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// Copyright (c) 2016, Joseph Mirabel |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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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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#include <hpp/core/config-projector.hh> |
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#include <hpp/core/connected-component.hh> |
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#include <hpp/core/constraint-set.hh> |
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#include <hpp/core/node.hh> |
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#include <hpp/core/problem-target/task-target.hh> |
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#include <hpp/core/problem.hh> |
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#include <hpp/core/roadmap.hh> |
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#include <stdexcept> |
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#include "../astar.hh" |
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namespace hpp { |
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namespace core { |
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namespace problemTarget { |
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TaskTargetPtr_t TaskTarget::create(const ProblemPtr_t& problem) { |
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TaskTarget* tt = new TaskTarget(problem); |
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TaskTargetPtr_t shPtr(tt); |
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tt->init(shPtr); |
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return shPtr; |
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} |
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void TaskTarget::check(const RoadmapPtr_t&) const { |
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if (!constraints_) { |
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std::string msg("No constraints: task not specified."); |
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hppDout(error, msg); |
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throw std::runtime_error(msg); |
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} |
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} |
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bool TaskTarget::reached(const RoadmapPtr_t& roadmap) const { |
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assert(roadmap->goalNodes().empty()); |
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if (!roadmap->initNode()) return false; |
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const ConnectedComponentPtr_t ccInit = |
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roadmap->initNode()->connectedComponent(); // TODO |
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bool res(false); |
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for (auto node : ccInit->nodes()) { |
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if ((*constraints_).isSatisfied(node->configuration())) { |
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roadmap->addGoalNode( |
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node->configuration()); // temporarily add goal node to compute path |
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res = true; |
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} |
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} |
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return res; |
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} |
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NumericalConstraints_t TaskTarget::constraints() const { |
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if ((!constraints_) || (!constraints_->configProjector())) { |
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return NumericalConstraints_t(); |
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} |
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return constraints_->configProjector()->numericalConstraints(); |
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} |
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PathVectorPtr_t TaskTarget::computePath(const RoadmapPtr_t& roadmap) const { |
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ProblemPtr_t problem(problem_.lock()); |
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assert(problem); |
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Astar astar(roadmap, problem->distance()); |
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PathVectorPtr_t sol = PathVector::create(problem->robot()->configSize(), |
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problem->robot()->numberDof()); |
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astar.solution(sol); |
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// This happens when q_init already satisfies the task. |
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if (sol->numberPaths() == 0) { |
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Configuration_t q(roadmap->initNode()->configuration()); |
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sol->appendPath((*problem->steeringMethod())(q, q)); |
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} |
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roadmap->resetGoalNodes(); // remove the temporary goal node |
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return sol; |
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} |
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} // namespace problemTarget |
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} // namespace core |
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} // namespace hpp |
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