spline-gradient-based-abstract.hh

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// Copyright (c) 2017 CNRS
// Authors: Joseph Mirabel
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
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#ifndef HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_ABSTRACT_HH
#define HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_ABSTRACT_HH
 
#include <hpp/constraints/explicit-constraint-set.hh>
#include <hpp/constraints/solver/by-substitution.hh>
#include <hpp/core/path-optimization/linear-constraint.hh>
#include <hpp/core/path-optimizer.hh>
#include <hpp/core/path-vector.hh>
#include <hpp/core/path/spline.hh>
#include <hpp/core/steering-method/spline.hh>
 
namespace hpp {
namespace core {
namespace pathOptimization {
template <int _PolynomeBasis, int _SplineOrder>
class HPP_CORE_DLLAPI SplineGradientBasedAbstract : public PathOptimizer {
 public:
  enum { PolynomeBasis = _PolynomeBasis, SplineOrder = _SplineOrder };
  typedef path::Spline<PolynomeBasis, SplineOrder> Spline;
  typedef typename Spline::Ptr_t SplinePtr_t;
  typedef std::vector<SplinePtr_t> Splines_t;
 
 
  static void copy(const Splines_t& in, Splines_t& out);
 
  void updateSplines(Splines_t& spline, const vector_t& param) const;
 
  void updateParameters(vector_t& param, const Splines_t& spline) const;
 
  static void interpolate(const Splines_t& a, const Splines_t& b,
                          const value_type& alpha, Splines_t& res);
 
 
 protected:
  SplineGradientBasedAbstract(const ProblemConstPtr_t& problem);
 
 
  static PathVectorPtr_t cleanInput(const PathVectorPtr_t& input);
 
  typedef steeringMethod::Spline<PolynomeBasis, SplineOrder> SSM_t;
  typename SSM_t::Ptr_t steeringMethod_;
 
  void appendEquivalentSpline(const StraightPathPtr_t& path,
                              Splines_t& splines) const;
 
  void appendEquivalentSpline(const InterpolatedPathPtr_t& path,
                              Splines_t& splines) const;
 
  void appendEquivalentSpline(const PathVectorPtr_t& path,
                              Splines_t& splines) const;
 
 
 
  std::vector<PathValidationPtr_t> validations_;
 
  virtual void initializePathValidation(const Splines_t& splines);
 
  typedef std::vector<std::pair<PathValidationReportPtr_t, std::size_t> >
      Reports_t;
  Reports_t validatePath(const Splines_t& splines,
                         std::vector<std::size_t>& reordering, bool stopAtFirst,
                         bool reorder) const;
 
 
 
  typedef Eigen::RowBlockIndices RowBlockIndices;
  typedef std::vector<bool> Bools_t;
  typedef std::vector<size_type> Indices_t;
  struct SplineOptimizationData {
    SplineOptimizationData() {}
    SplineOptimizationData(size_type rDof) { activeParameters.addRow(0, rDof); }
 
    ConstraintSetPtr_t set;
    shared_ptr<constraints::ExplicitConstraintSet> es;
 
    RowBlockIndices activeParameters;
  };
  typedef std::vector<SplineOptimizationData> SplineOptimizationDatas_t;
 
  void jointBoundConstraint(const Splines_t& splines,
                            LinearConstraint& lc) const;
 
  std::size_t addBoundConstraints(const Indices_t& bci,
                                  const LinearConstraint& bc,
                                  Bools_t& activeConstraint,
                                  LinearConstraint& constraint) const;
 
  Indices_t validateBounds(const Splines_t& splines,
                           const LinearConstraint& lc) const;
 
  void addContinuityConstraints(const Splines_t& splines,
                                const size_type maxOrder,
                                const SplineOptimizationDatas_t& ess,
                                LinearConstraint& continuity);
 
 
  PathVectorPtr_t buildPathVector(const Splines_t& splines) const;
 
  DevicePtr_t robot_;
 
 private:
  SplinePtr_t steer(ConfigurationIn_t q0, ConfigurationIn_t q1,
                    value_type length) const;
 
  // void addCollisionConstraint (const std::size_t idxSpline,
  // const SplinePtr_t& spline, const SplinePtr_t& nextSpline,
  // const SolverPtr_t& solver,
  // const CollisionPathValidationReportPtr_t& report,
  // LinearConstraint& collision, CollisionFunctions& functions) const;
};  // SplineGradientBasedAbstract
}  // namespace pathOptimization
}  // namespace core
}  // namespace hpp
 
#endif  // HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_ABSTRACT_HH