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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/core/distance.hh> |
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#include <hpp/core/edge.hh> |
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#include <hpp/manipulation/graph/state.hh> |
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#include <hpp/manipulation/graph/statistics.hh> |
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#include <hpp/manipulation/leaf-connected-comp.hh> |
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#include <hpp/manipulation/roadmap-node.hh> |
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#include <hpp/manipulation/roadmap.hh> |
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#include <hpp/util/pointer.hh> |
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namespace hpp { |
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namespace manipulation { |
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Roadmap::Roadmap(const core::DistancePtr_t& distance, |
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const core::DevicePtr_t& robot) |
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: core::Roadmap(distance, robot), weak_() {} |
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RoadmapPtr_t Roadmap::create(const core::DistancePtr_t& distance, |
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const core::DevicePtr_t& robot) { |
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Roadmap* ptr = new Roadmap(distance, robot); |
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RoadmapPtr_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 Roadmap::clear() { |
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Parent::clear(); |
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Histograms_t::const_iterator it; |
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for (it = histograms_.begin(); it != histograms_.end(); ++it) (*it)->clear(); |
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if (graph_) { |
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const Histograms_t& hs = graph_->histograms(); |
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for (it = hs.begin(); it != hs.end(); ++it) (*it)->clear(); |
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} |
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leafCCs_.clear(); |
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} |
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void Roadmap::push_node(const core::NodePtr_t& n) { |
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Parent::push_node(n); |
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const RoadmapNodePtr_t& node = static_cast<RoadmapNodePtr_t>(n); |
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statInsert(node); |
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leafCCs_.insert(node->leafConnectedComponent()); |
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} |
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void Roadmap::statInsert(const RoadmapNodePtr_t& n) { |
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Histograms_t::const_iterator it; |
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for (it = histograms_.begin(); it != histograms_.end(); ++it) (*it)->add(n); |
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if (graph_) { |
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const Histograms_t& hs = graph_->histograms(); |
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for (it = hs.begin(); it != hs.end(); ++it) (*it)->add(n); |
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} |
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} |
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void Roadmap::insertHistogram(const graph::HistogramPtr_t hist) { |
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histograms_.push_back(hist); |
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core::Nodes_t::const_iterator _node; |
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for (_node = nodes().begin(); _node != nodes().end(); ++_node) |
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hist->add(static_cast<RoadmapNodePtr_t>(*_node)); |
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} |
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void Roadmap::constraintGraph(const graph::GraphPtr_t& graph) { |
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graph_ = graph; |
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// FIXME Add the current nodes() to the graph->histograms() |
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// The main issue is that new histograms may be added to |
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// graph->histograms() and this class will not know it. |
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} |
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RoadmapNodePtr_t Roadmap::nearestNodeInState( |
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ConfigurationIn_t configuration, |
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const ConnectedComponentPtr_t& connectedComponent, |
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const graph::StatePtr_t& state, value_type& minDistance) const { |
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core::NodePtr_t result = NULL; |
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minDistance = std::numeric_limits<value_type>::infinity(); |
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const RoadmapNodes_t& roadmapNodes = |
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connectedComponent->getRoadmapNodes(state); |
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// std::cout << "State: " << state->name () << std::endl; |
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// std::cout << "roadmapNodes.size () = " << roadmapNodes.size () |
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// << std::endl; |
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for (RoadmapNodes_t::const_iterator itNode = roadmapNodes.begin(); |
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itNode != roadmapNodes.end(); ++itNode) { |
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value_type d = (*distance())((*itNode)->configuration(), configuration); |
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if (d < minDistance) { |
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minDistance = d; |
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result = *itNode; |
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} |
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} |
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return static_cast<RoadmapNode*>(result); |
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} |
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core::NodePtr_t Roadmap::createNode(ConfigurationIn_t q) const { |
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// call RoadmapNode constructor with new manipulation connected component |
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RoadmapNodePtr_t node = new RoadmapNode(q, ConnectedComponent::create(weak_)); |
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LeafConnectedCompPtr_t sc = WeighedLeafConnectedComp::create(weak_.lock()); |
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node->leafConnectedComponent(sc); |
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sc->setFirstNode(node); |
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return node; |
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} |
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graph::StatePtr_t Roadmap::getState(RoadmapNodePtr_t node) { |
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return graph_->getState(node); |
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} |
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void Roadmap::connect(const LeafConnectedCompPtr_t& cc1, |
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const LeafConnectedCompPtr_t& cc2) { |
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if (cc1->canReach(cc2)) return; |
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LeafConnectedComp::LeafConnectedComps_t cc2Tocc1; |
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if (cc2->canReach(cc1, cc2Tocc1)) { |
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merge(cc1, cc2Tocc1); |
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} else { |
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cc1->to_.insert(cc2.get()); |
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cc2->from_.insert(cc1.get()); |
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} |
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} |
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void Roadmap::merge(const LeafConnectedCompPtr_t& cc1, |
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LeafConnectedComp::LeafConnectedComps_t& ccs) { |
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for (LeafConnectedComp::LeafConnectedComps_t::iterator itcc = ccs.begin(); |
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itcc != ccs.end(); ++itcc) { |
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if (*itcc != cc1.get()) { |
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cc1->merge((*itcc)->self()); |
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#ifndef NDEBUG |
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std::size_t nb = |
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#endif |
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leafCCs_.erase((*itcc)->self()); |
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assert(nb == 1); |
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} |
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} |
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} |
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void Roadmap::impl_addEdge(const core::EdgePtr_t& edge) { |
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Parent::impl_addEdge(edge); |
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const RoadmapNodePtr_t& f = static_cast<RoadmapNodePtr_t>(edge->from()); |
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const RoadmapNodePtr_t& t = static_cast<RoadmapNodePtr_t>(edge->to()); |
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if (f->graphState() == t->graphState()) { |
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LeafConnectedCompPtr_t cc1(f->leafConnectedComponent()); |
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LeafConnectedCompPtr_t cc2(t->leafConnectedComponent()); |
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connect(cc1, cc2); |
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} |
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} |
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} // namespace manipulation |
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} // namespace hpp |
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