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// Copyright (c) 2017, 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-optimization/linear-constraint.hh> |
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#include <hpp/manipulation/constraint-set.hh> |
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#include <hpp/manipulation/graph/edge.hh> |
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#include <hpp/manipulation/graph/state.hh> |
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#include <hpp/manipulation/path-optimization/spline-gradient-based.hh> |
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namespace hpp { |
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namespace manipulation { |
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namespace pathOptimization { |
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template <int _PB, int _SO> |
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SplineGradientBased<_PB, _SO>::SplineGradientBased( |
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const ProblemConstPtr_t& problem) |
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: Parent_t(problem) { |
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this->checkOptimum_ = true; |
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} |
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// ----------- Convenience class -------------------------------------- // |
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// ----------- Resolution steps --------------------------------------- // |
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template <int _PB, int _SO> |
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typename SplineGradientBased<_PB, _SO>::Ptr_t |
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SplineGradientBased<_PB, _SO>::create(const ProblemConstPtr_t& problem) { |
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SplineGradientBased* ptr = new SplineGradientBased(problem); |
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Ptr_t shPtr(ptr); |
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return shPtr; |
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} |
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template <int _PB, int _SO> |
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typename SplineGradientBased<_PB, _SO>::Ptr_t |
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SplineGradientBased<_PB, _SO>::createFromCore( |
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const core::ProblemConstPtr_t& problem) { |
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if (!HPP_DYNAMIC_PTR_CAST(const Problem, problem)) |
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throw std::invalid_argument("This is not a manipulation problem."); |
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return create(HPP_STATIC_PTR_CAST(const Problem, problem)); |
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} |
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template <int _PB, int _SO> |
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void SplineGradientBased<_PB, _SO>::initializePathValidation( |
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const Splines_t& splines) { |
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this->validations_.resize(splines.size()); |
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for (std::size_t i = 0; i < splines.size(); ++i) { |
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ConstraintSetPtr_t set = |
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HPP_STATIC_PTR_CAST(ConstraintSet, splines[i]->constraints()); |
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if (set && set->edge()) |
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this->validations_[i] = set->edge()->pathValidation(); |
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else |
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this->validations_[i] = this->problem()->pathValidation(); |
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} |
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} |
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template <int _PB, int _SO> |
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void SplineGradientBased<_PB, _SO>::addProblemConstraints( |
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const core::PathVectorPtr_t& init, const Splines_t& splines, |
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LinearConstraint& lc, SplineOptimizationDatas_t& sods) const { |
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assert(init->numberPaths() == splines.size() && |
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sods.size() == splines.size()); |
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bool zeroDerivative = |
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this->problem() |
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->getParameter( |
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"SplineGradientBased/zeroDerivativesAtStateIntersection") |
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.boolValue(); |
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const std::size_t last = splines.size() - 1; |
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graph::StatePtr_t stateOfStart; |
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for (std::size_t i = 0; i < last; ++i) { |
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core::PathPtr_t path = init->pathAtRank(i); |
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ConstraintSetPtr_t set = |
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HPP_STATIC_PTR_CAST(ConstraintSet, splines[i]->constraints()); |
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if (!set || !set->edge()) |
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std::invalid_argument( |
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"Cannot optimize a path that has not been " |
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"generated with a graph."); |
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graph::EdgePtr_t transition = set->edge(); |
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this->addProblemConstraintOnPath(path, i, splines[i], lc, sods[i]); |
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// The path should always go through the start and end states of the |
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// transition. |
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assert(!HPP_DYNAMIC_PTR_CAST(graph::WaypointEdge, transition)); |
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graph::StatePtr_t from = transition->stateFrom(); |
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graph::StatePtr_t to = transition->stateTo(); |
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graph::StatePtr_t from2 = from, to2 = to; |
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Configuration_t q0 = path->initial(), q1 = path->end(); |
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const bool src_contains_q0 = from->contains(q0); |
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const bool dst_contains_q0 = to->contains(q0); |
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const bool src_contains_q1 = from->contains(q1); |
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const bool dst_contains_q1 = to->contains(q1); |
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bool use_direct = src_contains_q0 && dst_contains_q1; |
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bool use_reverse = src_contains_q1 && dst_contains_q0; |
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if (use_direct && use_reverse) { |
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if (i == 0 || stateOfStart == from) |
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use_reverse = false; |
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else if (stateOfStart == to) |
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use_direct = false; |
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else if (stateOfStart) { |
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if (stateOfStart->contains(q0)) |
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use_reverse = false; |
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else |
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use_direct = false; // assumes stateOfStart->contains(q0) |
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} else |
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use_reverse = false; // default if we don't know what to do... |
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} |
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if (use_direct) { |
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// Nominal case |
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if (transition->state() != to) { |
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constrainEndIntoState(path, i, splines[i], transition->stateTo(), lc); |
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} |
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stateOfStart = to; |
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} else if (use_reverse) { |
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// Reversed nominal case |
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if (transition->state() != from) { |
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constrainEndIntoState(path, i, splines[i], from, lc); |
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} |
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stateOfStart = from; |
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} else { |
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if (src_contains_q0) { // q1 must stay in state |
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to2 = transition->state(); |
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stateOfStart = to; |
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} else if (dst_contains_q0) { // q1 must stay in state |
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from2 = transition->state(); |
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stateOfStart = from; |
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} else if (src_contains_q1) { // q1 must stay in src |
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to2 = transition->state(); |
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stateOfStart = from; |
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if (transition->state() != from) { |
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constrainEndIntoState(path, i, splines[i], from, lc); |
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} |
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} else if (dst_contains_q1) { // q1 must stay in dst |
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from2 = transition->state(); |
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stateOfStart = to; |
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if (transition->state() != to) { |
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constrainEndIntoState(path, i, splines[i], to, lc); |
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} |
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} else { |
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// q0 and q1 are in state. We add no constraint. |
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hppDout(warning, "Add no constraint for this path."); |
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from2 = transition->state(); |
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to2 = transition->state(); |
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stateOfStart.reset(); |
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} |
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} |
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if (zeroDerivative) { |
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if (!(use_reverse && src_contains_q0 && src_contains_q1) && |
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!(use_direct && dst_contains_q0 && dst_contains_q1) && from2 != to2) { |
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constraintDerivativesAtEndOfSpline(i, splines[i], lc); |
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} |
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} |
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} |
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this->addProblemConstraintOnPath(init->pathAtRank(last), last, splines[last], |
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lc, sods[last]); |
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} |
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template <int _PB, int _SO> |
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void SplineGradientBased<_PB, _SO>::constrainEndIntoState( |
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const core::PathPtr_t& path, const size_type& idxSpline, |
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const SplinePtr_t& spline, const graph::StatePtr_t state, |
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LinearConstraint& lc) const { |
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typename Spline::BasisFunctionVector_t B1; |
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spline->basisFunctionDerivative(0, 1, B1); |
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// TODO Should we add zero velocity sometimes ? |
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ConstraintSetPtr_t set = state->configConstraint(); |
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value_type guessThreshold = |
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this->problem() |
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->getParameter("SplineGradientBased/guessThreshold") |
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.floatValue(); |
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Eigen::RowBlockIndices select = this->computeActiveParameters( |
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path, set->configProjector()->solver(), guessThreshold, true); |
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hppDout(info, |
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"End of path " << idxSpline << ": do not change this dof " << select); |
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hppDout(info, "End of path " << idxSpline << ": state " << state->name()); |
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const size_type rDof = this->robot_->numberDof(), |
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col = idxSpline * Spline::NbCoeffs * rDof, row = lc.J.rows(), |
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nOutVar = select.nbIndices(); |
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// Add nOutVar constraints |
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lc.addRows(nOutVar); |
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matrix_t I = select.rview(matrix_t::Identity(rDof, rDof)); |
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for (size_type k = 0; k < Spline::NbCoeffs; ++k) |
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lc.J.block(row, col + k * rDof, nOutVar, rDof) = B1(k) * I; |
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lc.b.segment(row, nOutVar) = |
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select.rview(spline->parameters().transpose() * B1); |
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assert((lc.J.block(row, col, nOutVar, rDof * Spline::NbCoeffs) * |
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spline->rowParameters()) |
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.isApprox(lc.b.segment(row, nOutVar))); |
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} |
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template <int _PB, int _SO> |
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void SplineGradientBased<_PB, _SO>::constraintDerivativesAtEndOfSpline( |
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const size_type& idxSpline, const SplinePtr_t& spline, |
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LinearConstraint& lc) const { |
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typename Spline::BasisFunctionVector_t B1; |
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spline->basisFunctionDerivative(1, 1, B1); |
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// ConstraintSetPtr_t set = state->configConstraint(); |
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// value_type guessThreshold = this->problem().getParameter |
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// ("SplineGradientBased/guessThreshold").floatValue(); Eigen::RowBlockIndices |
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// select = this->computeActiveParameters (path, |
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// set->configProjector()->solver(), guessThreshold); |
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const size_type rDof = this->robot_->numberDof(), |
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col = idxSpline * Spline::NbCoeffs * rDof, row = lc.J.rows(), |
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// nOutVar = select.nbIndices(); |
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nOutVar = rDof; |
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// Add nOutVar constraints |
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lc.addRows(nOutVar); |
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// matrix_t I = select.rview(matrix_t::Identity(rDof, rDof)); |
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matrix_t I(matrix_t::Identity(rDof, rDof)); |
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for (size_type k = 0; k < Spline::NbCoeffs; ++k) |
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lc.J.block(row, col + k * rDof, nOutVar, rDof) = B1(k) * I; |
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lc.b.segment(row, nOutVar).setZero(); |
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if (!(lc.J.block(row, col, nOutVar, rDof * Spline::NbCoeffs) * |
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spline->rowParameters()) |
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.isApprox(lc.b.segment(row, nOutVar))) { |
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hppDout(error, |
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"The velocity should already be zero:\n" |
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<< (lc.J.block(row, col, nOutVar, rDof * Spline::NbCoeffs) * |
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spline->rowParameters()) |
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.transpose()); |
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} |
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} |
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// ----------- Optimize ----------------------------------------------- // |
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// ----------- Convenience functions ---------------------------------- // |
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// ----------- Instanciate -------------------------------------------- // |
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// template class SplineGradientBased<core::path::CanonicalPolynomeBasis, 1>; // |
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// equivalent to StraightPath template class |
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// SplineGradientBased<core::path::CanonicalPolynomeBasis, 2>; template class |
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// SplineGradientBased<core::path::CanonicalPolynomeBasis, 3>; |
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template class SplineGradientBased<core::path::BernsteinBasis, |
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1>; // equivalent to StraightPath |
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// template class SplineGradientBased<core::path::BernsteinBasis, 2>; |
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template class SplineGradientBased<core::path::BernsteinBasis, 3>; |
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using core::Parameter; |
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using core::ParameterDescription; |
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HPP_START_PARAMETER_DECLARATION(SplineGradientBased) |
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core::Problem::declareParameter(ParameterDescription( |
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Parameter::BOOL, "SplineGradientBased/zeroDerivativesAtStateIntersection", |
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"Whether we should enforce a null velocity at each control point where the " |
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"state before and after is different.", |
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Parameter(false))); |
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HPP_END_PARAMETER_DECLARATION(SplineGradientBased) |
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} // namespace pathOptimization |
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} // namespace manipulation |
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} // namespace hpp |
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