 549 |
|
|
Container<AffordanceConfig_t> affordanceConfigs; |
| 550 |
|
|
|
| 551 |
|
|
protected: |
| 552 |
|
|
/// Constructor |
| 553 |
|
|
/// |
| 554 |
|
|
/// Call create to create an instance. |
| 555 |
|
|
ProblemSolver(); |
| 556 |
|
|
|
| 557 |
|
|
/// Store constraints until call to solve. |
| 558 |
|
|
ConstraintSetPtr_t constraints_; |
| 559 |
|
|
|
| 560 |
|
|
/// Set pointer to problem |
| 561 |
|
|
void problem(ProblemPtr_t problem); |
| 562 |
|
|
|
| 563 |
|
|
/// Initialize the new problem |
| 564 |
|
|
/// \param problem is inserted in the ProblemSolver and initialized. |
| 565 |
|
|
/// \note The previous Problem, if any, is not deleted. The function |
| 566 |
|
|
/// should be called when creating Problem object, in resetProblem() |
| 567 |
|
|
/// and all reimplementation in inherited class. |
| 568 |
|
|
virtual void initializeProblem(ProblemPtr_t problem); |
| 569 |
|
|
|
| 570 |
|
|
/// Robot |
| 571 |
|
|
DevicePtr_t robot_; |
| 572 |
|
|
/// Problem |
| 573 |
|
|
ProblemPtr_t problem_; |
| 574 |
|
|
|
| 575 |
|
|
PathPlannerPtr_t pathPlanner_; |
| 576 |
|
|
/// Store roadmap |
| 577 |
|
|
RoadmapPtr_t roadmap_; |
| 578 |
|
|
/// Paths |
| 579 |
|
|
PathVectors_t paths_; |
| 580 |
|
|
/// Path projector method |
| 581 |
|
|
std::string pathProjectorType_; |
| 582 |
|
|
/// Tolerance of path projector |
| 583 |
|
|
value_type pathProjectorTolerance_; |
| 584 |
|
|
|
| 585 |
|
|
/// Path planner |
| 586 |
|
|
std::string pathPlannerType_; |
| 587 |
|
|
|
| 588 |
|
|
/// Shared pointer to the problem target |
| 589 |
|
|
ProblemTargetPtr_t target_; |
| 590 |
|
|
|
| 591 |
|
|
private: |
| 592 |
|
|
/// Shared pointer to initial configuration. |
| 593 |
|
|
Configuration_t initConf_; |
| 594 |
|
|
/// Shared pointer to goal configuration. |
| 595 |
|
|
Configurations_t goalConfigurations_; |
| 596 |
|
|
/// Robot type |
| 597 |
|
|
std::string robotType_; |
| 598 |
|
|
/// Configuration shooter |
| 599 |
|
|
std::string configurationShooterType_; |
| 600 |
|
|
/// Steering method |
| 601 |
|
|
std::string distanceType_; |
| 602 |
|
|
/// Steering method |
| 603 |
|
|
std::string steeringMethodType_; |
| 604 |
|
|
/// Path optimizer |
| 605 |
|
|
PathOptimizerTypes_t pathOptimizerTypes_; |
| 606 |
|
|
PathOptimizers_t pathOptimizers_; |
| 607 |
|
|
/// Path validation method |
| 608 |
|
|
std::string pathValidationType_; |
| 609 |
|
|
/// Tolerance of path validation |
| 610 |
|
|
value_type pathValidationTolerance_; |
| 611 |
|
|
// Config validation methods |
| 612 |
|
|
ConfigValidationTypes_t configValidationTypes_; |
| 613 |
|
|
/// Store obstacles until call to solve. |
| 614 |
|
|
ObjectStdVector_t collisionObstacles_; // FIXME should be removed? |
| 615 |
|
|
ObjectStdVector_t distanceObstacles_; // FIXME should be removed? |
| 616 |
|
|
pinocchio::ModelPtr_t obstacleRModel_; // Contains the frames |
| 617 |
|
|
pinocchio::DataPtr_t obstacleRData_; // Contains the frames |
| 618 |
|
|
pinocchio::GeomModelPtr_t obstacleModel_; |
| 619 |
|
|
pinocchio::GeomDataPtr_t obstacleData_; |
| 620 |
|
|
// Tolerance for numerical constraint resolution |
| 621 |
|
|
value_type errorThreshold_; |
| 622 |
|
|
// Maximal number of iterations for numerical constraint resolution |
| 623 |
|
|
size_type maxIterProjection_; |
| 624 |
|
|
/// Maximal number of iterations for path planner |
| 625 |
|
|
unsigned long int maxIterPathPlanning_; |
| 626 |
|
|
/// Maximal time allocated to the path-planner |
| 627 |
|
|
double timeOutPathPlanning_; |
| 628 |
|
|
/// Map of passive dofs |
| 629 |
|
|
segmentsMap_t passiveDofsMap_; |
| 630 |
|
|
/// Map of CenterOfMassComputation |
| 631 |
|
|
CenterOfMassComputationMap_t comcMap_; |
| 632 |
|
|
/// Computation of distances to obstacles |
| 633 |
|
|
DistanceBetweenObjectsPtr_t distanceBetweenObjects_; |
| 634 |
|
|
void initProblem(); |
| 635 |
|
|
}; // class ProblemSolver |
| 636 |
|
|
} // namespace core |
| 637 |
|
|
} // namespace hpp |
| 638 |
|
|
|
| 639 |
|
|
#endif // HPP_CORE_PROBLEM_SOLVER_HH |
| 640 |
|
|
|