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// |
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// Copyright (c) 2014 CNRS |
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// Authors: Mylene Campana |
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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 <stdio.h> |
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#include <time.h> |
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#include <hpp/core/config-projector.hh> |
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#include <hpp/core/config-validations.hh> |
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#include <hpp/core/configuration-shooter.hh> |
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#include <hpp/core/connected-component.hh> |
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#include <hpp/core/path-validation.hh> |
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#include <hpp/core/problem.hh> |
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#include <hpp/core/roadmap.hh> |
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#include <hpp/core/visibility-prm-planner.hh> |
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#include <hpp/pinocchio/configuration.hh> |
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#include <hpp/pinocchio/device.hh> |
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#include <hpp/util/debug.hh> |
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namespace hpp { |
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namespace core { |
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using pinocchio::displayConfig; |
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VisibilityPrmPlannerPtr_t VisibilityPrmPlanner::createWithRoadmap( |
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const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap) { |
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VisibilityPrmPlanner* ptr = new VisibilityPrmPlanner(problem, roadmap); |
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return VisibilityPrmPlannerPtr_t(ptr); |
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} |
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VisibilityPrmPlannerPtr_t VisibilityPrmPlanner::create( |
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const ProblemConstPtr_t& problem) { |
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VisibilityPrmPlanner* ptr = new VisibilityPrmPlanner(problem); |
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return VisibilityPrmPlannerPtr_t(ptr); |
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} |
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VisibilityPrmPlanner::VisibilityPrmPlanner(const ProblemConstPtr_t& problem) |
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: PathPlanner(problem) {} |
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VisibilityPrmPlanner::VisibilityPrmPlanner(const ProblemConstPtr_t& problem, |
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const RoadmapPtr_t& roadmap) |
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: PathPlanner(problem, roadmap) {} |
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void VisibilityPrmPlanner::init(const VisibilityPrmPlannerWkPtr_t& weak) { |
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PathPlanner::init(weak); |
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weakPtr_ = weak; |
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} |
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bool VisibilityPrmPlanner::visibleFromCC(const Configuration_t q, |
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const ConnectedComponentPtr_t cc) { |
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PathPtr_t validPart; |
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bool found = false; |
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value_type length = std::numeric_limits<value_type>::infinity(); |
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PathValidationPtr_t pathValidation(problem()->pathValidation()); |
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SteeringMethodPtr_t sm(problem()->steeringMethod()); |
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RoadmapPtr_t r(roadmap()); |
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DelayedEdge_t delayedEdge; |
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for (NodeVector_t::const_iterator n_it = cc->nodes().begin(); |
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n_it != cc->nodes().end(); ++n_it) { |
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if (nodeStatus_[*n_it]) { // only iterate on guard nodes |
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Configuration_t qCC = (*n_it)->configuration(); |
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PathPtr_t path = (*sm)(q, qCC); |
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PathValidationReportPtr_t report; |
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if (path && pathValidation->validate(path, false, validPart, report)) { |
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// q and qCC see each other |
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if (path->length() < length) { |
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length = path->length(); |
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// Save shortest edge |
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delayedEdge = DelayedEdge_t(*n_it, q, path->reverse()); |
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} |
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found = true; |
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} |
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} |
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} |
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if (found) { |
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// Store shortest delayed edge in list |
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delayedEdges_.push_back(delayedEdge); |
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return true; |
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} else |
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return false; |
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} |
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void VisibilityPrmPlanner::applyConstraints(const Configuration_t& qFrom, |
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const Configuration_t& qTo, |
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Configuration_t& qout) { |
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ConstraintSetPtr_t constraints(problem()->constraints()); |
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if (constraints) { |
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ConfigProjectorPtr_t configProjector(constraints->configProjector()); |
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if (configProjector) { |
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constrApply_ = false; // while apply has not successed |
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configProjector->projectOnKernel(qFrom, qTo, qout); |
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if (constraints->apply(qout)) { |
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constrApply_ = true; |
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return; |
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} |
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} |
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} |
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qout = qTo; |
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} |
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void VisibilityPrmPlanner::oneStep() { |
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DevicePtr_t robot(problem()->robot()); |
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ConfigurationShooterPtr_t configurationShooter( |
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problem()->configurationShooter()); |
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ConfigValidationsPtr_t configValidations(problem()->configValidations()); |
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RoadmapPtr_t r(roadmap()); |
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value_type count; // number of times q has been seen |
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constrApply_ = true; // stay true if no constraint in Problem |
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Configuration_t q_init(r->initNode()->configuration()), |
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q_proj(robot->configSize()), q_rand(robot->configSize()); |
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/* Initialization of guard status */ |
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nodeStatus_[r->initNode()] = true; // init node is guard |
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for (NodeVector_t::const_iterator itg = r->goalNodes().begin(); |
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itg != r->goalNodes().end(); ++itg) { |
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nodeStatus_[*itg] = true; // goal nodes are guards |
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} |
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// Shoot random config as long as not collision-free |
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ValidationReportPtr_t report; |
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do { |
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configurationShooter->shoot(q_rand); |
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applyConstraints(q_init, q_rand, q_proj); |
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// Joseph: I don't think this is necessary. |
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// robot->currentConfiguration(q_proj); |
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// robot->computeForwardKinematics(); |
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} while (!configValidations->validate(q_proj, report) || !constrApply_); |
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count = 0; |
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for (ConnectedComponents_t::const_iterator itcc = |
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r->connectedComponents().begin(); |
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itcc != r->connectedComponents().end(); ++itcc) { |
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ConnectedComponentPtr_t cc = *itcc; |
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if (visibleFromCC(q_proj, cc)) { |
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// delayedEdges_ will completed if visible |
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count++; // count how many times q has been seen |
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} |
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} |
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if (count == 0) { // q not visible from anywhere |
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NodePtr_t newNode = r->addNode(q_proj); // add q as a guard node |
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nodeStatus_[newNode] = true; |
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hppDout(info, "q is a guard node: " << displayConfig(q_proj)); |
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} |
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if (count > 1) { // q visible several times |
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// Insert delayed edges from list and add q as a connection node |
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for (const auto& edge : delayedEdges_) { |
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const NodePtr_t& near = std::get<0>(edge); |
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const Configuration_t& q_new = std::get<1>(edge); |
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const PathPtr_t& validPath = std::get<2>(edge); |
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NodePtr_t newNode = r->addNode(q_new); |
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nodeStatus_[newNode] = false; |
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r->addEdge(near, newNode, validPath); |
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r->addEdge(newNode, near, validPath->reverse()); |
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hppDout(info, |
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"connection between q1: " << displayConfig(near->configuration()) |
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<< "and q2: " << displayConfig(q_new)); |
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} |
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} |
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delayedEdges_.clear(); |
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} |
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} // namespace core |
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} // namespace hpp |
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