Directory: | ./ |
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File: | include/hpp/core/subchain-path.hh |
Date: | 2024-08-10 11:29:48 |
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1 | // | ||
2 | // Copyright (c) 2016 CNRS | ||
3 | // Authors: Joseph Mirabel | ||
4 | // | ||
5 | |||
6 | // Redistribution and use in source and binary forms, with or without | ||
7 | // modification, are permitted provided that the following conditions are | ||
8 | // met: | ||
9 | // | ||
10 | // 1. Redistributions of source code must retain the above copyright | ||
11 | // notice, this list of conditions and the following disclaimer. | ||
12 | // | ||
13 | // 2. Redistributions in binary form must reproduce the above copyright | ||
14 | // notice, this list of conditions and the following disclaimer in the | ||
15 | // documentation and/or other materials provided with the distribution. | ||
16 | // | ||
17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
18 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
19 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
20 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
21 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
22 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
23 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
24 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
25 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
26 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
27 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
28 | // DAMAGE. | ||
29 | |||
30 | #ifndef HPP_CORE_DOF_EXTRACTED_PATH_HH | ||
31 | #define HPP_CORE_DOF_EXTRACTED_PATH_HH | ||
32 | |||
33 | #include <hpp/constraints/matrix-view.hh> | ||
34 | #include <hpp/core/path.hh> | ||
35 | |||
36 | namespace hpp { | ||
37 | namespace core { | ||
38 | /// \addtogroup path | ||
39 | /// \{ | ||
40 | |||
41 | /// Result of the selection of some configuration parameter of an original path | ||
42 | /// \note Decorator design pattern | ||
43 | /// \todo the configuration parameter cannot be rearranged. | ||
44 | class SubchainPath : public Path { | ||
45 | public: | ||
46 | typedef Path parent_t; | ||
47 | |||
48 | 4 | virtual ~SubchainPath() {} | |
49 | |||
50 | /// Return a shared pointer to a copy of this | ||
51 | ✗ | virtual PathPtr_t copy() const { return createCopy(weak_.lock()); } | |
52 | |||
53 | /// Return a shared pointer to a copy of this and set constraints | ||
54 | /// | ||
55 | /// \param constraints constraints to apply to the copy | ||
56 | /// \pre *this should not have constraints. | ||
57 | ✗ | virtual PathPtr_t copy(const ConstraintSetPtr_t& constraints) const { | |
58 | ✗ | return createCopy(weak_.lock(), constraints); | |
59 | } | ||
60 | |||
61 | /// \copydoc SubchainPath::SubchainPath | ||
62 | 1 | static SubchainPathPtr_t create(const PathPtr_t& original, | |
63 | const segments_t& confIntervals, | ||
64 | const segments_t& velIntervals) { | ||
65 |
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1 | SubchainPath* ptr = new SubchainPath(original, confIntervals, velIntervals); |
66 | 1 | SubchainPathPtr_t shPtr(ptr); | |
67 |
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1 | ptr->init(shPtr); |
68 | 1 | return shPtr; | |
69 | } | ||
70 | |||
71 | ✗ | static SubchainPathPtr_t createCopy(const SubchainPathPtr_t& path) { | |
72 | ✗ | SubchainPath* ptr = new SubchainPath(*path); | |
73 | ✗ | SubchainPathPtr_t shPtr(ptr); | |
74 | ✗ | ptr->init(shPtr); | |
75 | ✗ | return shPtr; | |
76 | } | ||
77 | |||
78 | ✗ | static SubchainPathPtr_t createCopy(const SubchainPathPtr_t& path, | |
79 | const ConstraintSetPtr_t& constraints) { | ||
80 | ✗ | SubchainPath* ptr = new SubchainPath(*path, constraints); | |
81 | ✗ | SubchainPathPtr_t shPtr(ptr); | |
82 | ✗ | ptr->init(shPtr); | |
83 | ✗ | return shPtr; | |
84 | } | ||
85 | |||
86 | 3 | virtual bool impl_compute(ConfigurationOut_t result, value_type param) const { | |
87 |
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3 | bool success = original_->eval(q_, param); |
88 |
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3 | if (success) dofExtract(q_, result); |
89 | 3 | return success; | |
90 | } | ||
91 | |||
92 | /// Get the initial configuration | ||
93 | ✗ | inline Configuration_t initial() const { | |
94 | ✗ | Configuration_t q(outputSize()); | |
95 | ✗ | dofExtract(original_->initial(), q); | |
96 | ✗ | return q; | |
97 | } | ||
98 | |||
99 | /// Get the final configuration | ||
100 | ✗ | inline Configuration_t end() const { | |
101 | ✗ | Configuration_t q(outputSize()); | |
102 | ✗ | dofExtract(original_->end(), q); | |
103 | ✗ | return q; | |
104 | } | ||
105 | |||
106 | 3 | void dofExtract(ConfigurationIn_t qin, ConfigurationOut_t qout) const { | |
107 |
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3 | qout = configView_.rview(qin); |
108 | 3 | } | |
109 | |||
110 | protected: | ||
111 | /// Print path in a stream | ||
112 | ✗ | virtual std::ostream& print(std::ostream& os) const { | |
113 | ✗ | os << "Dof Extracted Path:" << std::endl; | |
114 | ✗ | os << "intervals: " << configView_ << std::endl; | |
115 | ✗ | os << "original path:" << std::endl; | |
116 | ✗ | os << *original_ << std::endl; | |
117 | ✗ | return os; | |
118 | } | ||
119 | |||
120 | /// Constructor | ||
121 | /// | ||
122 | /// \param original Path to extract, | ||
123 | /// \param confIntervals of the configuration parameters to be extracted | ||
124 | /// \param velIntervals of the configuration parameters to be extracted | ||
125 | 1 | SubchainPath(const PathPtr_t& original, const segments_t& confIntervals, | |
126 | const segments_t& velIntervals) | ||
127 | 1 | : Path(original->timeRange(), Eigen::BlockIndex::cardinal(confIntervals), | |
128 | Eigen::BlockIndex::cardinal(velIntervals)), | ||
129 | 1 | original_(original), | |
130 |
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1 | configView_(confIntervals), |
131 |
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2 | q_(Configuration_t::Zero(original->outputSize())) {} |
132 | |||
133 | ✗ | SubchainPath(const SubchainPath& path) | |
134 | ✗ | : Path(path), | |
135 | ✗ | original_(path.original_), | |
136 | ✗ | configView_(path.configView_), | |
137 | ✗ | q_(path.q_), | |
138 | ✗ | weak_() {} | |
139 | |||
140 | ✗ | SubchainPath(const SubchainPath& path, const ConstraintSetPtr_t& constraints) | |
141 | ✗ | : Path(path, constraints), | |
142 | ✗ | original_(path.original_), | |
143 | ✗ | configView_(path.configView_), | |
144 | ✗ | weak_() {} | |
145 | |||
146 | 1 | void init(SubchainPathPtr_t self) { | |
147 |
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1 | parent_t::init(self); |
148 | 1 | weak_ = self; | |
149 | 1 | } | |
150 | |||
151 | private: | ||
152 | PathPtr_t original_; | ||
153 | Eigen::RowBlockIndices configView_, velView_; | ||
154 | mutable Configuration_t q_; | ||
155 | SubchainPathWkPtr_t weak_; | ||
156 | }; // SubchainPath | ||
157 | /// \} | ||
158 | } // namespace core | ||
159 | } // namespace hpp | ||
160 | #endif // HPP_CORE_DOF_EXTRACTED_PATH_HH | ||
161 |