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// Copyright (c) 2014 CNRS |
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// Author: Florent Lamiraux |
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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 "problem.impl.hh" |
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#include <hpp/constraints/convex-shape-contact.hh> |
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#include <hpp/constraints/implicit.hh> |
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#include <hpp/corbaserver/conversions.hh> |
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#include <hpp/corbaserver/manipulation/server.hh> |
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#include <hpp/corbaserver/servant-base.hh> |
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#include <hpp/core/config-projector.hh> |
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#include <hpp/core/distance.hh> |
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#include <hpp/core/parser/roadmap.hh> |
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#include <hpp/core/path-projector.hh> |
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#include <hpp/core/path-vector.hh> |
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#include <hpp/core/weighed-distance.hh> |
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#include <hpp/manipulation/path-planner/transition-planner.hh> |
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#include <hpp/manipulation/roadmap.hh> |
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#include <hpp/pinocchio/gripper.hh> |
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#include <hpp/pinocchio/serialization.hh> |
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#include <hpp/util/debug.hh> |
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#ifdef HPP_CONSTRAINTS_USE_QPOASES |
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#include <hpp/constraints/qp-static-stability.hh> |
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#endif |
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#include <hpp/manipulation/constraint-set.hh> |
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#include <hpp/manipulation/device.hh> |
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#include <hpp/manipulation/graph/edge.hh> |
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#include <hpp/manipulation/graph/state.hh> |
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#include <hpp/manipulation/graph/validation.hh> |
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#include <hpp/manipulation/manipulation-planner.hh> |
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#include <hpp/manipulation/problem.hh> |
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#include <hpp/manipulation/roadmap.hh> |
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#include <hpp/manipulation/serialization.hh> |
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#include <hpp/manipulation/steering-method/graph.hh> |
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#include "hpp/core_idl/distances-fwd.hh" // For hpp::core_impl::Roadmap |
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#include "hpp/core_idl/path_planners-fwd.hh" // For hpp::core_impl::Roadmap |
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#include "hpp/manipulation_idl/_graph.hh" |
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#include "hpp/manipulation_idl/_path_planners.hh" |
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#include "hpp/manipulation_idl/device-fwd.hh" |
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#include "hpp/pinocchio_idl/robots-fwd.hh" |
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#include "tools.hh" |
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namespace hpp { |
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namespace manipulation { |
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namespace impl { |
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using corbaServer::floatSeqToConfig; |
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using corbaServer::makeServantDownCast; |
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using corbaServer::reference_to_object; |
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namespace { |
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typedef core::ProblemSolver CPs_t; |
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Names_t* jointAndShapes(const JointAndShapes_t& js, intSeq_out indexes_out, |
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floatSeqSeq_out points) { |
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char** nameList = Names_t::allocbuf((ULong)js.size()); |
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Names_t* jointNames = |
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new Names_t((ULong)js.size(), (ULong)js.size(), nameList); |
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intSeq* indexes = new intSeq(); |
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indexes->length((ULong)js.size()); |
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indexes_out = indexes; |
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CORBA::Long rank = 0; |
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std::size_t nbPts = 0; |
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for (JointAndShapes_t::const_iterator itJs = js.begin(); itJs != js.end(); |
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++itJs) { |
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if (itJs->first) { |
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nameList[rank] = new char[itJs->first->name().length() + 1]; |
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strcpy(nameList[rank], itJs->first->name().c_str()); |
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} else { |
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nameList[rank] = new char[9]; |
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strcpy(nameList[rank], "universe"); |
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} |
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nbPts += itJs->second.size(); |
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(*indexes)[rank] = (int)nbPts; |
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++rank; |
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} |
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floatSeqSeq* pts = new hpp::floatSeqSeq(); |
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points = pts; |
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pts->length((CORBA::ULong)nbPts); |
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rank = 0; |
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ULong iJs = 0; |
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for (JointAndShapes_t::const_iterator itJs = js.begin(); itJs != js.end(); |
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++itJs) { |
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for (std::size_t i = 0; i < itJs->second.size(); ++i) { |
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floatSeq p; |
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p.length(3); |
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p[0] = itJs->second[i][0]; |
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p[1] = itJs->second[i][1]; |
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p[2] = itJs->second[i][2]; |
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(*pts)[rank] = p; |
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++rank; |
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} |
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assert((*indexes)[iJs] == rank); |
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++iJs; |
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} |
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return jointNames; |
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} |
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} // namespace |
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Problem::Problem() : server_(0x0) {} |
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ProblemSolverPtr_t Problem::problemSolver() { return server_->problemSolver(); } |
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graph::GraphPtr_t Problem::graph(bool throwIfNull) { |
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graph::GraphPtr_t g = problemSolver()->constraintGraph(); |
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if (throwIfNull && !g) throw Error("You should create the graph"); |
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return g; |
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} |
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bool Problem::selectProblem(const char* name) { |
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std::string psName(name); |
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corbaServer::ProblemSolverMapPtr_t psMap(server_->problemSolverMap()); |
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bool has = psMap->has(psName); |
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if (!has) psMap->add(psName, ProblemSolver::create()); |
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psMap->selected(psName); |
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return !has; |
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} |
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void Problem::resetProblem() { |
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corbaServer::ProblemSolverMapPtr_t psMap(server_->problemSolverMap()); |
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psMap->replaceSelected(ProblemSolver::create()); |
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} |
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Names_t* Problem::getAvailable(const char* what) { |
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std::string w(what); |
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std::transform(w.begin(), w.end(), w.begin(), |
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[](unsigned char c) { return std::tolower(c); }); |
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typedef std::list<std::string> Ret_t; |
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Ret_t ret; |
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if (w == "gripper") { |
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ret = getRobotOrThrow(problemSolver())->grippers.getKeys<Ret_t>(); |
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} else if (w == "handle") { |
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ret = getRobotOrThrow(problemSolver())->handles.getKeys<Ret_t>(); |
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} else if (w == "robotcontact") { |
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ret = getRobotOrThrow(problemSolver())->jointAndShapes.getKeys<Ret_t>(); |
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} else if (w == "envcontact") { |
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ret = problemSolver()->jointAndShapes.getKeys<Ret_t>(); |
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} else if (w == "constraintgraph") { |
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ret = problemSolver()->graphs.getKeys<Ret_t>(); |
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} else if (w == "type") { |
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ret = {"Gripper", "Handle", "RobotContact", "EnvContact", |
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"ConstraintGraph"}; |
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} else { |
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throw Error(("Type \"" + std::string(what) + "\" not known").c_str()); |
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} |
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return toNames_t(ret.begin(), ret.end()); |
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} |
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Names_t* Problem::getSelected(const char* what) { |
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std::string w(what); |
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std::transform(w.begin(), w.end(), w.begin(), |
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[](unsigned char c) { return std::tolower(c); }); |
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typedef std::list<std::string> Ret_t; |
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Ret_t ret; |
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if (w == "constraintgraph") { |
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if (problemSolver()->constraintGraph()) |
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ret.push_back(problemSolver()->constraintGraph()->name()); |
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else |
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throw Error("No constraint graph selected."); |
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} else if (w == "type") { |
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ret = {"ConstraintGraph"}; |
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} else { |
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throw Error(("Type \"" + std::string(what) + "\" not known").c_str()); |
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} |
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return toNames_t(ret.begin(), ret.end()); |
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} |
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void Problem::loadRoadmap(const char* filename) { |
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try { |
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ProblemSolverPtr_t ps(problemSolver()); |
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DevicePtr_t robot = getRobotOrThrow(ps); |
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graph::GraphPtr_t g = ps->constraintGraph(); |
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using namespace core::parser; |
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typedef hpp::serialization::archive_tpl< |
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boost::archive::binary_iarchive, |
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hpp::serialization::remove_duplicate::vector_archive> |
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archive_type; |
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hpp::core::RoadmapPtr_t roadmap; |
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serializeRoadmap<archive_type>(roadmap, std::string(filename), |
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make_nvp(robot->name(), robot.get()), |
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make_nvp(g->name(), g.get())); |
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problemSolver()->roadmap(roadmap); |
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} catch (const std::exception& exc) { |
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throw hpp::Error(exc.what()); |
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} |
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} |
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void Problem::createGrasp(const char* graspName, const char* gripperName, |
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const char* handleName) { |
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try { |
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problemSolver()->createGraspConstraint(graspName, gripperName, handleName); |
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} catch (const std::exception& exc) { |
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throw Error(exc.what()); |
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} |
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} |
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void Problem::createPreGrasp(const char* graspName, const char* gripperName, |
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const char* handleName) { |
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try { |
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problemSolver()->createPreGraspConstraint(graspName, gripperName, |
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handleName); |
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} catch (const std::exception& exc) { |
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throw Error(exc.what()); |
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} |
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} |
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Names_t* Problem::getEnvironmentContactNames() { |
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try { |
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typedef std::map<std::string, JointAndShapes_t> ShapeMap; |
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const ShapeMap& m = problemSolver()->jointAndShapes.map; |
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char** nameList = Names_t::allocbuf((ULong)m.size()); |
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Names_t* jointNames = |
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new Names_t((ULong)m.size(), (ULong)m.size(), nameList); |
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std::size_t rank = 0; |
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for (ShapeMap::const_iterator it = m.begin(); it != m.end(); it++) { |
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nameList[rank] = (char*)malloc(sizeof(char) * (it->first.length() + 1)); |
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strcpy(nameList[rank], it->first.c_str()); |
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rank++; |
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} |
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return jointNames; |
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} catch (const std::exception& exc) { |
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throw hpp::Error(exc.what()); |
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} |
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} |
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Names_t* Problem::getRobotContactNames() { |
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try { |
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typedef std::map<std::string, JointAndShapes_t> ShapeMap; |
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DevicePtr_t r = getRobotOrThrow(problemSolver()); |
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const ShapeMap& m = r->jointAndShapes.map; |
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char** nameList = Names_t::allocbuf((ULong)m.size()); |
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Names_t* jointNames = |
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new Names_t((ULong)m.size(), (ULong)m.size(), nameList); |
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std::size_t rank = 0; |
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for (ShapeMap::const_iterator it = m.begin(); it != m.end(); it++) { |
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nameList[rank] = (char*)malloc(sizeof(char) * (it->first.length() + 1)); |
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strcpy(nameList[rank], it->first.c_str()); |
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rank++; |
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} |
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return jointNames; |
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} catch (const std::exception& exc) { |
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throw hpp::Error(exc.what()); |
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} |
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} |
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Names_t* Problem::getEnvironmentContact(const char* name, intSeq_out indexes, |
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floatSeqSeq_out points) { |
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try { |
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const JointAndShapes_t& js = problemSolver()->jointAndShapes.get(name); |
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return jointAndShapes(js, indexes, points); |
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} catch (const std::exception& exc) { |
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throw hpp::Error(exc.what()); |
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} |
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} |
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✗ |
Names_t* Problem::getRobotContact(const char* name, intSeq_out indexes, |
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hpp::floatSeqSeq_out points) { |
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try { |
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DevicePtr_t r = getRobotOrThrow(problemSolver()); |
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const JointAndShapes_t& js = r->jointAndShapes.get(name); |
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return jointAndShapes(js, indexes, points); |
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} catch (const std::exception& exc) { |
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throw hpp::Error(exc.what()); |
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} |
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} |
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✗ |
void Problem::createPlacementConstraint(const char* placName, |
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const Names_t& surface1, |
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const Names_t& surface2) { |
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try { |
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problemSolver()->createPlacementConstraint( |
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placName, corbaServer::toStrings<std::vector<std::string> >(surface1), |
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corbaServer::toStrings<std::vector<std::string> >(surface2), 1e-3); |
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✗ |
} catch (const std::exception& exc) { |
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✗ |
throw hpp::Error(exc.what()); |
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} |
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} |
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✗ |
void Problem::createPrePlacementConstraint(const char* placName, |
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const Names_t& surface1, |
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const Names_t& surface2, |
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CORBA::Double width) { |
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try { |
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✗ |
problemSolver()->createPrePlacementConstraint( |
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|
✗ |
placName, corbaServer::toStrings<std::vector<std::string> >(surface1), |
| 327 |
|
✗ |
corbaServer::toStrings<std::vector<std::string> >(surface2), width, |
| 328 |
|
✗ |
1e-3); |
| 329 |
|
✗ |
} catch (const std::exception& exc) { |
| 330 |
|
✗ |
throw hpp::Error(exc.what()); |
| 331 |
|
|
} |
| 332 |
|
|
} |
| 333 |
|
|
|
| 334 |
|
✗ |
void Problem::createQPStabilityConstraint(const char* constraintName, |
| 335 |
|
|
const char* comRootJointName, |
| 336 |
|
|
const Names_t& shapesName) { |
| 337 |
|
|
try { |
| 338 |
|
|
#ifdef HPP_CONSTRAINTS_USE_QPOASES |
| 339 |
|
|
// Get robot in hppPlanner object. |
| 340 |
|
✗ |
DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
| 341 |
|
|
|
| 342 |
|
|
using constraints::ConvexShape; |
| 343 |
|
|
using constraints::QPStaticStability; |
| 344 |
|
|
using constraints::QPStaticStabilityPtr_t; |
| 345 |
|
|
typedef constraints::QPStaticStability::ForceData ForceData; |
| 346 |
|
|
using pinocchio::CenterOfMassComputation; |
| 347 |
|
|
using pinocchio::CenterOfMassComputationPtr_t; |
| 348 |
|
|
|
| 349 |
|
✗ |
std::vector<ForceData> fds; |
| 350 |
|
✗ |
std::size_t nbPoints = 0; |
| 351 |
|
|
|
| 352 |
|
✗ |
for (CORBA::ULong i = 0; i < shapesName.length(); ++i) { |
| 353 |
|
|
JointAndShapes_t l = |
| 354 |
|
✗ |
robot->jointAndShapes.get(std::string(shapesName[i])); |
| 355 |
|
✗ |
if (l.empty()) throw Error("Robot shapes not found."); |
| 356 |
|
✗ |
for (JointAndShapes_t::const_iterator it = l.begin(); it != l.end(); |
| 357 |
|
✗ |
it++) { |
| 358 |
|
✗ |
ConvexShape c(ConvexShape(it->second, it->first)); |
| 359 |
|
✗ |
ForceData fd; |
| 360 |
|
✗ |
fd.joint = c.joint_; |
| 361 |
|
✗ |
fd.supportJoint = JointPtr_t(); |
| 362 |
|
✗ |
fd.normal = -c.N_; |
| 363 |
|
✗ |
fd.points = c.Pts_; |
| 364 |
|
✗ |
nbPoints += c.Pts_.size(); |
| 365 |
|
✗ |
fds.push_back(fd); |
| 366 |
|
|
} |
| 367 |
|
|
} |
| 368 |
|
|
|
| 369 |
|
✗ |
CenterOfMassComputationPtr_t com = CenterOfMassComputation::create(robot); |
| 370 |
|
✗ |
JointPtr_t comRJ(robot->getJointByName(comRootJointName)); |
| 371 |
|
✗ |
com->add(comRJ); |
| 372 |
|
|
QPStaticStabilityPtr_t c = |
| 373 |
|
✗ |
QPStaticStability::create(constraintName, robot, fds, com); |
| 374 |
|
✗ |
problemSolver()->addNumericalConstraint( |
| 375 |
|
✗ |
constraintName, Implicit::create(c, constraints::ComparisonTypes_t( |
| 376 |
|
✗ |
1, constraints::EqualToZero))); |
| 377 |
|
|
#else |
| 378 |
|
|
// Avoid unused-variable compilation warnings |
| 379 |
|
|
(void)constraintName; |
| 380 |
|
|
(void)shapesName; |
| 381 |
|
|
throw std::runtime_error( |
| 382 |
|
|
"Problem::createQPStabilityConstraint is not implemented"); |
| 383 |
|
|
#endif |
| 384 |
|
✗ |
} catch (const std::exception& exc) { |
| 385 |
|
✗ |
throw hpp::Error(exc.what()); |
| 386 |
|
|
} |
| 387 |
|
|
} |
| 388 |
|
|
|
| 389 |
|
✗ |
bool Problem::setConstraints(hpp::ID id, bool target) { |
| 390 |
|
|
/// First get the constraint. |
| 391 |
|
✗ |
ConstraintSetPtr_t constraint; |
| 392 |
|
|
try { |
| 393 |
|
✗ |
graph::GraphComponentPtr_t comp = graph()->get((size_t)id).lock(); |
| 394 |
|
✗ |
graph::EdgePtr_t edge = HPP_DYNAMIC_PTR_CAST(graph::Edge, comp); |
| 395 |
|
✗ |
graph::StatePtr_t state = HPP_DYNAMIC_PTR_CAST(graph::State, comp); |
| 396 |
|
✗ |
if (edge) { |
| 397 |
|
✗ |
if (target) |
| 398 |
|
✗ |
constraint = graph()->targetConstraint(edge); |
| 399 |
|
|
else |
| 400 |
|
✗ |
constraint = graph()->pathConstraint(edge); |
| 401 |
|
✗ |
} else if (state) { |
| 402 |
|
✗ |
constraint = graph()->configConstraint(state); |
| 403 |
|
|
} else { |
| 404 |
|
✗ |
std::stringstream ss; |
| 405 |
|
✗ |
ss << "ID " << id << " is neither an edge nor a state"; |
| 406 |
|
✗ |
std::string errmsg = ss.str(); |
| 407 |
|
✗ |
throw Error(errmsg.c_str()); |
| 408 |
|
|
} |
| 409 |
|
✗ |
if (constraint) { |
| 410 |
|
✗ |
problemSolver()->resetConstraints(); |
| 411 |
|
✗ |
problemSolver()->addConstraint(constraint->copy()); |
| 412 |
|
✗ |
return true; |
| 413 |
|
|
} else |
| 414 |
|
✗ |
return false; |
| 415 |
|
✗ |
} catch (const std::exception& exc) { |
| 416 |
|
✗ |
throw hpp::Error(exc.what()); |
| 417 |
|
|
} |
| 418 |
|
|
} |
| 419 |
|
|
|
| 420 |
|
✗ |
void Problem::registerConstraints(const char* constraint, |
| 421 |
|
|
const char* complement, const char* both) { |
| 422 |
|
|
using constraints::ImplicitPtr_t; |
| 423 |
|
|
try { |
| 424 |
|
✗ |
ImplicitPtr_t constr(problemSolver()->numericalConstraints.get(constraint)); |
| 425 |
|
✗ |
ImplicitPtr_t comp(problemSolver()->numericalConstraints.get(complement)); |
| 426 |
|
✗ |
ImplicitPtr_t comb(problemSolver()->numericalConstraints.get(both)); |
| 427 |
|
✗ |
problemSolver()->constraintsAndComplements.push_back( |
| 428 |
|
✗ |
ConstraintAndComplement_t(constr, comp, comb)); |
| 429 |
|
✗ |
} catch (const std::exception& exc) { |
| 430 |
|
✗ |
throw hpp::Error(exc.what()); |
| 431 |
|
|
} |
| 432 |
|
|
} |
| 433 |
|
|
|
| 434 |
|
✗ |
bool Problem::applyConstraints(hpp::ID id, const hpp::floatSeq& input, |
| 435 |
|
|
hpp::floatSeq_out output, |
| 436 |
|
|
double& residualError) { |
| 437 |
|
|
/// First get the constraint. |
| 438 |
|
✗ |
ConstraintSetPtr_t constraint; |
| 439 |
|
|
try { |
| 440 |
|
✗ |
graph::GraphComponentPtr_t comp = graph()->get((size_t)id).lock(); |
| 441 |
|
✗ |
graph::EdgePtr_t edge = HPP_DYNAMIC_PTR_CAST(graph::Edge, comp); |
| 442 |
|
✗ |
graph::StatePtr_t state = HPP_DYNAMIC_PTR_CAST(graph::State, comp); |
| 443 |
|
✗ |
if (edge) { |
| 444 |
|
✗ |
constraint = graph(false)->targetConstraint(edge); |
| 445 |
|
✗ |
DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
| 446 |
|
✗ |
if (core::ConfigProjectorPtr_t cp = constraint->configProjector()) { |
| 447 |
|
✗ |
cp->rightHandSideFromConfig(robot->currentConfiguration()); |
| 448 |
|
|
} |
| 449 |
|
✗ |
} else if (state) |
| 450 |
|
✗ |
constraint = graph(false)->configConstraint(state); |
| 451 |
|
|
else { |
| 452 |
|
✗ |
std::stringstream ss; |
| 453 |
|
✗ |
ss << "ID " << id << " is neither an edge nor a state"; |
| 454 |
|
✗ |
std::string errmsg = ss.str(); |
| 455 |
|
✗ |
throw Error(errmsg.c_str()); |
| 456 |
|
|
} |
| 457 |
|
✗ |
bool success = false; |
| 458 |
|
✗ |
DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
| 459 |
|
✗ |
Configuration_t config = floatSeqToConfig(robot, input, true); |
| 460 |
|
✗ |
success = constraint->apply(config); |
| 461 |
|
✗ |
if (hpp::core::ConfigProjectorPtr_t configProjector = |
| 462 |
|
✗ |
constraint->configProjector()) { |
| 463 |
|
✗ |
residualError = configProjector->residualError(); |
| 464 |
|
|
} |
| 465 |
|
✗ |
output = vectorToFloatSeq(config); |
| 466 |
|
✗ |
return success; |
| 467 |
|
✗ |
} catch (const std::exception& exc) { |
| 468 |
|
✗ |
throw hpp::Error(exc.what()); |
| 469 |
|
|
} |
| 470 |
|
|
} |
| 471 |
|
|
|
| 472 |
|
✗ |
bool Problem::applyConstraintsWithOffset(hpp::ID IDedge, |
| 473 |
|
|
const hpp::floatSeq& qnear, |
| 474 |
|
|
const hpp::floatSeq& input, |
| 475 |
|
|
hpp::floatSeq_out output, |
| 476 |
|
|
double& residualError) { |
| 477 |
|
|
/// First get the constraint. |
| 478 |
|
✗ |
graph::EdgePtr_t edge; |
| 479 |
|
|
try { |
| 480 |
|
|
edge = |
| 481 |
|
✗ |
HPP_DYNAMIC_PTR_CAST(graph::Edge, graph()->get((size_t)IDedge).lock()); |
| 482 |
|
✗ |
if (!edge) { |
| 483 |
|
✗ |
std::stringstream ss; |
| 484 |
|
✗ |
ss << "ID " << IDedge << " is not an edge"; |
| 485 |
|
✗ |
std::string errmsg = ss.str(); |
| 486 |
|
✗ |
throw Error(errmsg.c_str()); |
| 487 |
|
|
} |
| 488 |
|
✗ |
bool success = false; |
| 489 |
|
✗ |
DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
| 490 |
|
✗ |
Configuration_t config = floatSeqToConfig(robot, input, true); |
| 491 |
|
✗ |
Configuration_t qoffset = floatSeqToConfig(robot, qnear, true); |
| 492 |
|
✗ |
value_type dist = 0; |
| 493 |
|
|
core::NodePtr_t nNode = |
| 494 |
|
✗ |
problemSolver()->roadmap()->nearestNode(qoffset, dist); |
| 495 |
|
✗ |
if (dist < 1e-8) |
| 496 |
|
✗ |
success = edge->generateTargetConfig(nNode, config); |
| 497 |
|
|
else |
| 498 |
|
✗ |
success = edge->generateTargetConfig(qoffset, config); |
| 499 |
|
|
|
| 500 |
|
|
hpp::core::ConfigProjectorPtr_t configProjector( |
| 501 |
|
✗ |
edge->targetConstraint()->configProjector()); |
| 502 |
|
✗ |
if (configProjector) { |
| 503 |
|
✗ |
residualError = configProjector->residualError(); |
| 504 |
|
|
} else { |
| 505 |
|
|
hppDout(info, "No config projector."); |
| 506 |
|
|
} |
| 507 |
|
✗ |
ULong size = (ULong)config.size(); |
| 508 |
|
✗ |
hpp::floatSeq* q_ptr = new hpp::floatSeq(); |
| 509 |
|
✗ |
q_ptr->length(size); |
| 510 |
|
|
|
| 511 |
|
✗ |
for (std::size_t i = 0; i < size; ++i) { |
| 512 |
|
✗ |
(*q_ptr)[(ULong)i] = config[i]; |
| 513 |
|
|
} |
| 514 |
|
✗ |
output = q_ptr; |
| 515 |
|
✗ |
return success; |
| 516 |
|
✗ |
} catch (const std::exception& exc) { |
| 517 |
|
✗ |
throw hpp::Error(exc.what()); |
| 518 |
|
|
} |
| 519 |
|
|
} |
| 520 |
|
|
|
| 521 |
|
✗ |
bool Problem::buildAndProjectPath(hpp::ID IDedge, const hpp::floatSeq& qb, |
| 522 |
|
|
const hpp::floatSeq& qe, |
| 523 |
|
|
CORBA::Long& indexNotProj, |
| 524 |
|
|
CORBA::Long& indexProj) { |
| 525 |
|
|
/// First get the constraint. |
| 526 |
|
✗ |
graph::EdgePtr_t edge; |
| 527 |
|
|
try { |
| 528 |
|
|
edge = |
| 529 |
|
✗ |
HPP_DYNAMIC_PTR_CAST(graph::Edge, graph()->get((size_t)IDedge).lock()); |
| 530 |
|
✗ |
if (!edge) { |
| 531 |
|
✗ |
std::stringstream ss; |
| 532 |
|
✗ |
ss << "ID " << IDedge << " is not an edge"; |
| 533 |
|
✗ |
std::string errmsg = ss.str(); |
| 534 |
|
✗ |
throw Error(errmsg.c_str()); |
| 535 |
|
|
} |
| 536 |
|
|
// If steering method is not completely set in the graph, create |
| 537 |
|
|
// one. |
| 538 |
|
✗ |
if (!edge->parentGraph()->problem()->manipulationSteeringMethod() || |
| 539 |
|
✗ |
!edge->parentGraph() |
| 540 |
|
✗ |
->problem() |
| 541 |
|
✗ |
->manipulationSteeringMethod() |
| 542 |
|
✗ |
->innerSteeringMethod()) { |
| 543 |
|
✗ |
problemSolver()->initSteeringMethod(); |
| 544 |
|
✗ |
if (!edge->parentGraph()->problem()->manipulationSteeringMethod() || |
| 545 |
|
✗ |
!edge->parentGraph() |
| 546 |
|
✗ |
->problem() |
| 547 |
|
✗ |
->manipulationSteeringMethod() |
| 548 |
|
✗ |
->innerSteeringMethod()) |
| 549 |
|
✗ |
throw Error("Could not initialize the steering method."); |
| 550 |
|
|
} |
| 551 |
|
✗ |
bool success = false; |
| 552 |
|
✗ |
DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
| 553 |
|
✗ |
Configuration_t q1 = floatSeqToConfig(robot, qb, true); |
| 554 |
|
✗ |
Configuration_t q2 = floatSeqToConfig(robot, qe, true); |
| 555 |
|
✗ |
core::PathVectorPtr_t pv; |
| 556 |
|
✗ |
indexNotProj = -1; |
| 557 |
|
✗ |
indexProj = -1; |
| 558 |
|
✗ |
core::PathPtr_t path; |
| 559 |
|
✗ |
success = edge->build(path, q1, q2); |
| 560 |
|
✗ |
if (!success) return false; |
| 561 |
|
✗ |
pv = HPP_DYNAMIC_PTR_CAST(core::PathVector, path); |
| 562 |
|
✗ |
indexNotProj = (CORBA::Long)problemSolver()->paths().size(); |
| 563 |
|
✗ |
if (!pv) { |
| 564 |
|
✗ |
pv = core::PathVector::create(path->outputSize(), |
| 565 |
|
✗ |
path->outputDerivativeSize()); |
| 566 |
|
✗ |
pv->appendPath(path); |
| 567 |
|
|
} |
| 568 |
|
✗ |
problemSolver()->addPath(pv); |
| 569 |
|
|
|
| 570 |
|
✗ |
core::PathPtr_t projPath; |
| 571 |
|
|
PathProjectorPtr_t pathProjector( |
| 572 |
|
✗ |
problemSolver()->problem()->pathProjector()); |
| 573 |
|
✗ |
if (!pathProjector) { |
| 574 |
|
✗ |
problemSolver()->initPathProjector(); |
| 575 |
|
✗ |
pathProjector = problemSolver()->problem()->pathProjector(); |
| 576 |
|
|
} |
| 577 |
|
✗ |
if (pathProjector) { |
| 578 |
|
✗ |
success = pathProjector->apply(path, projPath); |
| 579 |
|
|
} else { |
| 580 |
|
✗ |
success = true; |
| 581 |
|
✗ |
projPath = path->copy(); |
| 582 |
|
|
} |
| 583 |
|
|
|
| 584 |
|
✗ |
if (!success) { |
| 585 |
|
✗ |
if (!projPath || projPath->length() == 0) return false; |
| 586 |
|
|
} |
| 587 |
|
✗ |
pv = HPP_DYNAMIC_PTR_CAST(core::PathVector, projPath); |
| 588 |
|
✗ |
indexProj = (CORBA::Long)problemSolver()->paths().size(); |
| 589 |
|
✗ |
if (!pv) { |
| 590 |
|
✗ |
pv = core::PathVector::create(projPath->outputSize(), |
| 591 |
|
✗ |
projPath->outputDerivativeSize()); |
| 592 |
|
✗ |
pv->appendPath(projPath); |
| 593 |
|
|
} |
| 594 |
|
✗ |
problemSolver()->addPath(pv); |
| 595 |
|
✗ |
return success; |
| 596 |
|
✗ |
} catch (const std::exception& exc) { |
| 597 |
|
✗ |
throw hpp::Error(exc.what()); |
| 598 |
|
|
} |
| 599 |
|
|
} |
| 600 |
|
|
|
| 601 |
|
✗ |
void Problem::setTargetState(hpp::ID IDstate) { |
| 602 |
|
|
try { |
| 603 |
|
✗ |
graph::GraphComponentPtr_t comp = graph()->get((size_t)IDstate).lock(); |
| 604 |
|
✗ |
graph::StatePtr_t state = HPP_DYNAMIC_PTR_CAST(graph::State, comp); |
| 605 |
|
✗ |
if (!state) { |
| 606 |
|
✗ |
HPP_THROW(Error, "ID " << IDstate << " is not a state."); |
| 607 |
|
|
} |
| 608 |
|
✗ |
problemSolver()->setTargetState(state); |
| 609 |
|
✗ |
} catch (const std::exception& exc) { |
| 610 |
|
✗ |
throw hpp::Error(exc.what()); |
| 611 |
|
|
} |
| 612 |
|
|
} |
| 613 |
|
|
|
| 614 |
|
✗ |
ID Problem::edgeAtParam(ULong pathId, Double param, String_out name) { |
| 615 |
|
|
try { |
| 616 |
|
✗ |
if (pathId >= problemSolver()->paths().size()) { |
| 617 |
|
✗ |
HPP_THROW(Error, "Wrong path id: " << pathId << ", number path: " |
| 618 |
|
|
<< problemSolver()->paths().size() |
| 619 |
|
|
<< "."); |
| 620 |
|
|
} |
| 621 |
|
✗ |
core::PathVectorPtr_t path = problemSolver()->paths()[pathId]; |
| 622 |
|
|
core::PathVectorPtr_t flat = core::PathVector::create( |
| 623 |
|
✗ |
path->outputSize(), path->outputDerivativeSize()); |
| 624 |
|
✗ |
path->flatten(flat); |
| 625 |
|
|
value_type unused; |
| 626 |
|
✗ |
std::size_t r = flat->rankAtParam(param, unused); |
| 627 |
|
✗ |
core::PathPtr_t p = flat->pathAtRank(r); |
| 628 |
|
|
manipulation::ConstraintSetPtr_t constraint = |
| 629 |
|
✗ |
HPP_DYNAMIC_PTR_CAST(manipulation::ConstraintSet, p->constraints()); |
| 630 |
|
✗ |
if (!constraint) { |
| 631 |
|
✗ |
HPP_THROW(Error, "Path constraint is not of the good type " |
| 632 |
|
|
<< "at id " << pathId << ", param " << param |
| 633 |
|
|
<< " (rank: " << r << ")"); |
| 634 |
|
|
} |
| 635 |
|
✗ |
if (!constraint->edge()) { |
| 636 |
|
✗ |
HPP_THROW(Error, "Path constraint does not contain edge information " |
| 637 |
|
|
<< "at id " << pathId << ", param " << param |
| 638 |
|
|
<< " (rank: " << r << ")"); |
| 639 |
|
|
} |
| 640 |
|
✗ |
if (constraint->edge()->parentGraph()) |
| 641 |
|
✗ |
name = constraint->edge()->parentGraph()->name().c_str(); |
| 642 |
|
|
else |
| 643 |
|
✗ |
name = "Parent graph was destroyed."; |
| 644 |
|
✗ |
return (ID)constraint->edge()->id(); |
| 645 |
|
✗ |
} catch (const std::exception& exc) { |
| 646 |
|
✗ |
throw hpp::Error(exc.what()); |
| 647 |
|
|
} |
| 648 |
|
|
} |
| 649 |
|
|
|
| 650 |
|
✗ |
manipulation_idl::graph_idl::Validation_ptr Problem::createGraphValidation() { |
| 651 |
|
✗ |
core::ProblemSolverPtr_t ps = problemSolver(); |
| 652 |
|
✗ |
graph::ValidationPtr_t validation(new graph::Validation(ps->problem())); |
| 653 |
|
|
|
| 654 |
|
|
typedef manipulation_impl::graph_impl::Validation Validation_impl; |
| 655 |
|
|
|
| 656 |
|
|
manipulation_idl::graph_idl::Validation_var validation_idl = |
| 657 |
|
|
makeServantDownCast<Validation_impl>( |
| 658 |
|
✗ |
server_->parent(), Validation_impl::Storage(validation)); |
| 659 |
|
✗ |
return validation_idl._retn(); |
| 660 |
|
|
} |
| 661 |
|
|
|
| 662 |
|
✗ |
core_idl::Roadmap_ptr Problem::readRoadmap( |
| 663 |
|
|
const char* filename, pinocchio_idl::Device_ptr robot, |
| 664 |
|
|
manipulation_idl::graph_idl::Graph_ptr graph) { |
| 665 |
|
|
try { |
| 666 |
|
|
pinocchio::DevicePtr_t device = |
| 667 |
|
✗ |
reference_to_object<pinocchio::Device>(server_->parent(), robot); |
| 668 |
|
|
graph::GraphPtr_t _graph = |
| 669 |
|
✗ |
reference_to_object<graph::Graph>(server_->parent(), graph); |
| 670 |
|
|
|
| 671 |
|
✗ |
hpp::core::RoadmapPtr_t roadmap; |
| 672 |
|
✗ |
std::string fn(filename); |
| 673 |
|
✗ |
bool xml = (fn.size() >= 4 && fn.compare(fn.size() - 4, 4, ".xml") == 0); |
| 674 |
|
|
using namespace core::parser; |
| 675 |
|
✗ |
if (xml) { |
| 676 |
|
|
typedef hpp::serialization::archive_tpl< |
| 677 |
|
|
boost::archive::xml_iarchive, |
| 678 |
|
|
hpp::serialization::remove_duplicate::vector_archive> |
| 679 |
|
|
archive_type; |
| 680 |
|
✗ |
serializeRoadmap<archive_type>(roadmap, fn, |
| 681 |
|
✗ |
make_nvp(device->name(), device.get()), |
| 682 |
|
✗ |
make_nvp(_graph->name(), _graph.get())); |
| 683 |
|
|
} else { |
| 684 |
|
|
typedef hpp::serialization::archive_tpl< |
| 685 |
|
|
boost::archive::binary_iarchive, |
| 686 |
|
|
hpp::serialization::remove_duplicate::vector_archive> |
| 687 |
|
|
archive_type; |
| 688 |
|
✗ |
serializeRoadmap<archive_type>(roadmap, fn, |
| 689 |
|
✗ |
make_nvp(device->name(), device.get()), |
| 690 |
|
✗ |
make_nvp(_graph->name(), _graph.get())); |
| 691 |
|
|
} |
| 692 |
|
|
|
| 693 |
|
|
core_idl::Roadmap_var o = |
| 694 |
|
✗ |
makeServantDownCast<core_impl::Roadmap>(server_->parent(), roadmap); |
| 695 |
|
✗ |
return o._retn(); |
| 696 |
|
✗ |
} catch (const std::exception& exc) { |
| 697 |
|
✗ |
throw hpp::Error(exc.what()); |
| 698 |
|
|
} |
| 699 |
|
|
} |
| 700 |
|
|
|
| 701 |
|
✗ |
void Problem::writeRoadmap(const char* filename, core_idl::Roadmap_ptr _roadmap, |
| 702 |
|
|
pinocchio_idl::Device_ptr robot, |
| 703 |
|
|
manipulation_idl::graph_idl::Graph_ptr graph) { |
| 704 |
|
|
try { |
| 705 |
|
|
pinocchio::DevicePtr_t device = |
| 706 |
|
✗ |
reference_to_object<pinocchio::Device>(server_->parent(), robot); |
| 707 |
|
|
graph::GraphPtr_t _graph = |
| 708 |
|
✗ |
reference_to_object<graph::Graph>(server_->parent(), graph); |
| 709 |
|
|
core::RoadmapPtr_t roadmap = |
| 710 |
|
✗ |
reference_to_object<core::Roadmap>(server_->parent(), _roadmap); |
| 711 |
|
|
|
| 712 |
|
✗ |
std::string fn(filename); |
| 713 |
|
✗ |
bool xml = (fn.size() >= 4 && fn.compare(fn.size() - 4, 4, ".xml") == 0); |
| 714 |
|
|
using namespace core::parser; |
| 715 |
|
✗ |
if (xml) { |
| 716 |
|
|
typedef hpp::serialization::archive_tpl< |
| 717 |
|
|
boost::archive::xml_oarchive, |
| 718 |
|
|
hpp::serialization::remove_duplicate::vector_archive> |
| 719 |
|
|
archive_type; |
| 720 |
|
✗ |
serializeRoadmap<archive_type>(roadmap, fn, |
| 721 |
|
✗ |
make_nvp(device->name(), device.get()), |
| 722 |
|
✗ |
make_nvp(_graph->name(), _graph.get())); |
| 723 |
|
|
} else { |
| 724 |
|
|
typedef hpp::serialization::archive_tpl< |
| 725 |
|
|
boost::archive::binary_oarchive, |
| 726 |
|
|
hpp::serialization::remove_duplicate::vector_archive> |
| 727 |
|
|
archive_type; |
| 728 |
|
✗ |
serializeRoadmap<archive_type>(roadmap, fn, |
| 729 |
|
✗ |
make_nvp(device->name(), device.get()), |
| 730 |
|
✗ |
make_nvp(_graph->name(), _graph.get())); |
| 731 |
|
|
} |
| 732 |
|
✗ |
} catch (const std::exception& exc) { |
| 733 |
|
✗ |
throw hpp::Error(exc.what()); |
| 734 |
|
|
} |
| 735 |
|
|
} |
| 736 |
|
|
|
| 737 |
|
✗ |
core_idl::Roadmap_ptr Problem::createRoadmap(core_idl::Distance_ptr distance, |
| 738 |
|
|
pinocchio_idl::Device_ptr robot) { |
| 739 |
|
|
core_idl::Roadmap_var o = makeServantDownCast<core_impl::Roadmap>( |
| 740 |
|
✗ |
server_->parent(), |
| 741 |
|
✗ |
Roadmap::create( |
| 742 |
|
✗ |
reference_to_object<core::Distance>(server_->parent(), distance), |
| 743 |
|
✗ |
reference_to_object<pinocchio::Device>(server_->parent(), robot))); |
| 744 |
|
✗ |
return o._retn(); |
| 745 |
|
|
} |
| 746 |
|
✗ |
core_idl::PathPlanner_ptr Problem::createTransitionPlanner() { |
| 747 |
|
✗ |
ProblemSolverPtr_t ps = problemSolver(); |
| 748 |
|
✗ |
core::DistancePtr_t dist(core::WeighedDistance::create(ps->robot())); |
| 749 |
|
✗ |
core::RoadmapPtr_t roadmap(core::Roadmap::create(dist, ps->robot())); |
| 750 |
|
✗ |
ProblemPtr_t problem(ps->problem()); |
| 751 |
|
|
core::PathPlannerPtr_t planner( |
| 752 |
|
✗ |
manipulation::pathPlanner::TransitionPlanner::createWithRoadmap(problem, |
| 753 |
|
✗ |
roadmap)); |
| 754 |
|
|
core_idl::PathPlanner_var o = |
| 755 |
|
✗ |
makeServantDownCast<core_impl::PathPlanner>(server_->parent(), planner); |
| 756 |
|
✗ |
return o._retn(); |
| 757 |
|
|
} |
| 758 |
|
|
} // namespace impl |
| 759 |
|
|
} // namespace manipulation |
| 760 |
|
|
} // namespace hpp |
| 761 |
|
|
|