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// Copyright (c) 2014, LAAS-CNRS |
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// Authors: Steve Tonneau (steve.tonneau@laas.fr) |
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// |
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// This file is part of hpp-rbprm. |
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// hpp-rbprm is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// |
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// hpp-rbprm is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// hpp-rbprm. If not, see <http://www.gnu.org/licenses/>. |
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#include <hpp/rbprm/interpolation/limb-rrt-shooter.hh> |
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#include <hpp/rbprm/interpolation/time-constraint-utils.hh> |
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#include <hpp/rbprm/rbprm-limb.hh> |
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#include <hpp/rbprm/sampling/sample.hh> |
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namespace hpp { |
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using namespace core; |
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namespace rbprm { |
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namespace interpolation { |
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rbprm::T_Limb GetVaryingLimb(const RbPrmFullBodyPtr_t fullBody, |
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const hpp::rbprm::State &from, |
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const hpp::rbprm::State &to) { |
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/*rbprm::T_Limb res; |
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const rbprm::T_Limb& limbs = fullBody->GetLimbs(); |
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std::vector<std::string> variations = to.allVariations(from, |
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extractEffectorsName(limbs)); if(!variations.empty()) |
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{ |
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const std::string limbName = *(variations.begin()); |
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rbprm::RbPrmLimbPtr_t limb = limbs.at(limbName); |
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res.insert(std::make_pair(limbName,limb)); |
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} |
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return res;*/ |
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rbprm::T_Limb res; |
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std::vector<std::string> fixedContacts = to.fixedContacts(from); |
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std::vector<std::string> variations = to.contactVariations(from); |
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for (rbprm::CIT_Limb cit = fullBody->GetLimbs().begin(); |
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cit != fullBody->GetLimbs().end(); ++cit) { |
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if (std::find(fixedContacts.begin(), fixedContacts.end(), cit->first) == |
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fixedContacts.end()) { |
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// if(std::find(variations.begin(), variations.end(), cit->first) != |
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// variations.end()) |
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{ res.insert(*cit); } |
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} |
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} |
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return res; |
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} |
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TimeConstraintShooterPtr_t LimbRRTShooterFactory::operator()( |
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const RbPrmFullBodyPtr_t fullBody, const hpp::core::PathPtr_t path, |
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const std::size_t pathDofRank, const hpp::rbprm::State &from, |
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const hpp::rbprm::State &to, const T_TimeDependant &tds, |
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core::ConfigProjectorPtr_t projector) const { |
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return TimeConstraintShooter::create(fullBody->device_, path, pathDofRank, |
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tds, projector, |
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GetVaryingLimb(fullBody, from, to)); |
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} |
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} // namespace interpolation |
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} // namespace rbprm |
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} // namespace hpp |