1 |
|
|
// |
2 |
|
|
// Copyright (c) 2015 CNRS |
3 |
|
|
// Authors: Florent Lamiraux |
4 |
|
|
// |
5 |
|
|
// This file is part of hpp-core |
6 |
|
|
// hpp-core is free software: you can redistribute it |
7 |
|
|
// and/or modify it under the terms of the GNU Lesser General Public |
8 |
|
|
// License as published by the Free Software Foundation, either version |
9 |
|
|
// 3 of the License, or (at your option) any later version. |
10 |
|
|
// |
11 |
|
|
// hpp-core is distributed in the hope that it will be |
12 |
|
|
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
13 |
|
|
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
14 |
|
|
// General Lesser Public License for more details. You should have |
15 |
|
|
// received a copy of the GNU Lesser General Public License along with |
16 |
|
|
// hpp-core If not, see |
17 |
|
|
// <http://www.gnu.org/licenses/>. |
18 |
|
|
|
19 |
|
|
#include <hpp/core/collision-path-validation-report.hh> |
20 |
|
|
#include <hpp/core/collision-validation.hh> |
21 |
|
|
#include <hpp/core/config-validations.hh> |
22 |
|
|
#include <hpp/core/joint-bound-validation.hh> |
23 |
|
|
#include <hpp/core/path.hh> |
24 |
|
|
#include <hpp/pinocchio/device.hh> |
25 |
|
|
#include <hpp/rbprm/interpolation/time-constraint-path-validation.hh> |
26 |
|
|
|
27 |
|
|
namespace hpp { |
28 |
|
|
using namespace core; |
29 |
|
|
namespace rbprm { |
30 |
|
|
namespace interpolation { |
31 |
|
|
|
32 |
|
|
TimeConstraintPathValidationPtr_t TimeConstraintPathValidation::create( |
33 |
|
|
const DevicePtr_t& robot, const value_type& stepSize, |
34 |
|
|
const std::size_t pathDofRank) { |
35 |
|
|
TimeConstraintPathValidation* ptr = |
36 |
|
|
new TimeConstraintPathValidation(robot, stepSize, pathDofRank); |
37 |
|
|
return TimeConstraintPathValidationPtr_t(ptr); |
38 |
|
|
} |
39 |
|
|
|
40 |
|
|
bool TimeConstraintPathValidation::validate( |
41 |
|
|
const PathPtr_t& path, bool reverse, PathPtr_t& validPart, |
42 |
|
|
PathValidationReportPtr_t& validationReport) { |
43 |
|
|
if (path->initial()[pathDofRank_] > path->end()[pathDofRank_]) { |
44 |
|
|
validPart = path->extract( |
45 |
|
|
interval_t(path->timeRange().first, path->timeRange().first)); |
46 |
|
|
return false; |
47 |
|
|
} |
48 |
|
|
// to limit discontinuities, try to check that variation is not too important |
49 |
|
|
Configuration_t init = path->initial(); |
50 |
|
|
Configuration_t end = path->end(); |
51 |
|
|
std::size_t dim = init.rows() - 7; |
52 |
|
|
double totalDistance = (end.tail(dim) - init.tail(dim)).norm(); |
53 |
|
|
double length = path->length(); |
54 |
|
|
bool successPathOperator; |
55 |
|
|
// checking 10 points |
56 |
|
|
Configuration_t last_q = init; |
57 |
|
|
Configuration_t q = end; |
58 |
|
|
for (double i = 1; i < 10; ++i) { |
59 |
|
|
q = path->operator()(i / 10. * length, successPathOperator); |
60 |
|
|
assert(successPathOperator && "path operator () did not succeed"); |
61 |
|
|
double distance = (last_q.tail(dim) - q.tail(dim)).norm(); |
62 |
|
|
last_q = q; |
63 |
|
|
if (distance / totalDistance > 0.2) { |
64 |
|
|
validPart = path->extract( |
65 |
|
|
interval_t(path->timeRange().first, path->timeRange().first)); |
66 |
|
|
return false; |
67 |
|
|
} |
68 |
|
|
} |
69 |
|
|
return core::pathValidation::Discretized::validate(path, reverse, validPart, |
70 |
|
|
validationReport); |
71 |
|
|
} |
72 |
|
|
|
73 |
|
|
TimeConstraintPathValidation::TimeConstraintPathValidation( |
74 |
|
|
const DevicePtr_t& robot, const value_type& stepSize, |
75 |
|
|
const std::size_t pathDofRank) |
76 |
|
|
: core::pathValidation::Discretized(stepSize), pathDofRank_(pathDofRank) { |
77 |
|
|
add(CollisionValidation::create(robot)); |
78 |
|
|
add(JointBoundValidation::create(robot)); |
79 |
|
|
} |
80 |
|
|
} // namespace interpolation |
81 |
|
|
} // namespace rbprm |
82 |
|
|
} // namespace hpp |