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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/guided-state-selector.hh" |
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#include <cstdlib> |
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#include <hpp/core/steering-method.hh> |
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#include <hpp/pinocchio/configuration.hh> |
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#include <hpp/util/assertion.hh> |
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#include "../astar.hh" |
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#include "hpp/manipulation/roadmap-node.hh" |
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#include "hpp/manipulation/roadmap.hh" |
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namespace hpp { |
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namespace manipulation { |
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namespace graph { |
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GuidedStateSelectorPtr_t GuidedStateSelector::create( |
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const std::string& name, const core::RoadmapPtr_t& roadmap) { |
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GuidedStateSelector* ptr = new GuidedStateSelector(name, roadmap); |
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GuidedStateSelectorPtr_t shPtr(ptr); |
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ptr->init(shPtr); |
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return shPtr; |
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} |
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void GuidedStateSelector::init(const GuidedStateSelectorPtr_t& weak) { |
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StateSelector::init(weak); |
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wkPtr_ = weak; |
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} |
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void GuidedStateSelector::setStateList(const States_t& stateList) { |
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stateList_ = stateList; |
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} |
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EdgePtr_t GuidedStateSelector::chooseEdge(RoadmapNodePtr_t from) const { |
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if (stateList_.empty()) return StateSelector::chooseEdge(from); |
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Astar::States_t list; |
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bool reverse = false; |
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if (from->connectedComponent() == |
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roadmap_->initNode()->connectedComponent()) { |
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Astar alg(roadmap_->distance(), wkPtr_.lock(), |
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static_cast<RoadmapNodePtr_t>(roadmap_->initNode())); |
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list = alg.solution(from); |
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} else { |
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core::NodeVector_t::const_iterator itg = roadmap_->goalNodes().begin(); |
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for (; itg != roadmap_->goalNodes().end(); ++itg) |
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if ((*itg)->connectedComponent() == from->connectedComponent()) break; |
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if (itg == roadmap_->goalNodes().end()) { |
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hppDout(error, |
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"This configuration can reach neither the initial " |
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"configuration nor any of the goal configurations."); |
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return EdgePtr_t(); |
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} |
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reverse = true; |
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Astar alg(roadmap_->distance(), wkPtr_.lock(), from); |
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list = alg.solution(static_cast<RoadmapNodePtr_t>(*itg)); |
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} |
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list.erase(std::unique(list.begin(), list.end()), list.end()); |
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// Check if the beginning of stateList is list |
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if (list.size() <= stateList_.size()) { |
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Neighbors_t nn; |
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if (reverse) { |
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States_t::const_reverse_iterator it1 = stateList_.rbegin(); |
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Astar::States_t::const_reverse_iterator it2 = list.rbegin(); |
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Astar::States_t::const_reverse_iterator itEnd2 = list.rend(); |
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do { |
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if (*it1 != *it2) { |
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hppDout(error, |
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"The target sequence of nodes does not end with " |
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"the sequence of nodes to reach this configuration."); |
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return EdgePtr_t(); |
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} |
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++it1; |
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} while (++it2 != itEnd2); |
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StatePtr_t state = getState(from); |
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HPP_ASSERT(state == list.front()); |
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const Neighbors_t& n = state->neighbors(); |
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/// You stay in the same state |
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for (Neighbors_t::const_iterator it = n.begin(); it != n.end(); ++it) |
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if (it->second->stateTo() == state) nn.insert(it->second, it->first); |
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/// Go from state it1 to state |
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// The path will be build from state. So we must find an edge from |
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// state to it1, that will be reversely |
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for (Neighbors_t::const_iterator it = n.begin(); it != n.end(); ++it) |
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if (it->second->stateTo() == *it1) nn.insert(it->second, it->first); |
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} else { |
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States_t::const_iterator it1 = stateList_.begin(); |
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Astar::States_t::const_iterator it2 = list.begin(); |
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Astar::States_t::const_iterator itEnd2 = list.end(); |
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do { |
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if (*it1 != *it2) { |
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hppDout(error, |
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"The target sequence of nodes does not start with " |
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"the sequence of nodes to reach this configuration."); |
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return EdgePtr_t(); |
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} |
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++it1; |
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} while (++it2 != itEnd2); |
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StatePtr_t state = getState(from); |
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HPP_ASSERT(state == list.back()); |
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const Neighbors_t& n = state->neighbors(); |
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for (Neighbors_t::const_iterator it = n.begin(); it != n.end(); ++it) |
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/// You stay in the same state |
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/// or go from state to state it1 |
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if (it->second->stateTo() == state || it->second->stateTo() == *it1) |
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nn.insert(it->second, it->first); |
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} |
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if (nn.size() > 0 && nn.totalWeight() > 0) return nn(); |
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hppDout(error, |
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"This state has no neighbors to get to an admissible states."); |
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} |
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return EdgePtr_t(); |
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} |
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std::ostream& GuidedStateSelector::dotPrint(std::ostream& os, |
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dot::DrawingAttributes) const { |
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for (WeighedStates_t::const_iterator it = orderedStates_.begin(); |
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orderedStates_.end() != it; ++it) |
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it->second->dotPrint(os); |
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return os; |
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} |
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std::ostream& GuidedStateSelector::print(std::ostream& os) const { |
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return StateSelector::print(os); |
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} |
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} // namespace graph |
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} // namespace manipulation |
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} // namespace hpp |
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