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// Copyright (c) 2019, LAAS-CNRS |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#include <hpp/constraints/differentiable-function.hh> |
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#include <hpp/constraints/implicit.hh> |
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#include <hpp/core/config-projector.hh> |
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#include <hpp/core/interpolated-path.hh> |
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#include <hpp/core/path-vector.hh> |
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#include <hpp/core/path.hh> |
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#include <hpp/core/problem.hh> |
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#include <hpp/core/straight-path.hh> |
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#include <hpp/manipulation/steering-method/end-effector-trajectory.hh> |
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#include <hpp/pinocchio/device.hh> |
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#include <hpp/pinocchio/urdf/util.hh> |
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#include <hpp/pinocchio/util.hh> |
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#include <hpp/util/indent.hh> |
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namespace hpp { |
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namespace manipulation { |
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namespace steeringMethod { |
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namespace { |
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template <bool SE3> |
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class FunctionFromPath : public constraints::DifferentiableFunction { |
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public: |
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FunctionFromPath(const PathPtr_t& p) |
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: DifferentiableFunction( |
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1, 1, |
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SE3 ? LiegroupSpace::R3xSO3() : LiegroupSpace::Rn(p->outputSize())), |
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path_(p) { |
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assert(!SE3 || (p->outputSize() == 7 && p->outputDerivativeSize() == 6)); |
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} |
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const PathPtr_t& path() const { return path_; } |
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std::ostream& print(std::ostream& os) const { |
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return os << (SE3 ? "FunctionFromSE3Path: " : "FunctionFromPath: ") |
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<< path_->timeRange().first << ", " << path_->timeRange().second; |
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} |
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protected: |
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void impl_compute(core::LiegroupElementRef result, vectorIn_t arg) const { |
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bool success = path_->eval(result.vector(), arg[0]); |
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if (!success) { |
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hppDout(warning, "Failed to evaluate path at param " |
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<< arg[0] << incindent << iendl << *path_ |
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<< decindent); |
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} |
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} |
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void impl_jacobian(matrixOut_t jacobian, vectorIn_t arg) const { |
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path_->derivative(jacobian.col(0), arg[0], 1); |
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} |
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private: |
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PathPtr_t path_; |
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}; |
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} // namespace |
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PathPtr_t EndEffectorTrajectory::makePiecewiseLinearTrajectory( |
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matrixIn_t points, vectorIn_t weights) { |
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if (points.cols() != 7) |
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throw std::invalid_argument("The input matrix should have 7 columns"); |
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if (weights.size() != 6) |
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throw std::invalid_argument("The weights vector should have 6 elements"); |
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LiegroupSpacePtr_t se3 = LiegroupSpace::SE3(); |
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core::PathVectorPtr_t path = core::PathVector::create(7, 6); |
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if (points.rows() == 1) |
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path->appendPath(core::StraightPath::create( |
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se3, points.row(0), points.row(0), interval_t(0, 0))); |
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else |
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for (size_type i = 1; i < points.rows(); ++i) { |
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value_type d = (se3->elementConstRef(points.row(i)) - |
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se3->elementConstRef(points.row(i - 1))) |
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.cwiseProduct(weights) |
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.norm(); |
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path->appendPath(core::StraightPath::create( |
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se3, points.row(i - 1), points.row(i), interval_t(0, d))); |
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} |
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return path; |
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} |
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void EndEffectorTrajectory::trajectoryConstraint( |
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const constraints::ImplicitPtr_t& ic) { |
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constraint_ = ic; |
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if (eeTraj_) trajectory(eeTraj_, timeRange_); |
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} |
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void EndEffectorTrajectory::trajectory(const PathPtr_t& eeTraj, |
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bool se3Output) { |
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if (se3Output) |
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trajectory(DifferentiableFunctionPtr_t(new FunctionFromPath<true>(eeTraj)), |
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eeTraj->timeRange()); |
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else |
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trajectory(DifferentiableFunctionPtr_t(new FunctionFromPath<false>(eeTraj)), |
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eeTraj->timeRange()); |
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} |
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void EndEffectorTrajectory::trajectory( |
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const DifferentiableFunctionPtr_t& eeTraj, const interval_t& tr) { |
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assert(eeTraj->inputSize() == 1); |
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assert(eeTraj->inputDerivativeSize() == 1); |
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eeTraj_ = eeTraj; |
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timeRange_ = tr; |
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if (!constraint_) return; |
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constraint_->rightHandSideFunction(eeTraj_); |
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} |
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PathPtr_t EndEffectorTrajectory::impl_compute(ConfigurationIn_t q1, |
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ConfigurationIn_t q2) const { |
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try { |
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core::ConstraintSetPtr_t c(getUpdatedConstraints()); |
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return core::StraightPath::create(problem()->robot(), q1, q2, timeRange_, |
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c); |
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} catch (const std::exception& e) { |
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std::ostringstream os; |
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os << "steeringMethod::EndEffectorTrajectory failed: " << e.what() |
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<< std::endl; |
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os << "time range: [" << timeRange_.first << ", " << timeRange_.second |
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<< "]\n"; |
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if (eeTraj_) |
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os << (*eeTraj_)(vector_t::Constant(1, timeRange_.first)) << '\n' |
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<< (*eeTraj_)(vector_t::Constant(1, timeRange_.second)) << std::endl; |
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if (constraints()) os << *constraints() << std::endl; |
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throw std::runtime_error(os.str().c_str()); |
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} |
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} |
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PathPtr_t EndEffectorTrajectory::projectedPath(vectorIn_t times, |
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matrixIn_t configs) const { |
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core::ConstraintSetPtr_t c(getUpdatedConstraints()); |
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size_type N = configs.cols(); |
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if (timeRange_.first != times[0] || timeRange_.second != times[N - 1]) { |
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HPP_THROW(std::logic_error, |
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"Time range (" << timeRange_.first << ", " << timeRange_.second |
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<< ") does not match configuration " |
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"times (" |
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<< times[0] << ", " << times[N - 1]); |
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} |
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using core::InterpolatedPath; |
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using core::InterpolatedPathPtr_t; |
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InterpolatedPathPtr_t path = InterpolatedPath::create( |
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problem()->robot(), configs.col(0), configs.col(N - 1), timeRange_, c); |
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for (size_type i = 1; i < configs.cols() - 1; ++i) |
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path->insert(times[i], configs.col(i)); |
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return path; |
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} |
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core::ConstraintSetPtr_t EndEffectorTrajectory::getUpdatedConstraints() const { |
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if (!eeTraj_) |
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throw std::logic_error("EndEffectorTrajectory not initialized."); |
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// Update (or check) the constraints |
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core::ConstraintSetPtr_t c(constraints()); |
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if (!c || !c->configProjector()) { |
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throw std::logic_error( |
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"EndEffectorTrajectory steering method must " |
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"have a ConfigProjector"); |
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} |
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ConfigProjectorPtr_t cp(c->configProjector()); |
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const core::NumericalConstraints_t& ncs = cp->numericalConstraints(); |
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bool ok = false; |
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for (std::size_t i = 0; i < ncs.size(); ++i) { |
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if (ncs[i] == constraint_) { |
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ok = true; |
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break; // Same pointer |
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} |
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// Here, we do not check the right hand side on purpose. |
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// if (*ncs[i] == *constraint_) { |
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if (ncs[i]->functionPtr() == constraint_->functionPtr() && |
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ncs[i]->comparisonType() == constraint_->comparisonType()) { |
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ok = true; |
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// TODO We should only modify the path constraint. |
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// However, only the pointers to implicit constraints are copied |
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// while we would like the implicit constraints to be copied as well. |
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ncs[i]->rightHandSideFunction(eeTraj_); |
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break; // logically identical |
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} |
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} |
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if (!ok) { |
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HPP_THROW(std::logic_error, |
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"EndEffectorTrajectory could not find " |
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"constraint " |
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<< constraint_->function()); |
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} |
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return c; |
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} |
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} // namespace steeringMethod |
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} // namespace manipulation |
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} // namespace hpp |
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