Set and solve a path planning problem. More...

#include <hpp/core/problem-solver.hh>

Collaboration diagram for hpp::core::ProblemSolver:

Public Types
typedef std::vector< PathOptimizerPtr_t >	PathOptimizers_t

typedef std::vector< std::string >	PathOptimizerTypes_t

typedef std::vector< std::string >	ConfigValidationTypes_t

Public Member Functions
virtual	~ProblemSolver ()
	Destructor. More...

void	robotType (const std::string &type)
	Set robot type. More...

const std::string &	robotType () const
	Get robot type. More...

DevicePtr_t	createRobot (const std::string &name)
	Create a robot of a type defined by method setRobotType. More...

virtual void	robot (const DevicePtr_t &robot)
	Set robot. More...

const DevicePtr_t &	robot () const
	Get robot. More...

ProblemPtr_t	problem ()
	Get pointer to problem. More...

const ConfigurationPtr_t &	initConfig () const
	Get shared pointer to initial configuration. More...

virtual void	initConfig (const ConfigurationPtr_t &config)
	Set initial configuration. More...

const Configurations_t &	goalConfigs () const
	Get number of goal configuration. More...

virtual void	addGoalConfig (const ConfigurationPtr_t &config)
	Add goal configuration. More...

void	resetGoalConfigs ()
	Reset the set of goal configurations. More...

virtual void	pathPlannerType (const std::string &type)
	Set path planner type. More...

const std::string &	pathPlannerType () const

void	distanceType (const std::string &type)
	Set distance type. More...

const std::string &	distanceType () const

void	steeringMethodType (const std::string &type)
	Set steering method type. More...

const std::string &	steeringMethodType () const

void	configurationShooterType (const std::string &type)
	Set configuration shooter type. More...

const std::string &	configurationShooterType () const

const PathPlannerPtr_t &	pathPlanner () const
	Get path planner. More...

void	addPathOptimizer (const std::string &type)
	Add a path optimizer in the vector. More...

const PathOptimizerTypes_t &	pathOptimizerTypes () const

void	clearPathOptimizers ()
	Clear the vector of path optimizers. More...

const PathOptimizerPtr_t &	pathOptimizer (std::size_t rank) const
	Get path optimizer at given rank. More...

void	optimizePath (PathVectorPtr_t path)
	Optimize path. More...

virtual void	pathValidationType (const std::string &type, const value_type &tolerance)
	Set path validation method. More...

const std::string &	pathValidationType (value_type &tolerance) const

void	pathProjectorType (const std::string &type, const value_type &step)
	Set path projector method. More...

const std::string &	pathProjectorType (value_type &tolerance) const
	Get path projector current type and get tolerance. More...

virtual void	addConfigValidation (const std::string &type)
	Add a config validation method. More...

const ConfigValidationTypes_t	configValidationTypes ()
	Get config validation current types. More...

void	clearConfigValidations ()

void	addConfigValidationBuilder (const std::string &type, const ConfigValidationBuilder_t &builder)
	Add a new available config validation method. More...

const RoadmapPtr_t &	roadmap () const

virtual void	resetProblem ()
	Create new problem. More...

virtual void	resetRoadmap ()
	Reset the roadmap. More...

const ObjectStdVector_t &	collisionObstacles () const
	Local vector of objects considered for collision detection. More...

const ObjectStdVector_t &	distanceObstacles () const
	Local vector of objects considered for distance computation. More...

void	roadmap (const RoadmapPtr_t &roadmap)
	Set the roadmap. More...

void	initDistance ()
	Initialize distance. More...

void	initSteeringMethod ()
	Initialize steering method. More...

void	initPathProjector ()
	Initialize path projector. More...

void	initPathValidation ()
	Set path validation by calling path validation factory. More...

void	initConfigValidation ()
	Set config validation by calling config validation factories. More...

void	initValidations ()
	Initialize the config and path validations and add the obstacles. More...

virtual void	initProblemTarget ()
	Initialize the problem target by calling the path validation factory. More...

Constraints
void	addConstraint (const ConstraintPtr_t &constraint)
	Add a constraint. More...

const ConstraintSetPtr_t &	constraints () const
	Get constraint set. More...

virtual void	resetConstraints ()
	Reset constraint set. More...

virtual void	addNumericalConstraintToConfigProjector (const std::string &configProjName, const std::string &constraintName, const std::size_t priority=0)
	Add numerical constraint to the config projector. More...

virtual void	addLockedJointToConfigProjector (const std::string &configProjName, const std::string &lockedJointName) HPP_CORE_DEPRECATED
	Add locked joint to the config projector. More...

void	addNumericalConstraint (const std::string &name, const constraints::ImplicitPtr_t &constraint)
	Add a a numerical constraint in local map. More...

void	comparisonType (const std::string &name, const ComparisonTypes_t types)
	Set the comparison types of a constraint. More...

void	comparisonType (const std::string &name, const ComparisonType &type)

ComparisonTypes_t	comparisonType (const std::string &name) const

constraints::ImplicitPtr_t	numericalConstraint (const std::string &name)
	Get constraint with given name. More...

void	computeValueAndJacobian (const Configuration_t &configuration, vector_t &value, matrix_t &jacobian) const
	Compute value and Jacobian of numerical constraints. More...

void	maxIterProjection (size_type iterations)
	Set maximal number of iterations in config projector. More...

size_type	maxIterProjection () const
	Get maximal number of iterations in config projector. More...

void	maxIterPathPlanning (size_type iterations)
	Set maximal number of iterations in config projector. More...

size_type	maxIterPathPlanning () const
	Get maximal number of iterations in config projector. More...

void	setTimeOutPathPlanning (double timeOut)
	set time out for the path planning ( in seconds) More...

double	getTimeOutPathPlanning ()
	set time out for the path planning ( in seconds) More...

void	errorThreshold (const value_type &threshold)
	Set error threshold in config projector. More...

value_type	errorThreshold () const
	Get errorimal number of threshold in config projector. More...

Solve problem and get paths
void	createPathOptimizers ()
	Create Path optimizer if needed. More...

virtual bool	prepareSolveStepByStep ()
	Prepare the solver for a step by step planning. More...

virtual bool	executeOneStep ()
	Execute one step of the planner. More...

virtual void	finishSolveStepByStep ()
	Finish the solving procedure The path optimizer is not called. More...

virtual void	solve ()
	Set and solve the problem. More...

bool	directPath (ConfigurationIn_t start, ConfigurationIn_t end, bool validate, std::size_t &pathId, std::string &report)
	Make direct connection between two configurations. More...

void	addConfigToRoadmap (const ConfigurationPtr_t &config)
	Add random configuration into roadmap as new node. More...

void	addEdgeToRoadmap (const ConfigurationPtr_t &config1, const ConfigurationPtr_t &config2, const PathPtr_t &path)
	Add an edge between two roadmap nodes. More...

void	interrupt ()
	Interrupt path planning and path optimization. More...

std::size_t	addPath (const PathVectorPtr_t &path)
	Add a path. More...

void	erasePath (std::size_t pathId)
	Erase a path. More...

const PathVectors_t &	paths () const
	Return vector of paths. More...

Obstacles
virtual void	addObstacle (const DevicePtr_t &device, bool collision, bool distance)
	Add collision objects of a device as obstacles to the list. More...

virtual void	addObstacle (const CollisionObjectPtr_t &inObject, bool collision, bool distance)
	Add obstacle to the list. More...

virtual void	removeObstacle (const std::string &name)
	Remove obstacle from the list. More...

virtual void	addObstacle (const std::string &name, FclCollisionObject &inObject, bool collision, bool distance)
	Add obstacle to the list. More...

void	removeObstacleFromJoint (const std::string &jointName, const std::string &obstacleName)
	Remove collision pair between a joint and an obstacle. More...

void	cutObstacle (const std::string &name, const fcl::AABB &aabb)
	Extract from the obstacle the part that can collide with aabb. More...

void	filterCollisionPairs ()
	Build matrix of relative motions between joints. More...

CollisionObjectPtr_t	obstacle (const std::string &name) const
	Get obstacle by name Throws if obstacle does not exists. More...

const Transform3f &	obstacleFramePosition (const std::string &name) const
	Get obstacle frame position by name Throws if obstacle frame does not exists. More...

std::list< std::string >	obstacleNames (bool collision, bool distance) const
	Get list of obstacle names. More...

const DistanceBetweenObjectsPtr_t &	distanceBetweenObjects () const
	Return list of pair of distance computations. More...

Static Public Member Functions
static ProblemSolverPtr_t	create ()
	Create instance and return pointer. More...

Public Attributes
Container< RobotBuilder_t >	robots
	Container of static method that creates a Robot with string as input. More...

Container< ConfigurationShooterBuilder_t >	configurationShooters
	Container of static method that creates a ConfigurationShooter with a robot as input. More...

Container< SteeringMethodBuilder_t >	steeringMethods
	Container of static method that creates a SteeringMethod with a problem as input. More...

Container< DistanceBuilder_t >	distances
	Container of static method that creates a Distance with problem as input. More...

Container< PathValidationBuilder_t >	pathValidations
	Container of static method that creates a PathValidation with a robot and a tolerance as input. More...

Container< ConfigValidationBuilder_t >	configValidations
	Container of static method that creates a ConfigValidation with a robot as input. More...

Container< PathProjectorBuilder_t >	pathProjectors
	Container of static method that creates a PathProjection with a problem and a tolerance as input. More...

Container< PathPlannerBuilder_t >	pathPlanners
	Container of static method that creates a PathPlanner with a problem and a roadmap as input. More...

Container< PathOptimizerBuilder_t >	pathOptimizers
	Container of static method that creates a PathOptimizer with a problem as input. More...

Container< constraints::ImplicitPtr_t >	numericalConstraints
	Container of constraints::Implicit. More...

Member_lockedJoints_in_class_ProblemSolver_has_been_removed_use_member_numericalConstraints_instead	lockedJoints
	member lockedJoints has been removed. More...

Container< CenterOfMassComputationPtr_t >	centerOfMassComputations
	Container of CenterOfMassComputation. More...

Container< segments_t >	passiveDofs
	Container of passive DoFs (as segments_t) More...

Container< JointAndShapes_t >	jointAndShapes
	Container of JointAndShapes_t. More...

Container< AffordanceObjects_t >	affordanceObjects
	Container of AffordanceObjects_t. More...

Container< AffordanceConfig_t >	affordanceConfigs
	Container of AffordanceConfig_t. More...

Protected Member Functions
	ProblemSolver ()
	Constructor. More...

void	problem (ProblemPtr_t problem)
	Set pointer to problem. More...

virtual void	initializeProblem (ProblemPtr_t problem)
	Initialize the new problem. More...

Protected Attributes
ConstraintSetPtr_t	constraints_
	Store constraints until call to solve. More...

DevicePtr_t	robot_
	Robot. More...

ProblemPtr_t	problem_
	Problem. More...

PathPlannerPtr_t	pathPlanner_

RoadmapPtr_t	roadmap_
	Store roadmap. More...

PathVectors_t	paths_
	Paths. More...

std::string	pathProjectorType_
	Path projector method. More...

value_type	pathProjectorTolerance_
	Tolerance of path projector. More...

std::string	pathPlannerType_
	Path planner. More...

ProblemTargetPtr_t	target_
	Shared pointer to the problem target. More...

Detailed Description

Set and solve a path planning problem.

This class is a container that does the interface between hpp-core library and component to be running in a middleware like CORBA or ROS.

Member Typedef Documentation

◆ ConfigValidationTypes_t

typedef std::vector<std::string> hpp::core::ProblemSolver::ConfigValidationTypes_t

◆ PathOptimizers_t

typedef std::vector<PathOptimizerPtr_t> hpp::core::ProblemSolver::PathOptimizers_t

◆ PathOptimizerTypes_t

typedef std::vector<std::string> hpp::core::ProblemSolver::PathOptimizerTypes_t

Constructor & Destructor Documentation

◆ ~ProblemSolver()

virtual hpp::core::ProblemSolver::~ProblemSolver ( )

virtual

Destructor.

◆ ProblemSolver()

hpp::core::ProblemSolver::ProblemSolver ( )

protected

Constructor.

Call create to create an instance.

Member Function Documentation

◆ addConfigToRoadmap()

void hpp::core::ProblemSolver::addConfigToRoadmap ( const ConfigurationPtr_t & config )

Add random configuration into roadmap as new node.

◆ addConfigValidation()

virtual void hpp::core::ProblemSolver::addConfigValidation ( const std::string & type )

virtual

Add a config validation method.

Parameters

type	name of new config validation method Config validation methods are used to validate individual configurations of the robot.

◆ addConfigValidationBuilder()

void hpp::core::ProblemSolver::addConfigValidationBuilder	(	const std::string &	type,
		const ConfigValidationBuilder_t &	builder
	)

Add a new available config validation method.

◆ addConstraint()

void hpp::core::ProblemSolver::addConstraint ( const ConstraintPtr_t & constraint )

Add a constraint.

◆ addEdgeToRoadmap()

void hpp::core::ProblemSolver::addEdgeToRoadmap	(	const ConfigurationPtr_t &	config1,
		const ConfigurationPtr_t &	config2,
		const PathPtr_t &	path
	)

Add an edge between two roadmap nodes.

Parameters

config1	configuration of start node,
config2	configuration of destination node,
path	path to store in the edge.

Check that nodes containing config1 and config2 exist in the roadmap.

◆ addGoalConfig()

virtual void hpp::core::ProblemSolver::addGoalConfig ( const ConfigurationPtr_t & config )

virtual

Add goal configuration.

◆ addLockedJointToConfigProjector()

virtual void hpp::core::ProblemSolver::addLockedJointToConfigProjector	(	const std::string &	configProjName,
		const std::string &	lockedJointName
	)

virtual

Add locked joint to the config projector.

Parameters

configProjName	Name given to config projector if created by this method.
lockedJointName	name of the locked joint as stored in internal map. Build the config projector if not yet constructed.

Deprecated:: LockedJoint instances are now handled as other numerical constraints. Call addNumericalConstraintToConfigProjector instead.

◆ addNumericalConstraint()

void hpp::core::ProblemSolver::addNumericalConstraint	(	const std::string &	name,
		const constraints::ImplicitPtr_t &	constraint
	)

inline

Add a a numerical constraint in local map.

Parameters

name	name of the numerical constraint as stored in local map,
constraint	numerical constraint

Numerical constraints are to be inserted in the ConfigProjector of the constraint set.

◆ addNumericalConstraintToConfigProjector()

virtual void hpp::core::ProblemSolver::addNumericalConstraintToConfigProjector	(	const std::string &	configProjName,
		const std::string &	constraintName,
		const std::size_t	priority = `0`
	)

virtual

Add numerical constraint to the config projector.

Parameters

configProjName	Name given to config projector if created by this method.
constraintName	name of the function as stored in internal map. Build the config projector if not yet constructed.

◆ addObstacle() [1/3]

virtual void hpp::core::ProblemSolver::addObstacle	(	const DevicePtr_t &	device,
		bool	collision,
		bool	distance
	)

virtual

Add collision objects of a device as obstacles to the list.

Parameters

device	the Device to be added.
collision	whether collision checking should be performed for this object.
distance	whether distance computation should be performed for this object.

◆ addObstacle() [2/3]

virtual void hpp::core::ProblemSolver::addObstacle	(	const CollisionObjectPtr_t &	inObject,
		bool	collision,
		bool	distance
	)

virtual

Add obstacle to the list.

Parameters

inObject	a new object.
collision	whether collision checking should be performed for this object.
distance	whether distance computation should be performed for this object.

◆ addObstacle() [3/3]

virtual void hpp::core::ProblemSolver::addObstacle	(	const std::string &	name,
		FclCollisionObject &	inObject,
		bool	collision,
		bool	distance
	)

virtual

Add obstacle to the list.

Parameters

inObject	a new object.
collision	whether collision checking should be performed for this object.
distance	whether distance computation should be performed for this object.

◆ addPath()

std::size_t hpp::core::ProblemSolver::addPath ( const PathVectorPtr_t & path )

inline

Add a path.

◆ addPathOptimizer()

void hpp::core::ProblemSolver::addPathOptimizer ( const std::string & type )

Add a path optimizer in the vector.

Parameters

name	of the type of path optimizer that should be added

◆ clearConfigValidations()

void hpp::core::ProblemSolver::clearConfigValidations ( )

◆ clearPathOptimizers()

void hpp::core::ProblemSolver::clearPathOptimizers ( )

Clear the vector of path optimizers.

◆ collisionObstacles()

const ObjectStdVector_t& hpp::core::ProblemSolver::collisionObstacles ( ) const

Local vector of objects considered for collision detection.

◆ comparisonType() [1/3]

void hpp::core::ProblemSolver::comparisonType	(	const std::string &	name,
		const ComparisonTypes_t	types
	)

Set the comparison types of a constraint.

Parameters

name	name of the differentiable function.

◆ comparisonType() [2/3]

void hpp::core::ProblemSolver::comparisonType	(	const std::string &	name,
		const ComparisonType &	type
	)

◆ comparisonType() [3/3]

ComparisonTypes_t hpp::core::ProblemSolver::comparisonType ( const std::string & name ) const

◆ computeValueAndJacobian()

void hpp::core::ProblemSolver::computeValueAndJacobian	(	const Configuration_t &	configuration,
		vector_t &	value,
		matrix_t &	jacobian
	)		const

Compute value and Jacobian of numerical constraints.

Parameters

configuration input configuration

Return values

value	values of the numerical constraints stacked in a unique vector,
jacobian	Jacobian of the numerical constraints stacked in a unique matrix.

Columns of the Jacobian corresponding to locked joints are omitted, columns corresponding to passive dofs are set to 0.

◆ configurationShooterType() [1/2]

void hpp::core::ProblemSolver::configurationShooterType ( const std::string & type )

Set configuration shooter type.

◆ configurationShooterType() [2/2]

const std::string& hpp::core::ProblemSolver::configurationShooterType ( ) const

inline

◆ configValidationTypes()

const ConfigValidationTypes_t hpp::core::ProblemSolver::configValidationTypes ( )

inline

Get config validation current types.

◆ constraints()

const ConstraintSetPtr_t& hpp::core::ProblemSolver::constraints ( ) const

inline

Get constraint set.

◆ create()

static ProblemSolverPtr_t hpp::core::ProblemSolver::create ( )

static

Create instance and return pointer.

◆ createPathOptimizers()

void hpp::core::ProblemSolver::createPathOptimizers ( )

Create Path optimizer if needed.

If a path optimizer is already set, do nothing. Type of optimizer is determined by method selectPathOptimizer.

◆ createRobot()

DevicePtr_t hpp::core::ProblemSolver::createRobot ( const std::string & name )

Create a robot of a type defined by method setRobotType.

Parameters

name	name of the robot

Robot is stored in problemSolver.

◆ cutObstacle()

void hpp::core::ProblemSolver::cutObstacle	(	const std::string &	name,
		const fcl::AABB &	aabb
	)

Extract from the obstacle the part that can collide with aabb.

Warning: the obstacle is removed if there are not possible collision.

◆ directPath()

bool hpp::core::ProblemSolver::directPath	(	ConfigurationIn_t	start,
		ConfigurationIn_t	end,
		bool	validate,
		std::size_t &	pathId,
		std::string &	report
	)

Make direct connection between two configurations.

Parameters

start,end	the configurations to link.
validate	whether path should be validated. If true, path validation is called and only valid part of path is inserted in the path vector.

Return values

pathId	Id of the path that is inserted in the path vector,
report	Reason for non validation if relevant. return false if direct path is not fully valid

Note: If path is only partly valid, valid part starting at start configuration is inserted in path vector.

◆ distanceBetweenObjects()

const DistanceBetweenObjectsPtr_t& hpp::core::ProblemSolver::distanceBetweenObjects ( ) const

inline

Return list of pair of distance computations.

◆ distanceObstacles()

const ObjectStdVector_t& hpp::core::ProblemSolver::distanceObstacles ( ) const

Local vector of objects considered for distance computation.

◆ distanceType() [1/2]

void hpp::core::ProblemSolver::distanceType ( const std::string & type )

Set distance type.

◆ distanceType() [2/2]

const std::string& hpp::core::ProblemSolver::distanceType ( ) const

inline

◆ erasePath()

void hpp::core::ProblemSolver::erasePath ( std::size_t pathId )

inline

Erase a path.

◆ errorThreshold() [1/2]

void hpp::core::ProblemSolver::errorThreshold ( const value_type & threshold )

Set error threshold in config projector.

◆ errorThreshold() [2/2]

value_type hpp::core::ProblemSolver::errorThreshold ( ) const

inline

Get errorimal number of threshold in config projector.

◆ executeOneStep()

virtual bool hpp::core::ProblemSolver::executeOneStep ( )

virtual

Execute one step of the planner.

Returns: the return value of PathPlanner::pathExists of the selected planner.

Note: This won't check if a solution has been found before doing one step. The decision to stop planning is let to the user.

◆ filterCollisionPairs()

void hpp::core::ProblemSolver::filterCollisionPairs ( )

Build matrix of relative motions between joints.

Call Problem::filterCollisionPairs.

◆ finishSolveStepByStep()

virtual void hpp::core::ProblemSolver::finishSolveStepByStep ( )

virtual

Finish the solving procedure The path optimizer is not called.

◆ getTimeOutPathPlanning()

double hpp::core::ProblemSolver::getTimeOutPathPlanning ( )

inline

set time out for the path planning ( in seconds)

◆ goalConfigs()

const Configurations_t& hpp::core::ProblemSolver::goalConfigs ( ) const

Get number of goal configuration.

◆ initConfig() [1/2]

const ConfigurationPtr_t& hpp::core::ProblemSolver::initConfig ( ) const

inline

Get shared pointer to initial configuration.

◆ initConfig() [2/2]

virtual void hpp::core::ProblemSolver::initConfig ( const ConfigurationPtr_t & config )

virtual

Set initial configuration.

◆ initConfigValidation()

void hpp::core::ProblemSolver::initConfigValidation ( )

Set config validation by calling config validation factories.

◆ initDistance()

void hpp::core::ProblemSolver::initDistance ( )

Initialize distance.

Set distance by calling the distance factory

◆ initializeProblem()

virtual void hpp::core::ProblemSolver::initializeProblem ( ProblemPtr_t problem )

protectedvirtual

Initialize the new problem.

Parameters

problem is inserted in the ProblemSolver and initialized.

Note: The previous Problem, if any, is not deleted. The function should be called when creating Problem object, in resetProblem() and all reimplementation in inherited class.

◆ initPathProjector()

void hpp::core::ProblemSolver::initPathProjector ( )

Initialize path projector.

Set path projector by calling path projector factory

◆ initPathValidation()

void hpp::core::ProblemSolver::initPathValidation ( )

Set path validation by calling path validation factory.

◆ initProblemTarget()

virtual void hpp::core::ProblemSolver::initProblemTarget ( )

virtual

Initialize the problem target by calling the path validation factory.

◆ initSteeringMethod()

void hpp::core::ProblemSolver::initSteeringMethod ( )

Initialize steering method.

Set steering method by calling the steering method factory

◆ initValidations()

void hpp::core::ProblemSolver::initValidations ( )

Initialize the config and path validations and add the obstacles.

◆ interrupt()

void hpp::core::ProblemSolver::interrupt ( )

Interrupt path planning and path optimization.

◆ maxIterPathPlanning() [1/2]

void hpp::core::ProblemSolver::maxIterPathPlanning ( size_type iterations )

Set maximal number of iterations in config projector.

◆ maxIterPathPlanning() [2/2]

size_type hpp::core::ProblemSolver::maxIterPathPlanning ( ) const

inline

Get maximal number of iterations in config projector.

◆ maxIterProjection() [1/2]

void hpp::core::ProblemSolver::maxIterProjection ( size_type iterations )

Set maximal number of iterations in config projector.

◆ maxIterProjection() [2/2]

size_type hpp::core::ProblemSolver::maxIterProjection ( ) const

inline

Get maximal number of iterations in config projector.

◆ numericalConstraint()

constraints::ImplicitPtr_t hpp::core::ProblemSolver::numericalConstraint ( const std::string & name )

inline

Get constraint with given name.

◆ obstacle()

CollisionObjectPtr_t hpp::core::ProblemSolver::obstacle ( const std::string & name ) const

Get obstacle by name Throws if obstacle does not exists.

◆ obstacleFramePosition()

const Transform3f& hpp::core::ProblemSolver::obstacleFramePosition ( const std::string & name ) const

Get obstacle frame position by name Throws if obstacle frame does not exists.

◆ obstacleNames()

std::list<std::string> hpp::core::ProblemSolver::obstacleNames	(	bool	collision,
		bool	distance
	)		const

Get list of obstacle names.

Parameters

collision	whether to return collision obstacle names
distance	whether to return distance obstacle names

Returns: list of obstacle names

◆ optimizePath()

void hpp::core::ProblemSolver::optimizePath ( PathVectorPtr_t path )

Optimize path.

Parameters

path	path to optimize Build vector of path optimizers if needed

Note: each intermediate optimization output is stored in this object.

◆ pathOptimizer()

const PathOptimizerPtr_t& hpp::core::ProblemSolver::pathOptimizer ( std::size_t rank ) const

inline

Get path optimizer at given rank.

◆ pathOptimizerTypes()

const PathOptimizerTypes_t& hpp::core::ProblemSolver::pathOptimizerTypes ( ) const

inline

◆ pathPlanner()

const PathPlannerPtr_t& hpp::core::ProblemSolver::pathPlanner ( ) const

inline

Get path planner.

◆ pathPlannerType() [1/2]

virtual void hpp::core::ProblemSolver::pathPlannerType ( const std::string & type )

virtual

Set path planner type.

◆ pathPlannerType() [2/2]

const std::string& hpp::core::ProblemSolver::pathPlannerType ( ) const

inline

◆ pathProjectorType() [1/2]

void hpp::core::ProblemSolver::pathProjectorType	(	const std::string &	type,
		const value_type &	step
	)

Set path projector method.

Parameters

type	name of new path validation method
step	discontinuity tolerance

◆ pathProjectorType() [2/2]

const std::string& hpp::core::ProblemSolver::pathProjectorType ( value_type & tolerance ) const

inline

Get path projector current type and get tolerance.

◆ paths()

const PathVectors_t& hpp::core::ProblemSolver::paths ( ) const

inline

Return vector of paths.

◆ pathValidationType() [1/2]

virtual void hpp::core::ProblemSolver::pathValidationType	(	const std::string &	type,
		const value_type &	tolerance
	)

virtual

Set path validation method.

Parameters

type	name of new path validation method
tolerance	acceptable penetration for path validation Path validation methods are used to validate edges in path planning path optimization methods.

◆ pathValidationType() [2/2]

const std::string& hpp::core::ProblemSolver::pathValidationType ( value_type & tolerance ) const

inline

◆ prepareSolveStepByStep()

virtual bool hpp::core::ProblemSolver::prepareSolveStepByStep ( )

virtual

Prepare the solver for a step by step planning.

and try to make direct connections (call PathPlanner::tryDirectPath)

Returns: the return value of PathPlanner::pathExists

◆ problem() [1/2]

ProblemPtr_t hpp::core::ProblemSolver::problem ( )

inline

Get pointer to problem.

◆ problem() [2/2]

void hpp::core::ProblemSolver::problem ( ProblemPtr_t problem )

protected

Set pointer to problem.

◆ removeObstacle()

virtual void hpp::core::ProblemSolver::removeObstacle ( const std::string & name )

virtual

Remove obstacle from the list.

Parameters

name	name of the obstacle

◆ removeObstacleFromJoint()

void hpp::core::ProblemSolver::removeObstacleFromJoint	(	const std::string &	jointName,
		const std::string &	obstacleName
	)

Remove collision pair between a joint and an obstacle.

Parameters

jointName	name of the joint,
obstacleName	name of the obstacle

◆ resetConstraints()

virtual void hpp::core::ProblemSolver::resetConstraints ( )

virtual

Reset constraint set.

◆ resetGoalConfigs()

void hpp::core::ProblemSolver::resetGoalConfigs ( )

Reset the set of goal configurations.

◆ resetProblem()

virtual void hpp::core::ProblemSolver::resetProblem ( )

virtual

Create new problem.

◆ resetRoadmap()

virtual void hpp::core::ProblemSolver::resetRoadmap ( )

virtual

Reset the roadmap.

Note: When joints bounds are changed, the roadmap must be reset because the kd tree must be resized.

◆ roadmap() [1/2]

const RoadmapPtr_t& hpp::core::ProblemSolver::roadmap ( ) const

inline

◆ roadmap() [2/2]

void hpp::core::ProblemSolver::roadmap ( const RoadmapPtr_t & roadmap )

inline

Set the roadmap.

◆ robot() [1/2]

virtual void hpp::core::ProblemSolver::robot ( const DevicePtr_t & robot )

virtual

Set robot.

◆ robot() [2/2]

const DevicePtr_t& hpp::core::ProblemSolver::robot ( ) const

Get robot.

◆ robotType() [1/2]

void hpp::core::ProblemSolver::robotType ( const std::string & type )

Set robot type.

Parameters

type	type of the robots that will be created later

◆ robotType() [2/2]

const std::string& hpp::core::ProblemSolver::robotType ( ) const

Get robot type.

◆ setTimeOutPathPlanning()

void hpp::core::ProblemSolver::setTimeOutPathPlanning ( double timeOut )

inline

set time out for the path planning ( in seconds)

◆ solve()

virtual void hpp::core::ProblemSolver::solve ( )

virtual

Set and solve the problem.

◆ steeringMethodType() [1/2]

void hpp::core::ProblemSolver::steeringMethodType ( const std::string & type )

Set steering method type.

◆ steeringMethodType() [2/2]

const std::string& hpp::core::ProblemSolver::steeringMethodType ( ) const

inline

Member Data Documentation

◆ affordanceConfigs

Container<AffordanceConfig_t> hpp::core::ProblemSolver::affordanceConfigs

Container of AffordanceConfig_t.

◆ affordanceObjects

Container<AffordanceObjects_t> hpp::core::ProblemSolver::affordanceObjects

Container of AffordanceObjects_t.

◆ centerOfMassComputations

Container<CenterOfMassComputationPtr_t> hpp::core::ProblemSolver::centerOfMassComputations

Container of CenterOfMassComputation.

◆ configurationShooters

Container<ConfigurationShooterBuilder_t> hpp::core::ProblemSolver::configurationShooters

Container of static method that creates a ConfigurationShooter with a robot as input.

◆ configValidations

Container<ConfigValidationBuilder_t> hpp::core::ProblemSolver::configValidations

Container of static method that creates a ConfigValidation with a robot as input.

◆ constraints_

ConstraintSetPtr_t hpp::core::ProblemSolver::constraints_

protected

Store constraints until call to solve.

◆ distances

Container<DistanceBuilder_t> hpp::core::ProblemSolver::distances

Container of static method that creates a Distance with problem as input.

◆ jointAndShapes

Container<JointAndShapes_t> hpp::core::ProblemSolver::jointAndShapes

Container of JointAndShapes_t.

◆ lockedJoints

Member_lockedJoints_in_class_ProblemSolver_has_been_removed_use_member_numericalConstraints_instead hpp::core::ProblemSolver::lockedJoints

member lockedJoints has been removed.

LockedJointPtr_t instances are now stored with constraints::ImplicitPtr_t in member numericalConstraints.

◆ numericalConstraints

Container<constraints::ImplicitPtr_t> hpp::core::ProblemSolver::numericalConstraints

Container of constraints::Implicit.

◆ passiveDofs

Container<segments_t> hpp::core::ProblemSolver::passiveDofs

Container of passive DoFs (as segments_t)

◆ pathOptimizers

Container<PathOptimizerBuilder_t> hpp::core::ProblemSolver::pathOptimizers

Container of static method that creates a PathOptimizer with a problem as input.

◆ pathPlanner_

PathPlannerPtr_t hpp::core::ProblemSolver::pathPlanner_

protected

◆ pathPlanners

Container<PathPlannerBuilder_t> hpp::core::ProblemSolver::pathPlanners

Container of static method that creates a PathPlanner with a problem and a roadmap as input.

◆ pathPlannerType_

std::string hpp::core::ProblemSolver::pathPlannerType_

protected

Path planner.

◆ pathProjectors

Container<PathProjectorBuilder_t> hpp::core::ProblemSolver::pathProjectors

Container of static method that creates a PathProjection with a problem and a tolerance as input.

◆ pathProjectorTolerance_

value_type hpp::core::ProblemSolver::pathProjectorTolerance_

protected

Tolerance of path projector.

◆ pathProjectorType_

std::string hpp::core::ProblemSolver::pathProjectorType_

protected

Path projector method.

◆ paths_

PathVectors_t hpp::core::ProblemSolver::paths_

protected

Paths.

◆ pathValidations

Container<PathValidationBuilder_t> hpp::core::ProblemSolver::pathValidations

Container of static method that creates a PathValidation with a robot and a tolerance as input.

◆ problem_

ProblemPtr_t hpp::core::ProblemSolver::problem_

protected

Problem.

◆ roadmap_

RoadmapPtr_t hpp::core::ProblemSolver::roadmap_

protected

Store roadmap.

◆ robot_

DevicePtr_t hpp::core::ProblemSolver::robot_

protected

Robot.

◆ robots

Container<RobotBuilder_t> hpp::core::ProblemSolver::robots

Container of static method that creates a Robot with string as input.

◆ steeringMethods

Container<SteeringMethodBuilder_t> hpp::core::ProblemSolver::steeringMethods

Container of static method that creates a SteeringMethod with a problem as input.

◆ target_

ProblemTargetPtr_t hpp::core::ProblemSolver::target_

protected

Shared pointer to the problem target.

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConfigValidationTypes_t

◆ PathOptimizers_t

◆ PathOptimizerTypes_t

Constructor & Destructor Documentation

◆ ~ProblemSolver()

◆ ProblemSolver()

Member Function Documentation

◆ addConfigToRoadmap()

◆ addConfigValidation()

◆ addConfigValidationBuilder()

◆ addConstraint()

◆ addEdgeToRoadmap()

◆ addGoalConfig()

◆ addLockedJointToConfigProjector()

◆ addNumericalConstraint()

◆ addNumericalConstraintToConfigProjector()

◆ addObstacle() [1/3]

◆ addObstacle() [2/3]

◆ addObstacle() [3/3]

◆ addPath()

◆ addPathOptimizer()

◆ clearConfigValidations()

◆ clearPathOptimizers()

◆ collisionObstacles()

◆ comparisonType() [1/3]

◆ comparisonType() [2/3]

◆ comparisonType() [3/3]

◆ computeValueAndJacobian()

◆ configurationShooterType() [1/2]

◆ configurationShooterType() [2/2]

◆ configValidationTypes()

◆ constraints()

◆ create()

◆ createPathOptimizers()

◆ createRobot()

◆ cutObstacle()

◆ directPath()

◆ distanceBetweenObjects()

◆ distanceObstacles()

◆ distanceType() [1/2]

◆ distanceType() [2/2]

◆ erasePath()

◆ errorThreshold() [1/2]

◆ errorThreshold() [2/2]

◆ executeOneStep()

◆ filterCollisionPairs()

◆ finishSolveStepByStep()

◆ getTimeOutPathPlanning()

◆ goalConfigs()

◆ initConfig() [1/2]

◆ initConfig() [2/2]

◆ initConfigValidation()

◆ initDistance()

◆ initializeProblem()

◆ initPathProjector()

◆ initPathValidation()

◆ initProblemTarget()

◆ initSteeringMethod()

◆ initValidations()

◆ interrupt()

◆ maxIterPathPlanning() [1/2]

◆ maxIterPathPlanning() [2/2]

◆ maxIterProjection() [1/2]

◆ maxIterProjection() [2/2]

◆ numericalConstraint()

◆ obstacle()

◆ obstacleFramePosition()

◆ obstacleNames()

◆ optimizePath()

◆ pathOptimizer()

◆ pathOptimizerTypes()

◆ pathPlanner()