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// Copyright (c) 2016, 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 <array> |
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#include <boost/regex.hpp> |
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#include <hpp/constraints/differentiable-function.hh> |
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#include <hpp/constraints/locked-joint.hh> |
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#include <hpp/manipulation/graph/edge.hh> |
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#include <hpp/manipulation/graph/guided-state-selector.hh> |
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#include <hpp/manipulation/graph/helper.hh> |
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#include <hpp/manipulation/graph/state-selector.hh> |
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#include <hpp/manipulation/graph/state.hh> |
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#include <hpp/manipulation/handle.hh> |
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#include <hpp/manipulation/problem-solver.hh> |
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#include <hpp/pinocchio/gripper.hh> |
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#include <hpp/util/debug.hh> |
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#include <iterator> |
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#include <pinocchio/multibody/model.hpp> |
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#include <unordered_map> |
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#include <unordered_set> |
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#define CASE_TO_STRING(var, value) \ |
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((var & value) ? std::string(#value) : std::string()) |
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namespace hpp { |
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namespace manipulation { |
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namespace graph { |
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namespace helper { |
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typedef constraints::Implicit Implicit; |
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typedef constraints::ImplicitPtr_t ImplicitPtr_t; |
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template <bool forPath> |
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void addToComp(const NumericalConstraints_t& nc, GraphComponentPtr_t comp) { |
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if (nc.empty()) return; |
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StatePtr_t n; |
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if (forPath) { |
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n = HPP_DYNAMIC_PTR_CAST(State, comp); |
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if (!n) throw std::logic_error("Wrong type: expect a State"); |
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} |
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for (const auto& c : nc) |
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if (c) { |
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if (forPath) |
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n->addNumericalConstraintForPath(c); |
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else |
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comp->addNumericalConstraint(c); |
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} |
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} |
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template <bool param> |
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void specifyFoliation(const NumericalConstraints_t& nc, LevelSetEdgePtr_t lse) { |
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for (const auto& c : nc) |
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if (c) { |
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if (param) |
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lse->insertParamConstraint(c); |
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else |
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lse->insertConditionConstraint(c); |
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} |
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} |
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void FoliatedManifold::addToState(StatePtr_t comp) const { |
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addToComp<false>(nc, comp); |
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addToComp<false>(nc_path, comp); |
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} |
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void FoliatedManifold::addToEdge(EdgePtr_t comp) const { |
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addToComp<false>(nc_fol, comp); |
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} |
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void FoliatedManifold::specifyFoliation(LevelSetEdgePtr_t lse) const { |
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for (const auto& c : nc) lse->insertConditionConstraint(c); |
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for (const auto& c : nc_fol) lse->insertConditionConstraint(c); |
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} |
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namespace { |
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template <int gCase> |
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struct CaseTraits { |
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static const bool pregrasp = (gCase & WithPreGrasp); |
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static const bool preplace = (gCase & WithPrePlace); |
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static const bool intersec = !((gCase & NoGrasp) || (gCase & NoPlace)); |
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static const bool valid = |
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((gCase & WithPreGrasp) || (gCase & GraspOnly) || (gCase & NoGrasp)) && |
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((gCase & WithPrePlace) || (gCase & PlaceOnly) || (gCase & NoPlace)) && |
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!((gCase & NoGrasp) && (gCase & NoPlace)); |
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static const std::size_t nbWaypoints = |
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(pregrasp ? 1 : 0) + (intersec ? 1 : 0) + (preplace ? 1 : 0); |
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static const std::size_t Nstates = 2 + nbWaypoints; |
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static const std::size_t Nedges = 1 + nbWaypoints; |
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// static const std::size_t iNpregrasp = pregrasp?1 + 1:nbWaypoints; |
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// static const std::size_t iNpreplace = pregrasp?1 + 1:nbWaypoints; |
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typedef std::array<StatePtr_t, Nstates> StateArray; |
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typedef std::array<EdgePtr_t, Nedges> EdgeArray; |
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static inline const StatePtr_t& Npregrasp(const StateArray& n) { |
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assert(pregrasp); |
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return n[1]; |
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} |
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static inline const StatePtr_t& Nintersec(const StateArray& n) { |
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assert(intersec); |
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return n[1 + (pregrasp ? 1 : 0)]; |
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} |
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static inline const StatePtr_t& Npreplace(const StateArray& n) { |
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assert(preplace); |
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return n[1 + (pregrasp ? 1 : 0) + (intersec ? 1 : 0)]; |
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} |
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static inline std::string caseToString() { |
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return CASE_TO_STRING(gCase, NoGrasp) + CASE_TO_STRING(gCase, GraspOnly) + |
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CASE_TO_STRING(gCase, WithPreGrasp) + " - " + |
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CASE_TO_STRING(gCase, NoPlace) + CASE_TO_STRING(gCase, PlaceOnly) + |
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CASE_TO_STRING(gCase, WithPrePlace); |
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} |
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static inline EdgePtr_t makeWE(const std::string& name, |
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const StatePtr_t& from, const StatePtr_t& to, |
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const size_type& w) { |
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if (Nedges > 1) { |
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WaypointEdgePtr_t we = static_pointer_cast<WaypointEdge>( |
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from->linkTo(name, to, w, WaypointEdge::create)); |
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we->nbWaypoints(nbWaypoints); |
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return we; |
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} else |
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return from->linkTo(name, to, w, Edge::create); |
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} |
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static inline StateArray makeWaypoints(const StatePtr_t& from, |
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const StatePtr_t& to, |
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const std::string& name) { |
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StateSelectorPtr_t ns = from->parentGraph()->stateSelector(); |
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StateArray states; |
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std::size_t r = 0; |
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states[r] = from; |
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++r; |
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if (pregrasp) { |
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states[r] = ns->createState(name + "_pregrasp", true); |
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++r; |
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} |
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if (intersec) { |
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states[r] = ns->createState(name + "_intersec", true); |
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++r; |
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} |
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if (preplace) { |
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states[r] = ns->createState(name + "_preplace", true); |
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++r; |
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} |
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states[r] = to; |
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return states; |
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} |
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static inline EdgePtr_t makeLSEgrasp(const std::string& name, |
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const StateArray& n, const EdgeArray& e, |
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const size_type w, |
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LevelSetEdgePtr_t& gls) { |
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if (Nedges > 1) { |
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const std::size_t T = (pregrasp ? 1 : 0) + (intersec ? 1 : 0); |
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WaypointEdgePtr_t we = static_pointer_cast<WaypointEdge>( |
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n.front()->linkTo(name + "_ls", n.back(), w, WaypointEdge::create)); |
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we->nbWaypoints(nbWaypoints); |
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gls = linkWaypoint<LevelSetEdge>(n, T - 1, T, name, "ls"); |
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for (std::size_t i = 0; i < Nedges; ++i) |
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we->setWaypoint(i, e[i], n[i + 1]); |
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we->setWaypoint(T - 1, gls, n[T]); |
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gls->state(n.front()); |
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gls->setShort(pregrasp); |
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return we; |
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} else { |
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assert(gCase == (GraspOnly | NoPlace) && |
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"Cannot implement a LevelSetEdge for grasping"); |
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gls = static_pointer_cast<LevelSetEdge>( |
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n.front()->linkTo(name + "_ls", n.back(), w, LevelSetEdge::create)); |
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return gls; |
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} |
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} |
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static inline EdgePtr_t makeLSEplace(const std::string& name, |
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const StateArray& n, const EdgeArray& e, |
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const size_type w, |
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LevelSetEdgePtr_t& pls) { |
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if (Nedges > 1) { |
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const std::size_t T = (pregrasp ? 1 : 0) + (intersec ? 1 : 0); |
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WaypointEdgePtr_t we = static_pointer_cast<WaypointEdge>( |
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n.back()->linkTo(name + "_ls", n.front(), w, WaypointEdge::create)); |
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we->nbWaypoints(nbWaypoints); |
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pls = linkWaypoint<LevelSetEdge>(n, T + 1, T, name, "ls"); |
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// for (std::size_t i = Nedges - 1; i != 0; --i) |
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for (std::size_t k = 0; k < Nedges; ++k) { |
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std::size_t i = Nedges - 1 - k; |
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we->setWaypoint(Nedges - 1 - i, e[i], n[i]); |
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} |
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we->setWaypoint(Nedges - 1 - T, pls, n[T]); |
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pls->state(n.back()); |
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pls->setShort(preplace); |
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return we; |
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} else { |
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assert(gCase == (NoGrasp | PlaceOnly) && |
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"Cannot implement a LevelSetEdge for placement"); |
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pls = static_pointer_cast<LevelSetEdge>( |
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n.back()->linkTo(name + "_ls", n.front(), w, LevelSetEdge::create)); |
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return pls; |
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} |
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} |
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template <typename EdgeType> |
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static inline shared_ptr<EdgeType> linkWaypoint( |
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const StateArray& states, const std::size_t& iF, const std::size_t& iT, |
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const std::string& prefix, const std::string& suffix = "") { |
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std::stringstream ss; |
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ss << prefix << "_" << iF << iT; |
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if (suffix.length() > 0) ss << "_" << suffix; |
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return static_pointer_cast<EdgeType>( |
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states[iF]->linkTo(ss.str(), states[iT], -1, EdgeType::create)); |
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} |
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template <bool forward> |
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static inline EdgeArray linkWaypoints(const StateArray& states, |
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const EdgePtr_t& edge, |
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const std::string& name) { |
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EdgeArray e; |
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WaypointEdgePtr_t we = HPP_DYNAMIC_PTR_CAST(WaypointEdge, edge); |
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if (forward) |
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for (std::size_t i = 0; i < Nedges; ++i) { |
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e[i] = linkWaypoint<Edge>(states, i, i + 1, name); |
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we->setWaypoint(i, e[i], states[i + 1]); |
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} |
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else |
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// for (std::size_t i = Nedges - 1; i != 0; --i) { |
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for (std::size_t k = 0; k < Nedges; ++k) { |
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std::size_t i = Nedges - 1 - k; |
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e[i] = linkWaypoint<Edge>(states, i + 1, i, name); |
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we->setWaypoint(Nedges - 1 - i, e[i], states[i]); |
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} |
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return e; |
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} |
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static inline void setStateConstraints(const StateArray& n, |
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const FoliatedManifold& g, |
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const FoliatedManifold& pg, |
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const FoliatedManifold& p, |
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const FoliatedManifold& pp, |
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const FoliatedManifold& m) { |
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// From and to are not populated automatically |
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// to avoid duplicates. |
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if (pregrasp) { |
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p.addToState(Npregrasp(n)); |
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pg.addToState(Npregrasp(n)); |
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m.addToState(Npregrasp(n)); |
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} |
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if (intersec) { |
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p.addToState(Nintersec(n)); |
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g.addToState(Nintersec(n)); |
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m.addToState(Nintersec(n)); |
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} |
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if (preplace) { |
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pp.addToState(Npreplace(n)); |
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g.addToState(Npreplace(n)); |
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m.addToState(Npreplace(n)); |
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} |
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} |
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static inline void setEdgeConstraints(const EdgeArray& e, |
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const FoliatedManifold& g, |
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const FoliatedManifold& p, |
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const FoliatedManifold& m) { |
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// The border B |
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const std::size_t B = (pregrasp ? 1 : 0) + (intersec ? 1 : 0); |
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for (std::size_t i = 0; i < B; ++i) p.addToEdge(e[i]); |
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for (std::size_t i = B; i < Nedges; ++i) g.addToEdge(e[i]); |
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for (std::size_t i = 0; i < Nedges; ++i) m.addToEdge(e[i]); |
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} |
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template <bool forward> |
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✗ |
static inline void setEdgeProp(const EdgeArray& e, const StateArray& n) { |
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/// Last is short |
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const std::size_t K = (forward ? 1 : 0); |
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for (std::size_t i = K; i < Nedges - 1 + K; ++i) e[i]->setShort(true); |
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// The border B |
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std::size_t B; |
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if ((gCase & NoGrasp)) // There is no grasp |
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B = 0; |
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else // There is a grasp |
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B = 1 + (pregrasp ? 1 : 0); |
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for (std::size_t i = 0; i < B; ++i) e[i]->state(n[0]); |
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for (std::size_t i = B; i < Nedges; ++i) e[i]->state(n[Nstates - 1]); |
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} |
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}; |
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} // namespace |
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template <int gCase> |
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✗ |
Edges_t createEdges(const std::string& forwName, const std::string& backName, |
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const StatePtr_t& from, const StatePtr_t& to, |
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const size_type& wForw, const size_type& wBack, |
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const FoliatedManifold& grasp, |
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const FoliatedManifold& pregrasp, |
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const FoliatedManifold& place, |
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|
|
const FoliatedManifold& preplace, const bool levelSetGrasp, |
| 322 |
|
|
const bool levelSetPlace, |
| 323 |
|
|
const FoliatedManifold& submanifoldDef) { |
| 324 |
|
|
typedef CaseTraits<gCase> T; |
| 325 |
|
|
hppDout(info, "Creating edges " << forwName << " and " << backName |
| 326 |
|
|
<< "\ncase is " << T::caseToString()); |
| 327 |
|
|
assert(T::valid && "Not a valid case."); |
| 328 |
|
|
typedef typename T::StateArray StateArray; |
| 329 |
|
|
typedef typename T::EdgeArray EdgeArray; |
| 330 |
|
|
|
| 331 |
|
|
// Create the edges |
| 332 |
|
✗ |
EdgePtr_t weForw = T::makeWE(forwName, from, to, wForw), |
| 333 |
|
✗ |
weBack = T::makeWE(backName, to, from, wBack), weForwLs, weBackLs; |
| 334 |
|
|
|
| 335 |
|
✗ |
std::string name = forwName; |
| 336 |
|
✗ |
StateArray n = T::makeWaypoints(from, to, name); |
| 337 |
|
|
|
| 338 |
|
✗ |
EdgeArray eF = T::template linkWaypoints<true>(n, weForw, name); |
| 339 |
|
|
|
| 340 |
|
|
// Set the states constraints |
| 341 |
|
|
// Note that submanifold is not taken into account for states |
| 342 |
|
|
// because the edges constraints will enforce configuration to stay |
| 343 |
|
|
// in a leaf, and so in the manifold itself. |
| 344 |
|
✗ |
T::setStateConstraints(n, grasp, pregrasp, place, preplace, submanifoldDef); |
| 345 |
|
|
|
| 346 |
|
|
// Set the edges properties |
| 347 |
|
✗ |
T::template setEdgeProp<true>(eF, n); |
| 348 |
|
|
|
| 349 |
|
|
// Set the edges constraints |
| 350 |
|
✗ |
T::setEdgeConstraints(eF, grasp, place, submanifoldDef); |
| 351 |
|
|
|
| 352 |
|
✗ |
LevelSetEdgePtr_t gls; |
| 353 |
|
✗ |
if (levelSetGrasp) weForwLs = T::makeLSEgrasp(name, n, eF, 10 * wForw, gls); |
| 354 |
|
|
|
| 355 |
|
|
// Populate bacward edge |
| 356 |
|
✗ |
name = backName; |
| 357 |
|
✗ |
EdgeArray eB = T::template linkWaypoints<false>(n, weBack, name); |
| 358 |
|
|
|
| 359 |
|
✗ |
T::template setEdgeProp<false>(eB, n); |
| 360 |
|
|
|
| 361 |
|
✗ |
T::setEdgeConstraints(eB, grasp, place, submanifoldDef); |
| 362 |
|
|
|
| 363 |
|
✗ |
LevelSetEdgePtr_t pls; |
| 364 |
|
✗ |
if (levelSetPlace) weBackLs = T::makeLSEplace(name, n, eB, 10 * wBack, pls); |
| 365 |
|
|
|
| 366 |
|
✗ |
Edges_t ret{weForw, weBack}; |
| 367 |
|
|
|
| 368 |
|
✗ |
if (levelSetPlace) { |
| 369 |
|
✗ |
if (!place.foliated()) { |
| 370 |
|
|
hppDout(warning, |
| 371 |
|
|
"You asked for a LevelSetEdge for placement, " |
| 372 |
|
|
"but did not specify the target foliation. " |
| 373 |
|
|
"It will have no effect"); |
| 374 |
|
|
} |
| 375 |
|
✗ |
grasp.addToEdge(pls); |
| 376 |
|
✗ |
place.specifyFoliation(pls); |
| 377 |
|
✗ |
submanifoldDef.addToEdge(pls); |
| 378 |
|
✗ |
pls->buildHistogram(); |
| 379 |
|
✗ |
place.addToEdge(weBackLs); |
| 380 |
|
✗ |
submanifoldDef.addToEdge(weBackLs); |
| 381 |
|
✗ |
ret.push_back(weBackLs); |
| 382 |
|
|
} |
| 383 |
|
✗ |
if (levelSetGrasp) { |
| 384 |
|
✗ |
if (!grasp.foliated()) { |
| 385 |
|
|
hppDout(warning, |
| 386 |
|
|
"You asked for a LevelSetEdge for grasping, " |
| 387 |
|
|
"but did not specify the target foliation. " |
| 388 |
|
|
"It will have no effect"); |
| 389 |
|
|
} |
| 390 |
|
✗ |
place.addToEdge(gls); |
| 391 |
|
✗ |
grasp.specifyFoliation(gls); |
| 392 |
|
✗ |
submanifoldDef.addToEdge(gls); |
| 393 |
|
✗ |
gls->buildHistogram(); |
| 394 |
|
✗ |
grasp.addToEdge(weForwLs); |
| 395 |
|
✗ |
submanifoldDef.addToEdge(weForwLs); |
| 396 |
|
✗ |
ret.push_back(weForwLs); |
| 397 |
|
|
} |
| 398 |
|
|
|
| 399 |
|
✗ |
return ret; |
| 400 |
|
|
} |
| 401 |
|
|
|
| 402 |
|
✗ |
EdgePtr_t createLoopEdge(const std::string& loopName, const StatePtr_t& state, |
| 403 |
|
|
const size_type& w, const bool levelSet, |
| 404 |
|
|
const FoliatedManifold& submanifoldDef) { |
| 405 |
|
|
// Create the edges |
| 406 |
|
✗ |
EdgePtr_t loop; |
| 407 |
|
✗ |
if (levelSet) |
| 408 |
|
✗ |
loop = state->linkTo(loopName, state, w, LevelSetEdge::create); |
| 409 |
|
|
else |
| 410 |
|
✗ |
loop = state->linkTo(loopName, state, w, Edge::create); |
| 411 |
|
|
|
| 412 |
|
✗ |
loop->state(state); |
| 413 |
|
✗ |
submanifoldDef.addToEdge(loop); |
| 414 |
|
|
|
| 415 |
|
✗ |
if (levelSet) { |
| 416 |
|
✗ |
if (!submanifoldDef.foliated()) { |
| 417 |
|
|
hppDout(warning, |
| 418 |
|
|
"You asked for a LevelSetEdge for looping, " |
| 419 |
|
|
"but did not specify the target foliation. " |
| 420 |
|
|
"It will have no effect"); |
| 421 |
|
|
} |
| 422 |
|
✗ |
LevelSetEdgePtr_t ls = HPP_DYNAMIC_PTR_CAST(LevelSetEdge, loop); |
| 423 |
|
✗ |
submanifoldDef.specifyFoliation(ls); |
| 424 |
|
✗ |
ls->buildHistogram(); |
| 425 |
|
|
} |
| 426 |
|
|
|
| 427 |
|
✗ |
return loop; |
| 428 |
|
|
} |
| 429 |
|
|
|
| 430 |
|
✗ |
void graspManifold(const GripperPtr_t& gripper, const HandlePtr_t& handle, |
| 431 |
|
|
FoliatedManifold& grasp, FoliatedManifold& pregrasp) { |
| 432 |
|
✗ |
ImplicitPtr_t gc = handle->createGrasp(gripper, ""); |
| 433 |
|
✗ |
grasp.nc.push_back(gc); |
| 434 |
|
✗ |
grasp.nc_path.push_back(gc); |
| 435 |
|
✗ |
ImplicitPtr_t gcc = handle->createGraspComplement(gripper, ""); |
| 436 |
|
✗ |
if (gcc->function().outputSize() > 0) grasp.nc_fol.push_back(gcc); |
| 437 |
|
|
|
| 438 |
|
✗ |
const value_type c = handle->clearance() + gripper->clearance(); |
| 439 |
|
✗ |
ImplicitPtr_t pgc = handle->createPreGrasp(gripper, c, ""); |
| 440 |
|
✗ |
pregrasp.nc.push_back(pgc); |
| 441 |
|
✗ |
pregrasp.nc_path.push_back(pgc); |
| 442 |
|
|
} |
| 443 |
|
|
|
| 444 |
|
✗ |
void strictPlacementManifold(const ImplicitPtr_t placement, |
| 445 |
|
|
const ImplicitPtr_t preplacement, |
| 446 |
|
|
const ImplicitPtr_t placementComplement, |
| 447 |
|
|
FoliatedManifold& place, |
| 448 |
|
|
FoliatedManifold& preplace) { |
| 449 |
|
✗ |
place.nc.push_back(placement); |
| 450 |
|
✗ |
place.nc_path.push_back(placement); |
| 451 |
|
✗ |
if (placementComplement && placementComplement->function().outputSize() > 0) |
| 452 |
|
✗ |
place.nc_fol.push_back(placementComplement); |
| 453 |
|
|
|
| 454 |
|
✗ |
preplace.nc.push_back(preplacement); |
| 455 |
|
✗ |
preplace.nc_path.push_back(preplacement); |
| 456 |
|
|
} |
| 457 |
|
|
|
| 458 |
|
✗ |
void relaxedPlacementManifold(const ImplicitPtr_t placement, |
| 459 |
|
|
const ImplicitPtr_t preplacement, |
| 460 |
|
|
const LockedJoints_t objectLocks, |
| 461 |
|
|
FoliatedManifold& place, |
| 462 |
|
|
FoliatedManifold& preplace) { |
| 463 |
|
✗ |
if (placement) { |
| 464 |
|
✗ |
place.nc.push_back(placement); |
| 465 |
|
|
// The placement constraints are not required in the path, as long as |
| 466 |
|
|
// they are satisfied at both ends and the object does not move. The |
| 467 |
|
|
// former condition is ensured by the placement constraints on both |
| 468 |
|
|
// ends and the latter is ensure by the LockedJoint constraints. |
| 469 |
|
✗ |
place.nc_path.push_back(placement); |
| 470 |
|
|
} |
| 471 |
|
✗ |
std::copy(objectLocks.begin(), objectLocks.end(), |
| 472 |
|
✗ |
std::back_inserter(place.lj_fol)); |
| 473 |
|
|
|
| 474 |
|
✗ |
if (placement && preplacement) { |
| 475 |
|
✗ |
preplace.nc.push_back(preplacement); |
| 476 |
|
|
// preplace.nc_path.push_back (preplacement); |
| 477 |
|
|
} |
| 478 |
|
|
} |
| 479 |
|
|
|
| 480 |
|
|
namespace { |
| 481 |
|
|
typedef std::size_t index_t; |
| 482 |
|
|
typedef std::vector<index_t> IndexV_t; |
| 483 |
|
|
typedef std::list<index_t> IndexL_t; |
| 484 |
|
|
typedef std::pair<index_t, index_t> Grasp_t; |
| 485 |
|
|
typedef std::tuple<StatePtr_t, FoliatedManifold> StateAndManifold_t; |
| 486 |
|
|
// typedef std::vector <index_t, index_t> GraspV_t; |
| 487 |
|
|
/// GraspV_t corresponds to a unique ID of a permutation. |
| 488 |
|
|
/// - its size is the number of grippers, |
| 489 |
|
|
/// - the values correpond to the index of the handle (0..nbHandle-1), or |
| 490 |
|
|
/// nbHandle to mean no handle. |
| 491 |
|
|
typedef std::vector<index_t> GraspV_t; |
| 492 |
|
|
struct Result; |
| 493 |
|
|
struct CompiledRule { |
| 494 |
|
|
enum Status { Accept, Refuse, NoMatch, Undefined }; |
| 495 |
|
|
std::vector<boost::regex> handles; |
| 496 |
|
|
Status status; |
| 497 |
|
|
CompiledRule(const Result& res, const Rule& r); |
| 498 |
|
✗ |
Status check(const std::vector<std::string>& names, const GraspV_t& g) const { |
| 499 |
|
✗ |
const std::size_t nG = g.size(); |
| 500 |
|
✗ |
assert(nG == handles.size()); |
| 501 |
|
✗ |
for (std::size_t i = 0; i < nG; ++i) { |
| 502 |
|
✗ |
if (handles[i].empty()) continue; |
| 503 |
|
✗ |
if (!boost::regex_match(names[g[i]], handles[i])) return NoMatch; |
| 504 |
|
|
} |
| 505 |
|
✗ |
return status; |
| 506 |
|
|
} |
| 507 |
|
|
}; |
| 508 |
|
|
typedef std::vector<CompiledRule> CompiledRules_t; |
| 509 |
|
|
|
| 510 |
|
|
struct Result { |
| 511 |
|
|
ProblemSolverPtr_t ps; |
| 512 |
|
|
GraphPtr_t graph; |
| 513 |
|
|
typedef unsigned long stateid_type; |
| 514 |
|
|
std::unordered_map<stateid_type, StateAndManifold_t> states; |
| 515 |
|
|
typedef std::pair<stateid_type, stateid_type> edgeid_type; |
| 516 |
|
|
struct edgeid_hash { |
| 517 |
|
|
std::hash<edgeid_type::first_type> first; |
| 518 |
|
|
std::hash<edgeid_type::second_type> second; |
| 519 |
|
✗ |
std::size_t operator()(const edgeid_type& eid) const { |
| 520 |
|
✗ |
return first(eid.first) + second(eid.second); |
| 521 |
|
|
} |
| 522 |
|
|
}; |
| 523 |
|
|
std::unordered_set<edgeid_type, edgeid_hash> edges; |
| 524 |
|
|
std::vector<std::array<ImplicitPtr_t, 3> > graspCs; |
| 525 |
|
|
index_t nG, nOH; |
| 526 |
|
|
GraspV_t dims; |
| 527 |
|
|
const Grippers_t& gs; |
| 528 |
|
|
const Objects_t& ohs; |
| 529 |
|
|
std::vector<std::string> handleNames; |
| 530 |
|
|
CompiledRules_t rules; |
| 531 |
|
|
CompiledRule::Status defaultAcceptationPolicy; |
| 532 |
|
|
|
| 533 |
|
✗ |
Result(const ProblemSolverPtr_t problem, const Grippers_t& grippers, |
| 534 |
|
|
const Objects_t& objects, GraphPtr_t g) |
| 535 |
|
✗ |
: ps(problem), |
| 536 |
|
✗ |
graph(g), |
| 537 |
|
✗ |
nG(grippers.size()), |
| 538 |
|
✗ |
nOH(0), |
| 539 |
|
✗ |
gs(grippers), |
| 540 |
|
✗ |
ohs(objects), |
| 541 |
|
✗ |
defaultAcceptationPolicy(CompiledRule::Refuse) { |
| 542 |
|
✗ |
for (const Object_t& o : objects) { |
| 543 |
|
✗ |
nOH += std::get<1>(o).size(); |
| 544 |
|
✗ |
for (const HandlePtr_t& h : std::get<1>(o)) |
| 545 |
|
✗ |
handleNames.push_back(h->name()); |
| 546 |
|
|
} |
| 547 |
|
✗ |
handleNames.push_back(""); |
| 548 |
|
✗ |
dims.resize(nG); |
| 549 |
|
✗ |
dims[0] = nOH + 1; |
| 550 |
|
✗ |
for (index_t i = 1; i < nG; ++i) dims[i] = dims[i - 1] * (nOH + 1); |
| 551 |
|
✗ |
graspCs.resize(nG * nOH); |
| 552 |
|
|
} |
| 553 |
|
|
|
| 554 |
|
✗ |
void setRules(const Rules_t& r) { |
| 555 |
|
✗ |
for (Rules_t::const_iterator _r = r.begin(); _r != r.end(); ++_r) |
| 556 |
|
✗ |
rules.push_back(CompiledRule(*this, *_r)); |
| 557 |
|
|
} |
| 558 |
|
|
|
| 559 |
|
✗ |
bool graspIsAllowed(const GraspV_t& idxOH) const { |
| 560 |
|
✗ |
assert(idxOH.size() == nG); |
| 561 |
|
✗ |
for (std::size_t r = 0; r < rules.size(); ++r) { |
| 562 |
|
✗ |
switch (rules[r].check(handleNames, idxOH)) { |
| 563 |
|
✗ |
case CompiledRule::Accept: |
| 564 |
|
✗ |
return true; |
| 565 |
|
✗ |
case CompiledRule::Refuse: |
| 566 |
|
✗ |
return false; |
| 567 |
|
✗ |
case CompiledRule::NoMatch: |
| 568 |
|
✗ |
continue; // Check next rule |
| 569 |
|
✗ |
default: |
| 570 |
|
✗ |
throw std::invalid_argument("Rules are ill-defined."); |
| 571 |
|
|
} |
| 572 |
|
|
} |
| 573 |
|
✗ |
return (defaultAcceptationPolicy == CompiledRule::Accept); |
| 574 |
|
|
} |
| 575 |
|
|
|
| 576 |
|
✗ |
inline stateid_type stateid(const GraspV_t& iG) { |
| 577 |
|
✗ |
stateid_type iGOH = iG[0]; |
| 578 |
|
|
stateid_type res; |
| 579 |
|
✗ |
for (index_t i = 1; i < nG; ++i) { |
| 580 |
|
✗ |
res = iGOH + dims[i] * (iG[i]); |
| 581 |
|
|
if (res < iGOH) { |
| 582 |
|
|
hppDout(info, "State ID overflowed. There are too many states..."); |
| 583 |
|
|
} |
| 584 |
|
✗ |
iGOH = res; |
| 585 |
|
|
// iGOH += dims[i] * (iG[i]); |
| 586 |
|
|
} |
| 587 |
|
✗ |
return iGOH; |
| 588 |
|
|
} |
| 589 |
|
|
|
| 590 |
|
|
bool hasState(const GraspV_t& iG) { return states.count(stateid(iG)) > 0; } |
| 591 |
|
|
|
| 592 |
|
✗ |
StateAndManifold_t& operator()(const GraspV_t& iG) { |
| 593 |
|
✗ |
return states[stateid(iG)]; |
| 594 |
|
|
} |
| 595 |
|
|
|
| 596 |
|
✗ |
bool hasEdge(const GraspV_t& g1, const GraspV_t& g2) { |
| 597 |
|
✗ |
return edges.count(edgeid_type(stateid(g1), stateid(g2))) > 0; |
| 598 |
|
|
} |
| 599 |
|
|
|
| 600 |
|
✗ |
void addEdge(const GraspV_t& g1, const GraspV_t& g2) { |
| 601 |
|
✗ |
edges.insert(edgeid_type(stateid(g1), stateid(g2))); |
| 602 |
|
|
} |
| 603 |
|
|
|
| 604 |
|
✗ |
inline std::array<ImplicitPtr_t, 3>& graspConstraint(const index_t& iG, |
| 605 |
|
|
const index_t& iOH) { |
| 606 |
|
✗ |
std::array<ImplicitPtr_t, 3>& gcs = graspCs[iG * nOH + iOH]; |
| 607 |
|
✗ |
if (!gcs[0]) { |
| 608 |
|
|
hppDout(info, |
| 609 |
|
|
"Create grasps constraints for (" << iG << ", " << iOH << ")"); |
| 610 |
|
✗ |
const GripperPtr_t& g(gs[iG]); |
| 611 |
|
✗ |
const HandlePtr_t& h(handle(iOH)); |
| 612 |
|
✗ |
const std::string& grasp = g->name() + " grasps " + h->name(); |
| 613 |
|
✗ |
if (!ps->numericalConstraints.has(grasp)) { |
| 614 |
|
✗ |
ps->createGraspConstraint(grasp, g->name(), h->name()); |
| 615 |
|
|
} |
| 616 |
|
✗ |
gcs[0] = ps->numericalConstraints.get(grasp); |
| 617 |
|
✗ |
gcs[1] = ps->numericalConstraints.get(grasp + "/complement"); |
| 618 |
|
✗ |
const std::string& pregrasp = g->name() + " pregrasps " + h->name(); |
| 619 |
|
✗ |
if (!ps->numericalConstraints.has(pregrasp)) { |
| 620 |
|
✗ |
ps->createPreGraspConstraint(pregrasp, g->name(), h->name()); |
| 621 |
|
|
} |
| 622 |
|
✗ |
gcs[2] = ps->numericalConstraints.get(pregrasp); |
| 623 |
|
|
} |
| 624 |
|
✗ |
return gcs; |
| 625 |
|
|
} |
| 626 |
|
|
|
| 627 |
|
✗ |
const Object_t& object(const index_t& iOH) const { |
| 628 |
|
✗ |
index_t iH = iOH; |
| 629 |
|
✗ |
for (const Object_t& o : ohs) { |
| 630 |
|
✗ |
if (iH < std::get<1>(o).size()) return o; |
| 631 |
|
✗ |
iH -= std::get<1>(o).size(); |
| 632 |
|
|
} |
| 633 |
|
✗ |
throw std::out_of_range("Handle index"); |
| 634 |
|
|
} |
| 635 |
|
|
|
| 636 |
|
✗ |
const HandlePtr_t& handle(const index_t& iOH) const { |
| 637 |
|
✗ |
index_t iH = iOH; |
| 638 |
|
✗ |
for (const Object_t& o : ohs) { |
| 639 |
|
✗ |
if (iH < std::get<1>(o).size()) return std::get<1>(o)[iH]; |
| 640 |
|
✗ |
iH -= std::get<1>(o).size(); |
| 641 |
|
|
} |
| 642 |
|
✗ |
throw std::out_of_range("Handle index"); |
| 643 |
|
|
} |
| 644 |
|
|
|
| 645 |
|
|
/// Check if an object can be placed |
| 646 |
|
✗ |
bool objectCanBePlaced(const Object_t& o) const { |
| 647 |
|
|
// If the object has no joint, then it cannot be placed. |
| 648 |
|
✗ |
return (std::get<2>(std::get<0>(o)).size() > 0); |
| 649 |
|
|
} |
| 650 |
|
|
|
| 651 |
|
|
/// Check is an object is grasped by the GraspV_t |
| 652 |
|
✗ |
bool isObjectGrasped(const GraspV_t& idxOH, const Object_t& o) const { |
| 653 |
|
✗ |
assert(idxOH.size() == nG); |
| 654 |
|
✗ |
for (std::size_t i = 0; i < idxOH.size(); ++i) |
| 655 |
|
✗ |
if (idxOH[i] < nOH) // This grippers grasps an object |
| 656 |
|
✗ |
if (std::get<2>(o) == std::get<2>(object(idxOH[i]))) return true; |
| 657 |
|
✗ |
return false; |
| 658 |
|
|
} |
| 659 |
|
|
|
| 660 |
|
|
/// Get a state name from a set of grasps |
| 661 |
|
✗ |
std::string name(const GraspV_t& idxOH, bool abbrev = false) const { |
| 662 |
|
✗ |
assert(idxOH.size() == nG); |
| 663 |
|
✗ |
std::stringstream ss; |
| 664 |
|
✗ |
bool first = true; |
| 665 |
|
✗ |
std::string sepGOH = (abbrev ? "-" : " grasps "), |
| 666 |
|
✗ |
sep = (abbrev ? ":" : " : "); |
| 667 |
|
✗ |
for (std::size_t i = 0; i < idxOH.size(); ++i) { |
| 668 |
|
✗ |
if (idxOH[i] < nOH) { // This grippers grasps an object |
| 669 |
|
✗ |
if (first) |
| 670 |
|
✗ |
first = false; |
| 671 |
|
|
else |
| 672 |
|
✗ |
ss << sep; |
| 673 |
|
✗ |
if (abbrev) |
| 674 |
|
✗ |
ss << i << sepGOH << idxOH[i]; |
| 675 |
|
|
else |
| 676 |
|
✗ |
ss << gs[i]->name() << sepGOH << handle(idxOH[i])->name(); |
| 677 |
|
|
} |
| 678 |
|
|
} |
| 679 |
|
✗ |
if (first) return (abbrev ? "f" : "free"); |
| 680 |
|
✗ |
return ss.str(); |
| 681 |
|
|
} |
| 682 |
|
|
|
| 683 |
|
|
/// Get an edge name from a set of grasps |
| 684 |
|
✗ |
std::pair<std::string, std::string> name(const GraspV_t& gFrom, |
| 685 |
|
|
const GraspV_t& gTo, |
| 686 |
|
|
const index_t iG) { |
| 687 |
|
✗ |
const std::string nf(name(gFrom, true)), nt(name(gTo, true)); |
| 688 |
|
✗ |
std::stringstream ssForw, ssBack; |
| 689 |
|
✗ |
const char sep[] = " | "; |
| 690 |
|
✗ |
ssForw << gs[iG]->name() << " > " << handle(gTo[iG])->name() << sep << nf; |
| 691 |
|
✗ |
ssBack << gs[iG]->name() << " < " << handle(gTo[iG])->name() << sep << nt; |
| 692 |
|
✗ |
return std::make_pair(ssForw.str(), ssBack.str()); |
| 693 |
|
|
} |
| 694 |
|
|
|
| 695 |
|
✗ |
std::string nameLoopEdge(const GraspV_t& gFrom) { |
| 696 |
|
✗ |
const std::string nf(name(gFrom, true)); |
| 697 |
|
✗ |
std::stringstream ss; |
| 698 |
|
✗ |
const char sep[] = " | "; |
| 699 |
|
✗ |
ss << "Loop" << sep << nf; |
| 700 |
|
✗ |
return ss.str(); |
| 701 |
|
|
} |
| 702 |
|
|
|
| 703 |
|
✗ |
void graspManifold(const index_t& iG, const index_t& iOH, |
| 704 |
|
|
FoliatedManifold& grasp, FoliatedManifold& pregrasp) { |
| 705 |
|
✗ |
std::array<ImplicitPtr_t, 3>& gcs = graspConstraint(iG, iOH); |
| 706 |
|
✗ |
grasp.nc.push_back(gcs[0]); |
| 707 |
|
✗ |
grasp.nc_path.push_back(gcs[0]); |
| 708 |
|
✗ |
if (gcs[1]->function().outputSize() > 0) grasp.nc_fol.push_back(gcs[1]); |
| 709 |
|
|
|
| 710 |
|
✗ |
pregrasp.nc.push_back(gcs[2]); |
| 711 |
|
✗ |
pregrasp.nc_path.push_back(gcs[2]); |
| 712 |
|
|
} |
| 713 |
|
|
}; |
| 714 |
|
|
|
| 715 |
|
✗ |
CompiledRule::CompiledRule(const Result& res, const Rule& r) |
| 716 |
|
✗ |
: handles(res.nG), status(r.link_ ? Accept : Refuse) { |
| 717 |
|
✗ |
assert(r.grippers_.size() == r.handles_.size()); |
| 718 |
|
✗ |
for (std::size_t j = 0; j < r.grippers_.size(); ++j) { |
| 719 |
|
✗ |
boost::regex gripper(r.grippers_[j]); |
| 720 |
|
✗ |
for (std::size_t i = 0; i < res.nG; ++i) { |
| 721 |
|
✗ |
if (boost::regex_match(res.gs[i]->name(), gripper)) { |
| 722 |
|
✗ |
assert(handles[i].empty() && |
| 723 |
|
|
"Two gripper regex match the different gripper names."); |
| 724 |
|
✗ |
handles[i] = r.handles_[j]; |
| 725 |
|
|
} |
| 726 |
|
|
} |
| 727 |
|
|
} |
| 728 |
|
|
} |
| 729 |
|
|
|
| 730 |
|
✗ |
const StateAndManifold_t& makeState(Result& r, const GraspV_t& g, |
| 731 |
|
|
const int priority) { |
| 732 |
|
✗ |
StateAndManifold_t& nam = r(g); |
| 733 |
|
✗ |
if (!std::get<0>(nam)) { |
| 734 |
|
|
hppDout(info, "Creating state " << r.name(g)); |
| 735 |
|
✗ |
std::get<0>(nam) = |
| 736 |
|
✗ |
r.graph->stateSelector()->createState(r.name(g), false, priority); |
| 737 |
|
|
// Loop over the grippers and create grasping constraints if required |
| 738 |
|
✗ |
FoliatedManifold unused; |
| 739 |
|
✗ |
std::set<index_t> idxsOH; |
| 740 |
|
✗ |
for (index_t i = 0; i < r.nG; ++i) { |
| 741 |
|
✗ |
if (g[i] < r.nOH) { |
| 742 |
|
✗ |
idxsOH.insert(g[i]); |
| 743 |
|
✗ |
r.graspManifold(i, g[i], std::get<1>(nam), unused); |
| 744 |
|
|
} |
| 745 |
|
|
} |
| 746 |
|
✗ |
index_t iOH = 0; |
| 747 |
|
✗ |
for (const Object_t& o : r.ohs) { |
| 748 |
|
✗ |
if (!r.objectCanBePlaced(o)) continue; |
| 749 |
|
✗ |
bool oIsGrasped = false; |
| 750 |
|
|
// TODO: use the fact that the set is sorted. |
| 751 |
|
|
// for (const HandlePtr_t& h : std::get<0>(o)) |
| 752 |
|
✗ |
for (index_t i = 0; i < std::get<1>(o).size(); ++i) { |
| 753 |
|
✗ |
if (idxsOH.erase(iOH) == 1) oIsGrasped = true; |
| 754 |
|
✗ |
++iOH; |
| 755 |
|
|
} |
| 756 |
|
✗ |
if (!oIsGrasped) { |
| 757 |
|
✗ |
const auto& pc(std::get<0>(o)); |
| 758 |
|
✗ |
relaxedPlacementManifold(std::get<0>(pc), std::get<1>(pc), |
| 759 |
|
✗ |
std::get<2>(pc), std::get<1>(nam), unused); |
| 760 |
|
|
} |
| 761 |
|
|
} |
| 762 |
|
✗ |
std::get<1>(nam).addToState(std::get<0>(nam)); |
| 763 |
|
|
|
| 764 |
|
✗ |
createLoopEdge(r.nameLoopEdge(g), std::get<0>(nam), 0, false, |
| 765 |
|
|
// TODO std::get<1>(nam).foliated(), |
| 766 |
|
✗ |
std::get<1>(nam)); |
| 767 |
|
|
} |
| 768 |
|
✗ |
return nam; |
| 769 |
|
|
} |
| 770 |
|
|
|
| 771 |
|
|
/// Arguments are such that |
| 772 |
|
|
/// \li gTo[iG] != gFrom[iG] |
| 773 |
|
|
/// \li for all i != iG, gTo[iG] == gFrom[iG] |
| 774 |
|
✗ |
void makeEdge(Result& r, const GraspV_t& gFrom, const GraspV_t& gTo, |
| 775 |
|
|
const index_t iG, const int priority) { |
| 776 |
|
✗ |
if (r.hasEdge(gFrom, gTo)) { |
| 777 |
|
|
hppDout(warning, "Prevented creation of duplicated edge\nfrom " |
| 778 |
|
|
<< r.name(gFrom) << "\nto " << r.name(gTo)); |
| 779 |
|
✗ |
return; |
| 780 |
|
|
} |
| 781 |
|
✗ |
const StateAndManifold_t &from = makeState(r, gFrom, priority), |
| 782 |
|
✗ |
to = makeState(r, gTo, priority + 1); |
| 783 |
|
✗ |
const Object_t& o = r.object(gTo[iG]); |
| 784 |
|
|
|
| 785 |
|
|
// Detect when grasping an object already grasped. |
| 786 |
|
|
// or when there is no placement information for it. |
| 787 |
|
✗ |
bool noPlace = !r.objectCanBePlaced(o) || r.isObjectGrasped(gFrom, o); |
| 788 |
|
|
|
| 789 |
|
✗ |
FoliatedManifold grasp, pregrasp, place, preplace, submanifold; |
| 790 |
|
✗ |
r.graspManifold(iG, gTo[iG], grasp, pregrasp); |
| 791 |
|
✗ |
if (!noPlace) { |
| 792 |
|
✗ |
const auto& pc(std::get<0>(o)); |
| 793 |
|
✗ |
relaxedPlacementManifold(std::get<0>(pc), std::get<1>(pc), std::get<2>(pc), |
| 794 |
|
|
place, preplace); |
| 795 |
|
|
} |
| 796 |
|
✗ |
std::pair<std::string, std::string> names = r.name(gFrom, gTo, iG); |
| 797 |
|
|
{ |
| 798 |
|
✗ |
FoliatedManifold unused; |
| 799 |
|
✗ |
std::set<index_t> idxsOH; |
| 800 |
|
✗ |
for (index_t i = 0; i < r.nG; ++i) { |
| 801 |
|
✗ |
if (gFrom[i] < r.nOH) { |
| 802 |
|
✗ |
idxsOH.insert(gFrom[i]); |
| 803 |
|
✗ |
r.graspManifold(i, gFrom[i], submanifold, unused); |
| 804 |
|
|
} |
| 805 |
|
|
} |
| 806 |
|
✗ |
index_t iOH = 0; |
| 807 |
|
✗ |
for (const Object_t& o : r.ohs) { |
| 808 |
|
✗ |
if (!r.objectCanBePlaced(o)) continue; |
| 809 |
|
✗ |
bool oIsGrasped = false; |
| 810 |
|
✗ |
const index_t iOHstart = iOH; |
| 811 |
|
✗ |
for (; iOH < iOHstart + std::get<1>(o).size(); ++iOH) { |
| 812 |
|
✗ |
if (iOH == gTo[iG]) { |
| 813 |
|
✗ |
oIsGrasped = true; |
| 814 |
|
✗ |
iOH = iOHstart + std::get<1>(o).size(); |
| 815 |
|
✗ |
break; |
| 816 |
|
|
} |
| 817 |
|
✗ |
if (idxsOH.erase(iOH) == 1) oIsGrasped = true; |
| 818 |
|
|
} |
| 819 |
|
✗ |
if (!oIsGrasped) { |
| 820 |
|
✗ |
const auto& pc(std::get<0>(o)); |
| 821 |
|
✗ |
relaxedPlacementManifold(std::get<0>(pc), std::get<1>(pc), |
| 822 |
|
✗ |
std::get<2>(pc), submanifold, unused); |
| 823 |
|
|
} |
| 824 |
|
|
} |
| 825 |
|
|
} |
| 826 |
|
✗ |
if (pregrasp.empty()) { |
| 827 |
|
✗ |
if (noPlace) |
| 828 |
|
✗ |
createEdges<GraspOnly | NoPlace>( |
| 829 |
|
✗ |
names.first, names.second, std::get<0>(from), std::get<0>(to), 1, 1, |
| 830 |
|
✗ |
grasp, pregrasp, place, preplace, grasp.foliated(), place.foliated(), |
| 831 |
|
|
submanifold); |
| 832 |
|
✗ |
else if (preplace.empty()) |
| 833 |
|
✗ |
createEdges<GraspOnly | PlaceOnly>( |
| 834 |
|
✗ |
names.first, names.second, std::get<0>(from), std::get<0>(to), 1, 1, |
| 835 |
|
✗ |
grasp, pregrasp, place, preplace, grasp.foliated(), place.foliated(), |
| 836 |
|
|
submanifold); |
| 837 |
|
|
else { |
| 838 |
|
|
hppDout(error, "GraspOnly | WithPrePlace not implemeted yet"); |
| 839 |
|
|
/* |
| 840 |
|
|
createEdges <GraspOnly | WithPrePlace> ( |
| 841 |
|
|
names.first , names.second, |
| 842 |
|
|
std::get<0>(from) , std::get<0>(to), |
| 843 |
|
|
1 , 1, |
| 844 |
|
|
grasp , pregrasp, |
| 845 |
|
|
place , preplace, |
| 846 |
|
|
grasp.foliated () , place.foliated(), |
| 847 |
|
|
submanifold); // */ |
| 848 |
|
|
} |
| 849 |
|
|
} else { |
| 850 |
|
✗ |
if (noPlace) |
| 851 |
|
✗ |
createEdges<WithPreGrasp | NoPlace>( |
| 852 |
|
✗ |
names.first, names.second, std::get<0>(from), std::get<0>(to), 1, 1, |
| 853 |
|
✗ |
grasp, pregrasp, place, preplace, grasp.foliated(), place.foliated(), |
| 854 |
|
|
submanifold); |
| 855 |
|
✗ |
else if (preplace.empty()) |
| 856 |
|
✗ |
createEdges<WithPreGrasp | PlaceOnly>( |
| 857 |
|
✗ |
names.first, names.second, std::get<0>(from), std::get<0>(to), 1, 1, |
| 858 |
|
✗ |
grasp, pregrasp, place, preplace, grasp.foliated(), place.foliated(), |
| 859 |
|
|
submanifold); |
| 860 |
|
|
else |
| 861 |
|
✗ |
createEdges<WithPreGrasp | WithPrePlace>( |
| 862 |
|
✗ |
names.first, names.second, std::get<0>(from), std::get<0>(to), 1, 1, |
| 863 |
|
✗ |
grasp, pregrasp, place, preplace, grasp.foliated(), place.foliated(), |
| 864 |
|
|
submanifold); |
| 865 |
|
|
} |
| 866 |
|
✗ |
r.addEdge(gFrom, gTo); |
| 867 |
|
|
} |
| 868 |
|
|
|
| 869 |
|
|
/// idx are the available grippers |
| 870 |
|
✗ |
void recurseGrippers(Result& r, const IndexV_t& idx_g, const IndexV_t& idx_oh, |
| 871 |
|
|
const GraspV_t& grasps, const int depth) { |
| 872 |
|
✗ |
bool curGraspIsAllowed = r.graspIsAllowed(grasps); |
| 873 |
|
✗ |
if (curGraspIsAllowed) makeState(r, grasps, depth); |
| 874 |
|
|
|
| 875 |
|
✗ |
if (idx_g.empty() || idx_oh.empty()) return; |
| 876 |
|
✗ |
IndexV_t nIdx_g(idx_g.size() - 1); |
| 877 |
|
✗ |
IndexV_t nIdx_oh(idx_oh.size() - 1); |
| 878 |
|
✗ |
for (IndexV_t::const_iterator itx_g = idx_g.begin(); itx_g != idx_g.end(); |
| 879 |
|
✗ |
++itx_g) { |
| 880 |
|
|
// Copy all element except itx_g |
| 881 |
|
✗ |
std::copy(std::next(itx_g), idx_g.end(), |
| 882 |
|
|
std::copy(idx_g.begin(), itx_g, nIdx_g.begin())); |
| 883 |
|
✗ |
for (IndexV_t::const_iterator itx_oh = idx_oh.begin(); |
| 884 |
|
✗ |
itx_oh != idx_oh.end(); ++itx_oh) { |
| 885 |
|
|
// Create the edge for the selected grasp |
| 886 |
|
✗ |
GraspV_t nGrasps = grasps; |
| 887 |
|
✗ |
nGrasps[*itx_g] = *itx_oh; |
| 888 |
|
|
|
| 889 |
|
✗ |
bool nextGraspIsAllowed = r.graspIsAllowed(nGrasps); |
| 890 |
|
✗ |
if (nextGraspIsAllowed) makeState(r, nGrasps, depth + 1); |
| 891 |
|
|
|
| 892 |
|
✗ |
if (curGraspIsAllowed && nextGraspIsAllowed) |
| 893 |
|
✗ |
makeEdge(r, grasps, nGrasps, *itx_g, depth); |
| 894 |
|
|
|
| 895 |
|
|
// Copy all element except itx_oh |
| 896 |
|
✗ |
std::copy(std::next(itx_oh), idx_oh.end(), |
| 897 |
|
|
std::copy(idx_oh.begin(), itx_oh, nIdx_oh.begin())); |
| 898 |
|
|
// Do all the possible combination below this new grasp |
| 899 |
|
✗ |
recurseGrippers(r, nIdx_g, nIdx_oh, nGrasps, depth + 2); |
| 900 |
|
|
} |
| 901 |
|
|
} |
| 902 |
|
|
} |
| 903 |
|
|
} // namespace |
| 904 |
|
|
|
| 905 |
|
✗ |
void graphBuilder(const ProblemSolverPtr_t& ps, const Objects_t& objects, |
| 906 |
|
|
const Grippers_t& grippers, GraphPtr_t graph, |
| 907 |
|
|
const Rules_t& rules) { |
| 908 |
|
✗ |
if (!graph) throw std::logic_error("The graph must be initialized"); |
| 909 |
|
✗ |
StateSelectorPtr_t ns = graph->stateSelector(); |
| 910 |
|
✗ |
if (!ns) throw std::logic_error("The graph does not have a StateSelector"); |
| 911 |
|
|
|
| 912 |
|
✗ |
Result r(ps, grippers, objects, graph); |
| 913 |
|
✗ |
r.setRules(rules); |
| 914 |
|
|
|
| 915 |
|
✗ |
IndexV_t availG(r.nG), availOH(r.nOH); |
| 916 |
|
✗ |
for (index_t i = 0; i < r.nG; ++i) availG[i] = i; |
| 917 |
|
✗ |
for (index_t i = 0; i < r.nOH; ++i) availOH[i] = i; |
| 918 |
|
|
|
| 919 |
|
✗ |
GraspV_t iG(r.nG, r.nOH); |
| 920 |
|
|
|
| 921 |
|
✗ |
recurseGrippers(r, availG, availOH, iG, 0); |
| 922 |
|
|
|
| 923 |
|
|
hppDout(info, "Created a graph with " << r.states.size() |
| 924 |
|
|
<< " states " |
| 925 |
|
|
"and " |
| 926 |
|
|
<< r.edges.size() << " edges."); |
| 927 |
|
|
} |
| 928 |
|
|
|
| 929 |
|
✗ |
GraphPtr_t graphBuilder(const ProblemSolverPtr_t& ps, |
| 930 |
|
|
const std::string& graphName, const Strings_t& griNames, |
| 931 |
|
|
const std::vector<ObjectDef_t>& objs, |
| 932 |
|
|
const Strings_t& envNames, |
| 933 |
|
|
const std::vector<Rule>& rules, |
| 934 |
|
|
const value_type& prePlaceWidth) { |
| 935 |
|
✗ |
if (ps->graphs.has(graphName)) |
| 936 |
|
✗ |
throw std::invalid_argument("A graph named " + graphName + |
| 937 |
|
✗ |
" already exists."); |
| 938 |
|
|
|
| 939 |
|
✗ |
const Device& robot = *(ps->robot()); |
| 940 |
|
✗ |
const pinocchio::Model& model = robot.model(); |
| 941 |
|
✗ |
Grippers_t grippers(griNames.size()); |
| 942 |
|
✗ |
index_t i = 0; |
| 943 |
|
✗ |
for (const std::string& gn : griNames) { |
| 944 |
|
✗ |
grippers[i] = robot.grippers.get(gn); |
| 945 |
|
✗ |
++i; |
| 946 |
|
|
} |
| 947 |
|
✗ |
Objects_t objects(objs.size()); |
| 948 |
|
✗ |
i = 0; |
| 949 |
|
✗ |
const value_type margin = 1e-3; |
| 950 |
|
✗ |
bool prePlace = (prePlaceWidth > 0); |
| 951 |
|
✗ |
for (const ObjectDef_t& od : objs) { |
| 952 |
|
|
// Create handles |
| 953 |
|
✗ |
std::get<2>(objects[i]) = i; |
| 954 |
|
✗ |
std::get<1>(objects[i]).resize(od.handles.size()); |
| 955 |
|
✗ |
Handles_t::iterator it = std::get<1>(objects[i]).begin(); |
| 956 |
|
✗ |
for (const std::string& hn : od.handles) { |
| 957 |
|
✗ |
*it = robot.handles.get(hn); |
| 958 |
|
✗ |
++it; |
| 959 |
|
|
} |
| 960 |
|
|
// Create placement |
| 961 |
|
✗ |
const std::string placeN = "place_" + od.name; |
| 962 |
|
✗ |
const std::string preplaceN = "pre" + placeN; |
| 963 |
|
|
// If user provides constraint "place_objectName", |
| 964 |
|
|
// then |
| 965 |
|
|
// use this as placement and use "preplace_objectName" for |
| 966 |
|
|
// pre-placement if defined. |
| 967 |
|
|
// else if contact surfaces are defined and selected |
| 968 |
|
|
// create default placement constraint using the ProblemSolver |
| 969 |
|
|
// methods createPlacementConstraint and createPrePlacementConstraint |
| 970 |
|
✗ |
auto& pc(std::get<0>(objects[i])); |
| 971 |
|
✗ |
if (ps->numericalConstraints.has(placeN)) { |
| 972 |
|
✗ |
std::get<0>(pc) = ps->numericalConstraints.get(placeN); |
| 973 |
|
✗ |
if (ps->numericalConstraints.has(preplaceN)) { |
| 974 |
|
✗ |
std::get<1>(pc) = ps->numericalConstraints.get(preplaceN); |
| 975 |
|
|
} |
| 976 |
|
✗ |
} else if (!envNames.empty() && !od.shapes.empty()) { |
| 977 |
|
✗ |
ps->createPlacementConstraint(placeN, od.shapes, envNames, margin); |
| 978 |
|
✗ |
std::get<0>(pc) = ps->numericalConstraints.get(placeN); |
| 979 |
|
✗ |
if (prePlace) { |
| 980 |
|
✗ |
ps->createPrePlacementConstraint(preplaceN, od.shapes, envNames, margin, |
| 981 |
|
|
prePlaceWidth); |
| 982 |
|
✗ |
std::get<1>(pc) = ps->numericalConstraints.get(preplaceN); |
| 983 |
|
|
} |
| 984 |
|
|
} |
| 985 |
|
|
// Create object lock |
| 986 |
|
|
// Loop over all frames of object, detect joint and create locked |
| 987 |
|
|
// joint. |
| 988 |
|
✗ |
assert(robot.robotFrames(od.name).size() != 0); |
| 989 |
|
✗ |
for (const FrameIndex& f : robot.robotFrames(od.name)) { |
| 990 |
|
✗ |
if (model.frames[f].type != ::pinocchio::JOINT) continue; |
| 991 |
|
✗ |
const JointIndex j = model.frames[f].parent; |
| 992 |
|
✗ |
JointPtr_t oj(Joint::create(ps->robot(), j)); |
| 993 |
|
✗ |
LiegroupSpacePtr_t space(oj->configurationSpace()); |
| 994 |
|
✗ |
LiegroupElement lge(robot.currentConfiguration().segment( |
| 995 |
|
|
oj->rankInConfiguration(), oj->configSize()), |
| 996 |
|
✗ |
space); |
| 997 |
|
✗ |
LockedJointPtr_t lj = core::LockedJoint::create(oj, lge); |
| 998 |
|
✗ |
ps->numericalConstraints.add("lock_" + oj->name(), lj); |
| 999 |
|
✗ |
std::get<2>(pc).push_back(lj); |
| 1000 |
|
|
} |
| 1001 |
|
✗ |
++i; |
| 1002 |
|
|
} |
| 1003 |
|
✗ |
GraphPtr_t graph = Graph::create(graphName, ps->robot(), ps->problem()); |
| 1004 |
|
✗ |
ps->graphs.add(graphName, graph); |
| 1005 |
|
✗ |
ps->constraintGraph(graphName); |
| 1006 |
|
✗ |
graph->stateSelector( |
| 1007 |
|
✗ |
GuidedStateSelector::create("stateSelector", ps->roadmap())); |
| 1008 |
|
✗ |
graph->maxIterations(ps->maxIterProjection()); |
| 1009 |
|
✗ |
graph->errorThreshold(ps->errorThreshold()); |
| 1010 |
|
|
|
| 1011 |
|
✗ |
graphBuilder(ps, objects, grippers, graph, rules); |
| 1012 |
|
✗ |
return graph; |
| 1013 |
|
|
} |
| 1014 |
|
|
} // namespace helper |
| 1015 |
|
|
} // namespace graph |
| 1016 |
|
|
} // namespace manipulation |
| 1017 |
|
|
} // namespace hpp |
| 1018 |
|
|
|