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// Copyright (c) 2015, Joseph Mirabel |
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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/core/config-projector.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/manipulation/constraint-set.hh> |
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#include <hpp/manipulation/graph-optimizer.hh> |
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#include <hpp/manipulation/graph-path-validation.hh> |
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#include <hpp/manipulation/graph/edge.hh> |
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namespace hpp { |
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namespace manipulation { |
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PathVectorPtr_t GraphOptimizer::optimize(const PathVectorPtr_t& path) { |
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PathVectorPtr_t opted = PathVector::create(path->outputSize(), |
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path->outputDerivativeSize()), |
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expanded = PathVector::create(path->outputSize(), |
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path->outputDerivativeSize()), |
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toConcat; |
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GraphPathValidationPtr_t gpv = HPP_DYNAMIC_PTR_CAST( |
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GraphPathValidation, this->problem()->pathValidation()); |
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path->flatten(expanded); |
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ConstraintSetPtr_t c; |
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for (std::size_t i_s = 0; i_s < expanded->numberPaths();) { |
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PathVectorPtr_t toOpt = |
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PathVector::create(path->outputSize(), path->outputDerivativeSize()); |
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PathPtr_t current = expanded->pathAtRank(i_s); |
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toOpt->appendPath(current); |
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graph::EdgePtr_t edge; |
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c = HPP_DYNAMIC_PTR_CAST(ConstraintSet, current->constraints()); |
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if (c) edge = c->edge(); |
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bool isShort = edge && edge->isShort(); |
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std::size_t i_e = i_s + 1; |
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for (; i_e < expanded->numberPaths(); ++i_e) { |
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current = expanded->pathAtRank(i_e); |
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c = HPP_DYNAMIC_PTR_CAST(ConstraintSet, current->constraints()); |
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if (!c && edge) { |
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hppDout(info, "No manipulation::ConstraintSet"); |
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break; |
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} |
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if (c && edge->state() != c->edge()->state()) break; |
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if (isShort != |
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c->edge()->isShort()) // We do not optimize edges marked as short |
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break; |
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toOpt->appendPath(current); |
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} |
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hppDout(info, "Edge name: " << edge->name()); |
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if (isShort) |
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toConcat = toOpt; |
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else { |
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core::ProblemPtr_t p = core::Problem::create(problem()->robot()); |
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p->distance(problem()->distance()); |
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// It should be ok to use the path validation of each edge because it |
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// corresponds to the global path validation minus the collision pairs |
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// disabled using the edge constraint. |
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// p.pathValidation(gpv->innerValidation()); |
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p->pathProjector(problem()->pathProjector()); |
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p->steeringMethod(edge->steeringMethod()->copy()); |
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p->constraints(edge->pathConstraint()); |
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if (p->constraints() && p->constraints()->configProjector()) { |
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p->constraints()->configProjector()->rightHandSideFromConfig( |
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toOpt->initial()); |
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} |
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p->pathValidation(edge->pathValidation()); |
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pathOptimizer_ = factory_(p); |
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toConcat = pathOptimizer_->optimize(toOpt); |
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} |
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i_s = i_e; |
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opted->concatenate(toConcat); |
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} |
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pathOptimizer_.reset(); |
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return opted; |
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} |
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} // namespace manipulation |
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} // namespace hpp |
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