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// Copyright (c) 2019, 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/manipulation/graph/validation.hh" |
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#include <hpp/constraints/differentiable-function.hh> |
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#include <hpp/core/collision-validation-report.hh> |
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#include <hpp/core/collision-validation.hh> |
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#include <hpp/core/configuration-shooter.hh> |
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#include <hpp/core/relative-motion.hh> |
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#include <hpp/util/indent.hh> |
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#include <sstream> |
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#include "hpp/manipulation/graph/edge.hh" |
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#include "hpp/manipulation/graph/state-selector.hh" |
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#include "hpp/manipulation/graph/state.hh" |
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#include "hpp/manipulation/problem.hh" |
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namespace hpp { |
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namespace manipulation { |
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namespace graph { |
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bool stateAIncludedInStateB(const StatePtr_t& A, const StatePtr_t& B) { |
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const NumericalConstraints_t& Ancs = A->numericalConstraints(); |
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const NumericalConstraints_t& Bncs = B->numericalConstraints(); |
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for (NumericalConstraints_t::const_iterator _nc = Bncs.begin(); |
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_nc != Bncs.end(); ++_nc) |
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if (std::find(Ancs.begin(), Ancs.end(), *_nc) == Ancs.end()) return false; |
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return true; |
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} |
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std::ostream& Validation::print(std::ostream& os) const { |
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for (std::size_t i = 0; i < warnings_.size(); ++i) { |
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os << "Warning " << i << " (" |
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<< (warnings_[i].first ? warnings_[i].first->name() : "no component") |
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<< ')' << incendl << warnings_[i].second << decendl; |
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} |
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for (std::size_t i = 0; i < errors_.size(); ++i) { |
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os << "Error " << i << " (" |
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<< (errors_[i].first ? errors_[i].first->name() : "no component") << ')' |
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<< incendl << errors_[i].second << decendl; |
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} |
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return os; |
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} |
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bool Validation::validate(const GraphComponentPtr_t& comp) { |
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if (HPP_DYNAMIC_PTR_CAST(State, comp)) |
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return validateState(HPP_DYNAMIC_PTR_CAST(State, comp)); |
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else if (HPP_DYNAMIC_PTR_CAST(Edge, comp)) |
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return validateEdge(HPP_DYNAMIC_PTR_CAST(Edge, comp)); |
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else if (HPP_DYNAMIC_PTR_CAST(Graph, comp)) |
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return validateGraph(HPP_DYNAMIC_PTR_CAST(Graph, comp)); |
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else |
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return true; |
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} |
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bool Validation::validateState(const StatePtr_t& state) { |
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bool success = true; |
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// 1. Check that all the constraint are not parameterizable. |
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const NumericalConstraints_t& ncs = state->numericalConstraints(); |
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for (NumericalConstraints_t::const_iterator _nc = ncs.begin(); |
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_nc != ncs.end(); ++_nc) |
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if ((*_nc)->parameterSize() > 0) { |
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std::ostringstream oss; |
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oss << incindent << "Constraint " << (*_nc)->function().name() |
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<< " has a varying right hand side while constraints of a state must" |
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" have a constant one."; |
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addError(state, oss.str()); |
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} |
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// 2. try to generate a configuration in this state. |
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bool projOk; |
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Configuration_t q; |
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std::size_t i, Nrand = 100; |
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for (i = 0; i < Nrand; i++) { |
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problem_->configurationShooter()->shoot(q); |
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projOk = state->configConstraint()->apply(q); |
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if (projOk) break; |
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} |
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if (!projOk) { |
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std::ostringstream oss; |
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oss << incindent << "Failed to apply the constraints to " << Nrand |
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<< "random configurations."; |
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addError(state, oss.str()); |
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return false; |
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} |
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if (4 * i > 3 * Nrand) { |
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std::ostringstream oss; |
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oss << incindent << "Success rate of constraint projection is " << i / Nrand |
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<< '.'; |
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addWarning(state, oss.str()); |
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oss.clear(); |
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} |
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// 3. check the collision pairs which will be disabled because of the |
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// constraint. |
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core::CollisionValidationPtr_t colValidation( |
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core::CollisionValidation::create(problem_->robot())); |
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for (std::size_t i = 0; i < problem_->collisionObstacles().size(); ++i) |
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colValidation->addObstacle(problem_->collisionObstacles()[i]); |
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colValidation->computeAllContacts(true); |
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typedef core::RelativeMotion RelativeMotion; |
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RelativeMotion::matrix_type relMotion = |
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RelativeMotion::matrix(problem_->robot()); |
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RelativeMotion::fromConstraint(relMotion, problem_->robot(), |
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state->configConstraint()); |
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// Invert the relative motions. |
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hppDout(info, "Relative motion matrix:\n" << relMotion); |
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for (size_type r = 0; r < relMotion.rows(); ++r) |
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for (size_type c = 0; c < r; ++c) { |
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if (relMotion(r, c) != relMotion(c, r)) { |
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hppDout(error, "Relative motion matrix not symmetric."); |
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} |
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switch (relMotion(r, c)) { |
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case RelativeMotion::Constrained: |
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relMotion(r, c) = relMotion(c, r) = RelativeMotion::Unconstrained; |
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break; |
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case RelativeMotion::Parameterized: |
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case RelativeMotion::Unconstrained: |
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relMotion(r, c) = relMotion(c, r) = RelativeMotion::Constrained; |
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break; |
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default: |
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throw std::logic_error("Relative motion not understood"); |
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} |
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} |
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hppDout(info, "Relative motion matrix:\n" << relMotion); |
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colValidation->filterCollisionPairs(relMotion); |
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core::ValidationReportPtr_t colReport; |
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bool colOk = colValidation->validate(q, colReport); |
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if (!colOk) { |
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std::ostringstream oss; |
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oss << incindent |
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<< "The following collision pairs will always " |
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"collide." |
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<< incendl << *colReport << decindent; |
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addError(state, oss.str()); |
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if (HPP_DYNAMIC_PTR_CAST(core::CollisionValidationReport, colReport)) { |
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std::pair<std::string, std::string> names = |
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HPP_DYNAMIC_PTR_CAST(core::CollisionValidationReport, colReport) |
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->getObjectNames(); |
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addCollision(state, names.first, names.second); |
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} |
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success = false; |
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} |
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return success; |
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} |
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bool Validation::validateEdge(const EdgePtr_t&) { return true; } |
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bool Validation::validateGraph(const GraphPtr_t& graph) { |
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if (!graph) return false; |
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bool success = true; |
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for (std::size_t i = 1; i < graph->nbComponents(); ++i) |
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if (!validate(graph->get(i).lock())) success = false; |
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// Check that no state is included in a state which has a higher priority. |
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States_t states = graph->stateSelector()->getStates(); |
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for (States_t::const_iterator _state = states.begin(); _state != states.end(); |
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++_state) { |
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for (States_t::const_iterator _stateHO = states.begin(); _stateHO != _state; |
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++_stateHO) { |
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if (stateAIncludedInStateB(*_state, *_stateHO)) { |
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std::ostringstream oss; |
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oss << "State " << (*_state)->name() << " is included in state " |
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<< (*_stateHO)->name() << " but the latter has a higher priority."; |
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addError(*_state, oss.str()); |
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success = false; |
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} |
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} |
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} |
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return success; |
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} |
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} // namespace graph |
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} // namespace manipulation |
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} // namespace hpp |
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