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// Copyright (c) 2023 CNRS |
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// Authors: Florent Lamiraux |
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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/collision-validation.hh> |
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#include <hpp/core/config-projector.hh> |
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#include <hpp/core/config-validations.hh> |
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#include <hpp/core/constraint-set.hh> |
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#include <hpp/core/distance/reeds-shepp.hh> |
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#include <hpp/core/joint-bound-validation.hh> |
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#include <hpp/core/path-optimization/rs-time-parameterization.hh> |
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#include <hpp/core/path-optimization/simple-time-parameterization.hh> |
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#include <hpp/core/path-optimizer.hh> |
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#include <hpp/core/path-planner/bi-rrt-star.hh> |
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#include <hpp/core/path-projector.hh> |
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#include <hpp/core/path-validation-report.hh> |
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#include <hpp/core/path-validation.hh> |
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#include <hpp/core/path-vector.hh> |
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#include <hpp/core/problem.hh> |
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#include <hpp/core/steering-method/reeds-shepp.hh> |
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#include <hpp/manipulation/graph/edge.hh> |
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#include <hpp/manipulation/graph/graph.hh> |
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#include <hpp/manipulation/path-planner/transition-planner.hh> |
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#include <hpp/manipulation/problem.hh> |
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#include <hpp/manipulation/roadmap.hh> |
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namespace hpp { |
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namespace manipulation { |
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namespace pathPlanner { |
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TransitionPlannerPtr_t TransitionPlanner::createWithRoadmap( |
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const core::ProblemConstPtr_t& problem, const core::RoadmapPtr_t& roadmap) { |
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TransitionPlanner* ptr(new TransitionPlanner(problem, roadmap)); |
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TransitionPlannerPtr_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 TransitionPlanner::checkProblemAndForwardParameters() { |
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// Check that edge has been selected |
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// Initialize the planner |
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if (!innerProblem_->constraints() || |
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!innerProblem_->constraints()->configProjector()) |
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throw std::logic_error( |
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"TransitionPlanner::startSolve: inner problem has" |
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" no constraints. You probably forgot to select " |
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"the transition."); |
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// Check that the initial configuration has been initialized |
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if (innerProblem_->initConfig().size() != |
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innerProblem_->robot()->configSize()) { |
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std::ostringstream os; |
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os << "TransitionPlanner::startSolve: initial configuration size (" |
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<< innerProblem_->initConfig().size() |
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<< ") differs from robot configuration size ( " |
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<< innerProblem_->robot()->configSize() << "). Did you initialize it ?"; |
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throw std::logic_error(os.str().c_str()); |
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} |
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// Forward maximal number of iterations to inner planner |
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innerPlanner_->maxIterations(this->maxIterations()); |
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// Forward timeout to inner planner |
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innerPlanner_->timeOut(this->timeOut()); |
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} |
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void TransitionPlanner::startSolve() { |
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checkProblemAndForwardParameters(); |
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innerProblem_->constraints()->configProjector()->rightHandSideFromConfig( |
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innerProblem_->initConfig()); |
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// Call parent implementation |
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core::PathPlanner::startSolve(); |
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} |
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void TransitionPlanner::oneStep() { innerPlanner_->oneStep(); } |
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core::PathVectorPtr_t TransitionPlanner::planPath(const Configuration_t qInit, |
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matrixIn_t qGoals, |
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bool resetRoadmap) { |
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ConfigProjectorPtr_t configProjector( |
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innerProblem_->constraints()->configProjector()); |
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if (configProjector) { |
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configProjector->rightHandSideFromConfig(qInit); |
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} |
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Configuration_t q(qInit); |
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innerProblem_->initConfig(q); |
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innerProblem_->resetGoalConfigs(); |
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for (size_type r = 0; r < qGoals.rows(); ++r) { |
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Configuration_t q(qGoals.row(r)); |
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if (!configProjector->isSatisfied(q)) { |
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std::ostringstream os; |
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os << "hpp::manipulation::TransitionPlanner::computePath: " |
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<< "goal configuration at rank " << r |
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<< " does not satisfy the leaf constraint."; |
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throw std::logic_error(os.str().c_str()); |
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} |
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innerProblem_->addGoalConfig(q); |
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} |
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if (resetRoadmap) { |
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roadmap()->clear(); |
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} |
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checkProblemAndForwardParameters(); |
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PathVectorPtr_t path = innerPlanner_->solve(); |
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path = optimizePath(path); |
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return path; |
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} |
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core::PathPtr_t TransitionPlanner::directPath(ConfigurationIn_t q1, |
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ConfigurationIn_t q2, |
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bool validate, bool& success, |
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std::string& status) { |
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core::PathPtr_t res(innerProblem_->steeringMethod()->steer(q1, q2)); |
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if (!res) { |
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success = false; |
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status = std::string("Steering method failed"); |
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return res; |
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} |
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status = std::string(""); |
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core::PathProjectorPtr_t pathProjector(innerProblem_->pathProjector()); |
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bool success1 = true, success2 = true; |
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core::PathPtr_t projectedPath = res; |
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if (pathProjector) { |
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success1 = pathProjector->apply(res, projectedPath); |
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if (!success1) { |
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status += std::string("Failed to project the path. "); |
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} |
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} |
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core::PathPtr_t validPart = projectedPath; |
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core::PathValidationPtr_t pathValidation(innerProblem_->pathValidation()); |
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if (pathValidation && validate) { |
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core::PathValidationReportPtr_t report; |
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success2 = |
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pathValidation->validate(projectedPath, false, validPart, report); |
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if (!success2) { |
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status += std::string("Failed to validate the path. "); |
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} |
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} |
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success = success1 && success2; |
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return validPart; |
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} |
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bool TransitionPlanner::validateConfiguration( |
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ConfigurationIn_t q, std::size_t id, |
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core::ValidationReportPtr_t& report) const { |
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graph::EdgePtr_t edge(getEdgeOrThrow(id)); |
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return edge->pathValidation()->validate(q, report); |
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} |
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core::PathVectorPtr_t TransitionPlanner::optimizePath(const PathPtr_t& path) { |
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PathVectorPtr_t pv(HPP_DYNAMIC_PTR_CAST(PathVector, path)); |
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if (!pv) { |
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pv = core::PathVector::create(path->outputSize(), |
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path->outputDerivativeSize()); |
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pv->appendPath(path); |
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} |
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for (auto po : pathOptimizers_) { |
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pv = po->optimize(pv); |
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} |
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return pv; |
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} |
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core::PathVectorPtr_t TransitionPlanner::timeParameterization( |
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const PathVectorPtr_t& path) { |
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return timeParameterization_->optimize(path); |
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} |
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void TransitionPlanner::setEdge(std::size_t id) { |
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graph::EdgePtr_t edge(getEdgeOrThrow(id)); |
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innerProblem_->constraints(edge->pathConstraint()); |
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innerProblem_->pathValidation(edge->pathValidation()); |
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innerProblem_->steeringMethod(edge->steeringMethod()); |
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} |
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void TransitionPlanner::setReedsAndSheppSteeringMethod(double turningRadius) { |
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core::JointPtr_t root(innerProblem_->robot()->rootJoint()); |
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core::SteeringMethodPtr_t sm(core::steeringMethod::ReedsShepp::create( |
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innerProblem_, turningRadius, root, root)); |
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core::DistancePtr_t dist(core::distance::ReedsShepp::create(innerProblem_)); |
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innerProblem_->steeringMethod(sm); |
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innerProblem_->distance(dist); |
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timeParameterization_ = |
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core::pathOptimization::RSTimeParameterization::create(innerProblem_); |
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} |
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void TransitionPlanner::pathProjector(const PathProjectorPtr_t pathProjector) { |
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innerProblem_->pathProjector(pathProjector); |
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} |
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void TransitionPlanner::clearPathOptimizers() { pathOptimizers_.clear(); } |
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/// Add a path optimizer |
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void TransitionPlanner::addPathOptimizer( |
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const core::PathOptimizerPtr_t& pathOptimizer) { |
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pathOptimizers_.push_back(pathOptimizer); |
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} |
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void TransitionPlanner::setParameter(const std::string& key, |
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const core::Parameter& value) { |
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innerProblem_->setParameter(key, value); |
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} |
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TransitionPlanner::TransitionPlanner(const core::ProblemConstPtr_t& problem, |
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const core::RoadmapPtr_t& roadmap) |
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: PathPlanner(problem, roadmap) { |
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ProblemConstPtr_t p(HPP_DYNAMIC_PTR_CAST(const Problem, problem)); |
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if (!p) |
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throw std::invalid_argument( |
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"The problem should be of type hpp::manipulation::Problem."); |
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// create the inner problem |
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innerProblem_ = core::Problem::create(p->robot()); |
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// Pass parameters from manipulation problem |
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std::vector<std::string> keys( |
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p->parameters.getKeys<std::vector<std::string> >()); |
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for (auto k : keys) { |
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innerProblem_->setParameter(k, p->parameters.get(k)); |
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} |
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// Initialize config validations |
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innerProblem_->clearConfigValidations(); |
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innerProblem_->configValidations()->add( |
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hpp::core::CollisionValidation::create(p->robot())); |
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innerProblem_->configValidations()->add( |
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hpp::core::JointBoundValidation::create(p->robot())); |
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// Add obstacles to inner problem |
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innerProblem_->collisionObstacles(p->collisionObstacles()); |
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// Create default path planner |
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innerPlanner_ = hpp::core::pathPlanner::BiRrtStar::createWithRoadmap( |
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innerProblem_, roadmap); |
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// Create default time parameterization |
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timeParameterization_ = |
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core::pathOptimization::SimpleTimeParameterization::create(innerProblem_); |
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} |
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void TransitionPlanner::init(TransitionPlannerWkPtr_t weak) { |
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core::PathPlanner::init(weak); |
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weakPtr_ = weak; |
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} |
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graph::EdgePtr_t TransitionPlanner::getEdgeOrThrow(std::size_t id) const { |
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ProblemConstPtr_t p(HPP_DYNAMIC_PTR_CAST(const Problem, problem())); |
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assert(p); |
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graph::GraphComponentPtr_t comp(p->constraintGraph()->get(id).lock()); |
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graph::EdgePtr_t edge(HPP_DYNAMIC_PTR_CAST(graph::Edge, comp)); |
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if (!edge) { |
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std::ostringstream os; |
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os << "hpp::manipulation::pathPlanner::TransitionPlanner::setEdge: index " |
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<< id << " does not correspond to any edge of the constraint graph."; |
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throw std::logic_error(os.str().c_str()); |
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} |
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return edge; |
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} |
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} // namespace pathPlanner |
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} // namespace manipulation |
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} // namespace hpp |
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