#include <hpp/manipulation/graph/edge.hh>

Inheritance diagram for hpp::manipulation::graph::LevelSetEdge:

Collaboration diagram for hpp::manipulation::graph::LevelSetEdge:

Public Member Functions
virtual	~LevelSetEdge ()

virtual bool	generateTargetConfig (core::NodePtr_t nStart, ConfigurationOut_t q) const

virtual bool	generateTargetConfig (ConfigurationIn_t qStart, ConfigurationOut_t q) const

bool	generateTargetConfigOnLeaf (ConfigurationIn_t qStart, ConfigurationIn_t qLeaf, ConfigurationOut_t q) const

virtual ConstraintSetPtr_t	buildTargetConstraint ()
	Build path and target state constraints. More...

void	buildHistogram ()

LeafHistogramPtr_t	histogram () const

virtual std::ostream &	dotPrint (std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const
	Print the object in a stream. More...

Foliation definition
void	insertParamConstraint (const ImplicitPtr_t &nm)

const NumericalConstraints_t &	paramConstraints () const
	Get constraints parameterizing the target state foliation. More...

void	insertConditionConstraint (const ImplicitPtr_t &nm)

const NumericalConstraints_t &	conditionConstraints () const

Public Member Functions inherited from hpp::manipulation::graph::Edge
virtual	~Edge ()
	Destructor. More...

virtual bool	canConnect (ConfigurationIn_t q1, ConfigurationIn_t q2) const

virtual bool	build (core::PathPtr_t &path, ConfigurationIn_t q1, ConfigurationIn_t q2) const

StatePtr_t	stateTo () const
	Get the destination. More...

StatePtr_t	stateFrom () const
	Get the origin. More...

StatePtr_t	state () const
	Get the state in which path is. More...

void	state (StatePtr_t state)

const core::SteeringMethodPtr_t &	steeringMethod () const
	Get steering method associated to the edge. More...

const core::PathValidationPtr_t &	pathValidation () const
	Get path validation associated to the edge. More...

const RelativeMotion::matrix_type &	relativeMotion () const

void	relativeMotion (const RelativeMotion::matrix_type &m)
	Update the relative motion matrix. More...

void	securityMarginForPair (const size_type &row, const size_type &col, const value_type &margin)

const matrix_t &	securityMargins () const
	Accessor to the security margin. More...

virtual bool	direction (const core::PathPtr_t &path) const

virtual bool	intersectionConstraint (const EdgePtr_t &other, ConfigProjectorPtr_t projector) const

ConstraintSetPtr_t	targetConstraint () const
	Constraint of the destination state and of the path. More...

void	setShort (bool isShort)

bool	isShort () const

ConstraintSetPtr_t	pathConstraint () const

Public Member Functions inherited from hpp::manipulation::graph::GraphComponent
virtual	~GraphComponent ()

const std::string &	name () const
	Get the component name. More...

const std::size_t &	id () const
	Return the component id. More...

virtual void	addNumericalConstraint (const ImplicitPtr_t &numConstraint)
	Add constraint to the component. More...

virtual void	addNumericalCost (const ImplicitPtr_t &numCost)
	Add a cost function Implicit to the component. More...

virtual void	resetNumericalConstraints ()
	Reset the numerical constraints stored in the component. More...

bool	insertNumericalConstraints (ConfigProjectorPtr_t &proj) const

const NumericalConstraints_t &	numericalConstraints () const
	Get a reference to the NumericalConstraints_t. More...

const NumericalConstraints_t &	numericalCosts () const
	Get a reference to the NumericalConstraints_t. More...

void	parentGraph (const GraphWkPtr_t &parent)
	Set the parent graph. More...

GraphPtr_t	parentGraph () const
	Set the parent graph. More...

virtual void	invalidate ()

void	solveLevelByLevel (bool solveLevelByLevel)

bool	solveLevelByLevel () const

Static Public Member Functions
static LevelSetEdgePtr_t	create (const std::string &name, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to)
	Create a new LevelSetEdge. More...

Static Public Member Functions inherited from hpp::manipulation::graph::Edge
static EdgePtr_t	create (const std::string &name, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to)
	Create a new empty Edge. More...

Protected Member Functions
void	init (const LevelSetEdgeWkPtr_t &weak, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to)
	Initialization of the object. More...

	LevelSetEdge (const std::string &name)

virtual std::ostream &	print (std::ostream &os) const
	Print the object in a stream. More...

virtual void	populateTooltip (dot::Tooltip &tp) const
	Populate DrawingAttributes tooltip. More...

virtual void	initialize ()

Protected Member Functions inherited from hpp::manipulation::graph::Edge
void	init (const EdgeWkPtr_t &weak, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to)
	Initialization of the object. More...

	Edge (const std::string &name)
	Constructor. More...

virtual ConstraintSetPtr_t	buildPathConstraint ()
	Build path constraints. More...

Protected Member Functions inherited from hpp::manipulation::graph::GraphComponent
void	init (const GraphComponentWkPtr_t &weak)
	Initialize the component. More...

	GraphComponent (const std::string &name)

void	throwIfNotInitialized () const

Additional Inherited Members
Public Types inherited from hpp::manipulation::graph::Edge
typedef core::RelativeMotion	RelativeMotion

Protected Attributes inherited from hpp::manipulation::graph::Edge
bool	isShort_

Protected Attributes inherited from hpp::manipulation::graph::GraphComponent
NumericalConstraints_t	numericalConstraints_
	Stores the numerical constraints. More...

NumericalConstraints_t	numericalCosts_
	Stores the numerical costs. More...

GraphWkPtr_t	graph_
	A weak pointer to the parent graph. More...

bool	isInit_

Detailed Description

Edge that handles crossed foliations

Let us consider the following simple constraint graph corresponding to a robot grasping an object with one gripper.

Simple constraint graph corresponding to a

robot grasping an object."

In order to disambiguate, we assume here that

transition Grasp object is in Placement state,
transition Release object is in Grasp state.

If state Placement is defined by the object lying on a planar polygonal surface, then

state Placement,
transition Transit, and
transition Grasp object

are all constrained in a foliated manifold parameterized by the position of the box on the surface.

Likewise, if the object is cylindrical the grasp may have a degree of freedom corresponding to the angle around z-axis of the gripper with respect to the object. See classes Handle and Gripper for details. In this latter case,

state Grasp,
transition Transfer, and
transition Release object

are all constrained in a foliated manifold parameterized by the angle around z-axis of the gripper with respect to the object.

Let us denote

grasp the numerical constraint defining state Grasp,
placement the numerical constraint defining state Placement,
grasp_comp the parameterized constraint defining a leaf of Transfer (the angle between the gripper and the object),
placement_comp the parameterized constraint defining a leaf of Placement (the position of the object on the contact surface).

As explained in this paper , we are in the crossed foliation case and manipulation RRT will never be able to connect trees expanding in different leaves of the foliation.

This class solves this issue in the following way by creating an instance of LevelSetEdge between Placement and Grasp.

When extending a configuration \(\mathbf{q}_{start}\) in state Placement, this transition will produce a target configuration (method generateTargetConfig) as follows.

pick a random configuration \(\mathbf{q}_rand\), in the edge histogram (see method histogram)
compute right hand side of grasp_comp with \(\mathbf{q}_{rand}\),
compute right hand side of placement_comp with \(\mathbf{q}_{start}\),
solve (grasp, placement, placement_comp, grasp_comp) using input configuration \(\mathbf{q}\). Note that the parent method Edge::generateTargetConfig does the same without adding grasp_comp.

The constraints parameterizing the target state foliation (graps_comp in our example) are passed to class instances using method insertParamConstraint.

Constructor & Destructor Documentation

◆ ~LevelSetEdge()

virtual hpp::manipulation::graph::LevelSetEdge::~LevelSetEdge ( )

virtual

◆ LevelSetEdge()

hpp::manipulation::graph::LevelSetEdge::LevelSetEdge ( const std::string & name )

protected

Member Function Documentation

◆ buildHistogram()

void hpp::manipulation::graph::LevelSetEdge::buildHistogram ( )

Build the histogram

See also: LevelSetEdge::histogram.

◆ buildTargetConstraint()

virtual ConstraintSetPtr_t hpp::manipulation::graph::LevelSetEdge::buildTargetConstraint ( )

virtual

Build path and target state constraints.

Reimplemented from hpp::manipulation::graph::Edge.

◆ conditionConstraints()

const NumericalConstraints_t& hpp::manipulation::graph::LevelSetEdge::conditionConstraints ( ) const

Get constraints parameterizing the target state foliation

See also: LevelSetEdge::histogram

◆ create()

static LevelSetEdgePtr_t hpp::manipulation::graph::LevelSetEdge::create	(	const std::string &	name,
		const GraphWkPtr_t &	graph,
		const StateWkPtr_t &	from,
		const StateWkPtr_t &	to
	)

static

Create a new LevelSetEdge.

◆ dotPrint()

virtual std::ostream& hpp::manipulation::graph::LevelSetEdge::dotPrint	(	std::ostream &	os,
		dot::DrawingAttributes	da = `dot::DrawingAttributes()`
	)		const

virtual

Print the object in a stream.

Reimplemented from hpp::manipulation::graph::Edge.

◆ generateTargetConfig() [1/2]

virtual bool hpp::manipulation::graph::LevelSetEdge::generateTargetConfig	(	ConfigurationIn_t	qStart,
		ConfigurationOut_t	q
	)		const

virtual

Generate a reachable configuration in the target state

Parameters

	qStart	configuration defining the right hand side of the edge path constraint,
[in,out]	q	input configuration used to initialize the numerical solver and output configuration lying in the target state and reachable along the edge from nnear.

Reimplemented from hpp::manipulation::graph::Edge.

◆ generateTargetConfig() [2/2]

virtual bool hpp::manipulation::graph::LevelSetEdge::generateTargetConfig	(	core::NodePtr_t	nStart,
		ConfigurationOut_t	q
	)		const

virtual

Generate a reachable configuration in the target state

Parameters

	nStart	node containing the configuration defining the right hand side of the edge path constraint,
[in,out]	q	input configuration used to initialize the numerical solver and output configuration lying in the target state and reachable along the edge from nStart.

Reimplemented from hpp::manipulation::graph::Edge.

◆ generateTargetConfigOnLeaf()

bool hpp::manipulation::graph::LevelSetEdge::generateTargetConfigOnLeaf	(	ConfigurationIn_t	qStart,
		ConfigurationIn_t	qLeaf,
		ConfigurationOut_t	q
	)		const

Generate a reachable configuration in leaf of target state

Parameters

qStart	configuration defining the right hand side of the edge path constraint,
qLeaf	configuration used to set the right hand side of the target state foliation. See method insertParamConstraint.

◆ histogram()

LeafHistogramPtr_t hpp::manipulation::graph::LevelSetEdge::histogram ( ) const

Return pointer on histogram of the edge

The edge histogram is a container of configurations defined by a set of constraints called the condition constraints that a configuration should satisfy to be inserted in the histogram.

The histogram is passed to the Roadmap via the graph (method Graph::insertHistogram). The roadmap then populates the histogram with all new configurations satisfying the condition constraints.

The condition constraints should therefore be the constraints of the target state of the level set edge.

See also: LevelSetEdge::conditionConstraints LevelSetEdge::insertConditionConstraint

◆ init()

void hpp::manipulation::graph::LevelSetEdge::init	(	const LevelSetEdgeWkPtr_t &	weak,
		const GraphWkPtr_t &	graph,
		const StateWkPtr_t &	from,
		const StateWkPtr_t &	to
	)

protected

Initialization of the object.

◆ initialize()

virtual void hpp::manipulation::graph::LevelSetEdge::initialize ( )

protectedvirtual

Reimplemented from hpp::manipulation::graph::Edge.

◆ insertConditionConstraint()

void hpp::manipulation::graph::LevelSetEdge::insertConditionConstraint ( const ImplicitPtr_t & nm )

Insert a condition constraint

See also: LevelSetEdge::histogram

◆ insertParamConstraint()

void hpp::manipulation::graph::LevelSetEdge::insertParamConstraint ( const ImplicitPtr_t & nm )

Insert a constraints parameterizing the target state foliation

Parameters

nm	the numerical constraint,

◆ paramConstraints()

const NumericalConstraints_t& hpp::manipulation::graph::LevelSetEdge::paramConstraints ( ) const

Get constraints parameterizing the target state foliation.

◆ populateTooltip()

virtual void hpp::manipulation::graph::LevelSetEdge::populateTooltip ( dot::Tooltip & tp ) const

protectedvirtual

Populate DrawingAttributes tooltip.

Reimplemented from hpp::manipulation::graph::GraphComponent.

◆ print()

virtual std::ostream& hpp::manipulation::graph::LevelSetEdge::print ( std::ostream & os ) const

protectedvirtual

Print the object in a stream.

Reimplemented from hpp::manipulation::graph::Edge.

The documentation for this class was generated from the following file:

include/hpp/manipulation/graph/edge.hh

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~LevelSetEdge()

◆ LevelSetEdge()

Member Function Documentation

◆ buildHistogram()

◆ buildTargetConstraint()

◆ conditionConstraints()

◆ create()

◆ dotPrint()

◆ generateTargetConfig() [1/2]

◆ generateTargetConfig() [2/2]

◆ generateTargetConfigOnLeaf()

◆ histogram()

◆ init()

◆ initialize()

◆ insertConditionConstraint()

◆ insertParamConstraint()

◆ paramConstraints()

◆ populateTooltip()

◆ print()