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// Copyright (c) 2014, 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/manipulation/graph-path-validation.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/manipulation/constraint-set.hh> |
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#include <hpp/manipulation/graph/edge.hh> |
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#include <hpp/manipulation/graph/graph.hh> |
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#include <hpp/manipulation/graph/state.hh> |
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#include <hpp/pinocchio/configuration.hh> |
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#ifdef HPP_DEBUG |
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#include <hpp/manipulation/graph/state.hh> |
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#endif |
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namespace hpp { |
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namespace manipulation { |
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GraphPathValidationPtr_t GraphPathValidation::create( |
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const PathValidationPtr_t& pathValidation) { |
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GraphPathValidation* p = new GraphPathValidation(pathValidation); |
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return GraphPathValidationPtr_t(p); |
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} |
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GraphPathValidation::GraphPathValidation( |
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const PathValidationPtr_t& pathValidation) |
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: pathValidation_(pathValidation), constraintGraph_() {} |
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bool GraphPathValidation::validate(const PathPtr_t& path, bool reverse, |
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PathPtr_t& validPart, |
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PathValidationReportPtr_t& report) { |
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assert(path); |
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bool success = impl_validate(path, reverse, validPart, report); |
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assert(constraintGraph_); |
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assert(constraintGraph_->getState(validPart->initial())); |
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assert(constraintGraph_->getState(validPart->end())); |
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return success; |
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} |
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bool GraphPathValidation::impl_validate(const PathVectorPtr_t& path, |
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bool reverse, PathPtr_t& validPart, |
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PathValidationReportPtr_t& report) { |
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PathPtr_t validSubPart; |
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if (reverse) { |
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// TODO: This has never been tested. |
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assert(!reverse && "This has never been tested with reverse path"); |
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for (long int i = path->numberPaths() - 1; i >= 0; i--) { |
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// We should stop at the first non valid subpath. |
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if (!impl_validate(path->pathAtRank(i), true, validSubPart, report)) { |
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PathVectorPtr_t p = PathVector::create(path->outputSize(), |
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path->outputDerivativeSize()); |
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for (long int v = path->numberPaths() - 1; v > i; v--) |
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p->appendPath(path->pathAtRank(i)->copy()); |
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// TODO: Make sure this subpart is generated by the steering method. |
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p->appendPath(validSubPart); |
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validPart = p; |
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return false; |
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} |
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} |
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} else { |
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for (size_t i = 0; i != path->numberPaths(); i++) { |
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// We should stop at the first non valid subpath. |
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if (!impl_validate(path->pathAtRank(i), false, validSubPart, report)) { |
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PathVectorPtr_t p = PathVector::create(path->outputSize(), |
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path->outputDerivativeSize()); |
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for (size_t v = 0; v < i; v++) |
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p->appendPath(path->pathAtRank(v)->copy()); |
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// TODO: Make sure this subpart is generated by the steering method. |
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p->appendPath(validSubPart); |
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validPart = p; |
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return false; |
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} |
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} |
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} |
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// Here, every subpath is valid. |
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validPart = path; |
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return true; |
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} |
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bool GraphPathValidation::impl_validate(const PathPtr_t& path, bool reverse, |
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PathPtr_t& validPart, |
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PathValidationReportPtr_t& report) { |
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#ifndef NDEBUG |
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bool success; |
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Configuration_t q0 = path->eval(path->timeRange().second, success); |
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assert(success); |
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assert(!path->constraints() || path->constraints()->isSatisfied(q0)); |
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#endif |
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using pinocchio::displayConfig; |
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PathVectorPtr_t pathVector = HPP_DYNAMIC_PTR_CAST(PathVector, path); |
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if (pathVector) return impl_validate(pathVector, reverse, validPart, report); |
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PathPtr_t pathNoCollision; |
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ConstraintSetPtr_t c = |
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HPP_DYNAMIC_PTR_CAST(ConstraintSet, path->constraints()); |
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hppDout(info, |
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(c ? "Using edge path validation" : "Using default path validation")); |
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PathValidationPtr_t validation(c ? c->edge()->pathValidation() |
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: pathValidation_); |
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if (validation->validate(path, reverse, pathNoCollision, report)) { |
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validPart = path; |
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return true; |
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} |
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const Path& newPath(*pathNoCollision); |
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const Path& oldPath(*path); |
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const core::interval_t &newTR = newPath.timeRange(), |
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oldTR = oldPath.timeRange(); |
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Configuration_t q(newPath.outputSize()); |
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if (!newPath.eval(q, newTR.first)) |
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throw std::logic_error( |
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"Initial configuration of the valid part cannot be projected."); |
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const graph::StatePtr_t& origState = constraintGraph_->getState(q); |
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if (!newPath.eval(q, newTR.second)) |
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throw std::logic_error( |
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"End configuration of the valid part cannot be projected."); |
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// This may throw in the following case: |
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// - state constraints: object_placement + other_function |
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// - path constraints: other_function, object_lock |
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// This is semantically correct but for a path going from q0 to q1, |
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// we ensure that |
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// - object_placement (q0) = eps_place0 |
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// - other_function (q0) = eps_other0 |
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// - eps_place0 + eps_other0 < eps |
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// - other_function (q(s)) < eps |
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// - object_placement (q(s)) = object_placement (q0) # thanks to the |
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// object_lock So we only have: |
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// - other_function (q(s)) + object_placement (q(s)) < eps + eps_place0 |
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// And not: |
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// - other_function (q(s)) + object_placement (q(s)) < eps |
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// In this case, there is no good way to recover. Just return failure. |
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graph::StatePtr_t destState; |
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try { |
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destState = constraintGraph_->getState(q); |
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} catch (const std::logic_error& e) { |
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ConstraintSetPtr_t c = |
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HPP_DYNAMIC_PTR_CAST(ConstraintSet, path->constraints()); |
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hppDout(error, "Edge " << c->edge()->name() |
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<< " generated an error: " << e.what()); |
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hppDout(error, |
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"Likely, the constraints for paths are relaxed. If " |
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"this problem occurs often, you may want to use the same " |
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"constraints for state and paths in " |
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<< c->edge()->state()->name()); |
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validPart = path->extract(std::make_pair(oldTR.first, oldTR.first)); |
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return false; |
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} |
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if (!oldPath.eval(q, oldTR.first)) { |
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std::stringstream oss; |
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oss << "Initial configuration of the path to be validated failed to" |
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" be projected. After maximal number of iterations, q=" |
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<< displayConfig(q) << "; error="; |
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vector_t error; |
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oldPath.constraints()->isSatisfied(q, error); |
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oss << displayConfig(error) << "."; |
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throw std::logic_error(oss.str().c_str()); |
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} |
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const graph::StatePtr_t& oldOstate = constraintGraph_->getState(q); |
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if (!oldPath.eval(q, oldTR.second)) { |
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std::stringstream oss; |
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oss << "End configuration of the path to be validated failed to" |
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" be projected. After maximal number of iterations, q=" |
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<< displayConfig(q) << "; error="; |
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vector_t error; |
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oldPath.constraints()->isSatisfied(q, error); |
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oss << displayConfig(error) << "."; |
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throw std::logic_error(oss.str().c_str()); |
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} |
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const graph::StatePtr_t& oldDstate = constraintGraph_->getState(q); |
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if (origState == oldOstate && destState == oldDstate) { |
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validPart = pathNoCollision; |
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return false; |
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} |
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// Here, the full path is not valid. Moreover, it does not correspond to the |
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// same edge of the constraint graph. Two option are possible: |
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// - Use the steering method to create a new path and validate it. |
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// - Return a null path. |
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// validPart = path->extract (std::make_pair (oldTR.first,oldTR.first)); |
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validPart = pathNoCollision; |
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return false; |
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} |
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} // namespace manipulation |
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} // namespace hpp |
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