graph-path-validation.hh

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// Copyright (c) 2014, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_MANIPULATION_GRAPHPATHVALIDATOR_HH
#define HPP_MANIPULATION_GRAPHPATHVALIDATOR_HH
 
#include <hpp/core/obstacle-user.hh>
#include <hpp/core/path-validation.hh>
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
#include <hpp/manipulation/graph/fwd.hh>
 
namespace hpp {
namespace manipulation {
using hpp::core::Path;
using hpp::core::PathPtr_t;
using hpp::core::PathValidation;
using hpp::core::PathValidationPtr_t;
using hpp::core::PathVector;
using hpp::core::PathVectorPtr_t;
 
 
class HPP_MANIPULATION_DLLAPI GraphPathValidation
    : public PathValidation,
      public core::ObstacleUserInterface {
 public:
  virtual bool validate(const PathPtr_t& path, bool reverse,
                        PathPtr_t& validPart,
                        PathValidationReportPtr_t& report);
 
  void innerValidation(const PathValidationPtr_t& pathValidation) {
    pathValidation_ = pathValidation;
  }
 
  const PathValidationPtr_t& innerValidation() { return pathValidation_; }
 
  void constraintGraph(const graph::GraphPtr_t& graph) {
    constraintGraph_ = graph;
  }
 
  graph::GraphPtr_t constraintGraph() const { return constraintGraph_; }
 
  //         checking.
  //  \param graph A pointer to the constraint graph.
  static GraphPathValidationPtr_t create(
      const PathValidationPtr_t& pathValidation);
 
  template <typename T>
  static GraphPathValidationPtr_t create(const pinocchio::DevicePtr_t& robot,
                                         const value_type& stepSize);
 
  void addObstacle(const hpp::core::CollisionObjectConstPtr_t& object) {
    shared_ptr<core::ObstacleUserInterface> oui =
        HPP_DYNAMIC_PTR_CAST(core::ObstacleUserInterface, pathValidation_);
    if (oui) oui->addObstacle(object);
  }
 
  void removeObstacleFromJoint(
      const JointPtr_t& joint,
      const pinocchio::CollisionObjectConstPtr_t& obstacle) {
    shared_ptr<core::ObstacleUserInterface> oui =
        HPP_DYNAMIC_PTR_CAST(core::ObstacleUserInterface, pathValidation_);
    if (oui) oui->removeObstacleFromJoint(joint, obstacle);
  }
 
  void filterCollisionPairs(
      const core::RelativeMotion::matrix_type& relMotion) {
    shared_ptr<core::ObstacleUserInterface> oui =
        HPP_DYNAMIC_PTR_CAST(core::ObstacleUserInterface, pathValidation_);
    if (oui) oui->filterCollisionPairs(relMotion);
  }
 
  void setSecurityMargins(const matrix_t& securityMargins) {
    shared_ptr<core::ObstacleUserInterface> oui =
        HPP_DYNAMIC_PTR_CAST(core::ObstacleUserInterface, pathValidation_);
    if (oui) oui->setSecurityMargins(securityMargins);
  }
 
  void setSecurityMarginBetweenBodies(const std::string& body_a,
                                      const std::string& body_b,
                                      const value_type& margin) {
    shared_ptr<core::ObstacleUserInterface> oui =
        HPP_DYNAMIC_PTR_CAST(core::ObstacleUserInterface, pathValidation_);
    if (oui) oui->setSecurityMarginBetweenBodies(body_a, body_b, margin);
  }
 
 protected:
  GraphPathValidation(const PathValidationPtr_t& pathValidation);
 
 private:
  bool impl_validate(const PathVectorPtr_t& path, bool reverse,
                     PathPtr_t& validPart, PathValidationReportPtr_t& report);
  bool impl_validate(const PathPtr_t& path, bool reverse, PathPtr_t& validPart,
                     PathValidationReportPtr_t& report);
  PathValidationPtr_t pathValidation_;
  graph::GraphPtr_t constraintGraph_;
};
 
template <typename T>
GraphPathValidationPtr_t GraphPathValidation::create(
    const pinocchio::DevicePtr_t& robot, const value_type& stepSize) {
  return GraphPathValidation::create(T::create(robot, stepSize));
}
}  // namespace manipulation
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_GRAPHPATHVALIDATOR_HH