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// Copyright (c) 2018, 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/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/path-optimization/random-shortcut.hh> |
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namespace hpp { |
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namespace manipulation { |
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namespace pathOptimization { |
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using core::PathPtr_t; |
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using core::PathVector; |
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using core::PathVectorPtr_t; |
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bool isShort(const PathVectorPtr_t& path, const value_type& t) { |
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value_type localT; |
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std::size_t i = path->rankAtParam(t, localT); |
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PathPtr_t p = path->pathAtRank(i); |
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PathVectorPtr_t pv = HPP_DYNAMIC_PTR_CAST(PathVector, p); |
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if (pv) return isShort(pv, localT); |
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ConstraintSetPtr_t c = |
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HPP_DYNAMIC_PTR_CAST(ConstraintSet, path->constraints()); |
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if (c) return c->edge()->isShort(); |
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return false; |
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} |
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bool RandomShortcut::shootTimes(const PathVectorPtr_t& currentOpt, |
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const value_type& t0, value_type& t1, |
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value_type& t2, const value_type& t3) { |
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bool ok = false; |
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for (int i = 0; i < 5; ++i) { |
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value_type u2 = (t3 - t0) * rand() / RAND_MAX; |
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value_type u1 = (t3 - t0) * rand() / RAND_MAX; |
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if (isShort(currentOpt, u1) || isShort(currentOpt, u2)) continue; |
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if (u1 < u2) { |
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t1 = t0 + u1; |
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t2 = t0 + u2; |
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} else { |
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t1 = t0 + u2; |
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t2 = t0 + u1; |
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} |
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ok = true; |
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break; |
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} |
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return ok; |
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} |
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} // namespace pathOptimization |
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} // namespace manipulation |
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} // namespace hpp |
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