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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/connected-component.hh> |
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#include <hpp/core/node.hh> |
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#include <hpp/core/problem.hh> |
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#include <hpp/core/roadmap.hh> |
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#include <hpp/manipulation/problem-target/state.hh> |
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#include <hpp/util/debug.hh> |
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#include <stdexcept> |
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#include "astar.hh" |
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namespace hpp { |
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namespace manipulation { |
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namespace problemTarget { |
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StatePtr_t State::create(const core::ProblemPtr_t& problem) { |
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State* tt = new State(problem); |
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StatePtr_t shPtr(tt); |
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tt->init(shPtr); |
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return shPtr; |
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} |
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void State::check(const core::RoadmapPtr_t&) const { |
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if (!state_) { |
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HPP_THROW(std::runtime_error, "No state: task not specified."); |
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} |
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} |
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bool State::reached(const core::RoadmapPtr_t& roadmap) const { |
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const core::ConnectedComponentPtr_t& _cc = |
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roadmap->initNode()->connectedComponent(); |
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const ConnectedComponentPtr_t cc = |
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HPP_DYNAMIC_PTR_CAST(ConnectedComponent, _cc); |
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assert(cc); |
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return !cc->getRoadmapNodes(state_).empty(); |
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} |
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core::PathVectorPtr_t State::computePath( |
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const core::RoadmapPtr_t& roadmap) const { |
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core::ProblemPtr_t p = problem_.lock(); |
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assert(p); |
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Astar astar(roadmap, p->distance(), state_); |
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return astar.solution(); |
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} |
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} // namespace problemTarget |
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} // namespace manipulation |
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} // namespace hpp |
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