hpp::manipulation::steeringMethod::CrossStateOptimization Class Reference

#include <hpp/manipulation/steering-method/cross-state-optimization.hh>

Inheritance diagram for hpp::manipulation::steeringMethod::CrossStateOptimization:

Collaboration diagram for hpp::manipulation::steeringMethod::CrossStateOptimization:

Public Member Functions
core::SteeringMethodPtr_t	copy () const
Public Member Functions inherited from hpp::manipulation::SteeringMethod
const core::SteeringMethodPtr_t &	innerSteeringMethod () const
void	innerSteeringMethod (const core::SteeringMethodPtr_t &sm)

Static Public Member Functions
static CrossStateOptimizationPtr_t	create (const ProblemConstPtr_t &problem)
static CrossStateOptimizationPtr_t	create (const core::ProblemConstPtr_t &problem)
template<typename T >
static CrossStateOptimizationPtr_t	create (const core::ProblemConstPtr_t &problem)

Protected Member Functions
	CrossStateOptimization (const ProblemConstPtr_t &problem)
	CrossStateOptimization (const CrossStateOptimization &other)
core::PathPtr_t	impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const
void	init (CrossStateOptimizationWkPtr_t weak)
Protected Member Functions inherited from hpp::manipulation::SteeringMethod
	SteeringMethod (const ProblemConstPtr_t &problem)
	Constructor. More...
	SteeringMethod (const SteeringMethod &other)
	Copy constructor. More...
void	init (SteeringMethodWkPtr_t weak)

Additional Inherited Members
Protected Attributes inherited from hpp::manipulation::SteeringMethod
ProblemConstPtr_t	problem_
	A pointer to the manipulation problem. More...
core::SteeringMethodPtr_t	steeringMethod_
	The encapsulated steering method. More...

Detailed Description

Optimization-based steering method.

Sketch of the method

Given two configuration \( (q_1,q_2) \), this class formulates and solves the problem as follows.

• Compute the corresponding states \( (s_1, s_2) \).
• For a each path \( (e_0, ... e_n) \) of length not more than parameter "CrossStateOptimization/maxDepth" between \( (s_1, s_2)\) in the constraint graph, do:
  • define \( n-1 \) intermediate configuration \( p_i \),
  • initialize the optimization problem, as explained below,
  • solve the optimization problem, which gives \( p^*_i \),
  • in case of failure, continue the loop.
  • call the Edge::build of each \( e_j \) for each consecutive \( (p^*_i, p^*_{i+1}) \).

Problem formulation

Find \( (p_i) \) such that:

• \( p_0 = q_1 \),
• \( p_{n+1} = q_2 \),
• \( p_i \) is in state between \( (e_{i-1}, e_i) \), (StateFunction)
• \( (p_i, p_{i+1}) \) are reachable with transition \( e_i \) (EdgeFunction).

Problem resolution

One solver (hpp::constraints::solver::BySubstitution) is created for each waypoint \(p_i\).

• method buildOptimizationProblem builds a matrix the rows of which are the parameterizable numerical constraints present in the graph, and the columns of which are the waypoints. Each value in the matrix defines the status of each constraint right hand side for this waypoint, among {absent from the solver, equal to value for previous waypoint, equal to value for start configuration, equal to value for end configuration}.
• method CrossStateOptimization::solveOptimizationProblem loops over the waypoint solvers, solves for each waypoint after initializing the right hand sides with the proper values.
• eventually method buildPath build paths between waypoints with the constraints of the transition in which the path lies.

Current status

The method has been successfully tested with romeo holding a placard and the construction set benchmarks. The result is satisfactory except between pregrasp and grasp waypoints that may be far away from each other if the transition between those state does not contain the grasp complement constraint. The same holds between placement and pre-placement.

Constructor & Destructor Documentation

CrossStateOptimization() [1/2]

hpp::manipulation::steeringMethod::CrossStateOptimization::CrossStateOptimization ( const ProblemConstPtr_t &  problem )

inlineprotected

CrossStateOptimization() [2/2]

hpp::manipulation::steeringMethod::CrossStateOptimization::CrossStateOptimization ( const CrossStateOptimization &  other )

inlineprotected

Member Function Documentation

copy()

core::SteeringMethodPtr_t hpp::manipulation::steeringMethod::CrossStateOptimization::copy

(

)

const

create() [1/3]

static CrossStateOptimizationPtr_t hpp::manipulation::steeringMethod::CrossStateOptimization::create ( const core::ProblemConstPtr_t &  problem )

static

Warning

core::Problem will be casted to Problem

create() [2/3]

template<typename T >

CrossStateOptimizationPtr_t hpp::manipulation::steeringMethod::CrossStateOptimization::create ( const core::ProblemConstPtr_t &  problem )

static

create() [3/3]

static CrossStateOptimizationPtr_t hpp::manipulation::steeringMethod::CrossStateOptimization::create ( const ProblemConstPtr_t &  problem )

static

impl_compute()

core::PathPtr_t hpp::manipulation::steeringMethod::CrossStateOptimization::impl_compute ( ConfigurationIn_t  q1, ConfigurationIn_t  q2  ) const

protected

init()

void hpp::manipulation::steeringMethod::CrossStateOptimization::init ( CrossStateOptimizationWkPtr_t  weak )

inlineprotected

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

• include/hpp/manipulation/steering-method/cross-state-optimization.hh