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// Copyright (c) 2017 CNRS |
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// Authors: Pierre Fernbach |
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// |
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// This file is part of hpp-rbprm |
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// hpp-core 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-core 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-core If not, see |
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// <http://www.gnu.org/licenses/>. |
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#include <cstdlib> |
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#include <deque> |
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#include <hpp/core/config-validations.hh> |
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#include <hpp/core/distance.hh> |
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#include <hpp/core/kinodynamic-oriented-path.hh> |
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#include <hpp/core/path-projector.hh> |
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#include <hpp/core/path-validation.hh> |
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#include <hpp/core/path-vector.hh> |
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#include <hpp/core/problem.hh> |
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#include <hpp/rbprm/planner/oriented-path-optimizer.hh> |
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#include <hpp/util/assertion.hh> |
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#include <hpp/util/debug.hh> |
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#include <hpp/util/timer.hh> |
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#include <limits> |
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namespace hpp { |
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namespace rbprm { |
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using core::Configuration_t; |
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using core::ConfigurationIn_t; |
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using core::ConfigurationPtr_t; |
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using core::DistancePtr_t; |
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using core::KinodynamicOrientedPath; |
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using core::KinodynamicOrientedPathPtr_t; |
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using core::KinodynamicPath; |
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using core::KinodynamicPathPtr_t; |
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using core::PathPtr_t; |
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using core::PathVector; |
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using core::PathVectorPtr_t; |
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using core::Problem; |
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using pinocchio::value_type; |
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OrientedPathOptimizerPtr_t OrientedPathOptimizer::create( |
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core::ProblemConstPtr_t problem) { |
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OrientedPathOptimizer* ptr = new OrientedPathOptimizer(problem); |
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return OrientedPathOptimizerPtr_t(ptr); |
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} |
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OrientedPathOptimizer::OrientedPathOptimizer(core::ProblemConstPtr_t problem) |
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: PathOptimizer(problem), |
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sm_(dynamic_pointer_cast<SteeringMethodKinodynamic>( |
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problem->steeringMethod())), |
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rbprmPathValidation_(dynamic_pointer_cast<RbPrmPathValidation>( |
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problem->pathValidation())) { |
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assert(sm_ && |
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"Random-shortcut-dynamic must use a kinodynamic-steering-method"); |
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assert( |
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rbprmPathValidation_ && |
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"Path validation should be a RbPrmPathValidation class for this solver"); |
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// retrieve parameters from problem : |
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sizeFootX_ = problem->getParameter(std::string("DynamicPlanner/sizeFootX")) |
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.floatValue() / |
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2.; |
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sizeFootY_ = problem->getParameter(std::string("DynamicPlanner/sizeFootY")) |
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.floatValue() / |
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2.; |
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if (sizeFootX_ > 0. && sizeFootY_ > 0.) |
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rectangularContact_ = 1; |
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else |
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rectangularContact_ = 0; |
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tryJump_ = |
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problem->getParameter(std::string("DynamicPlanner/tryJump")).boolValue(); |
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hppDout(notice, "tryJump in steering method = " << tryJump_); |
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mu_ = problem->getParameter(std::string("DynamicPlanner/friction")) |
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.floatValue(); |
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hppDout(notice, "mu define in python : " << mu_); |
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orientationIgnoreZValue_ = |
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problem->getParameter(std::string("Kinodynamic/forceYawOrientation")) |
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.boolValue(); |
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hppDout(notice, "oriented path only constraint yaw (ignore z value) : " |
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<< orientationIgnoreZValue_); |
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} |
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PathVectorPtr_t OrientedPathOptimizer::optimize(const PathVectorPtr_t& path) { |
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hppDout(notice, "!! Start optimize()"); |
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hppStartBenchmark(ORIENTED_OPTIMIZER); |
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using std::make_pair; |
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using std::numeric_limits; |
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PathPtr_t unusedValidPart; |
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core::PathValidationReportPtr_t unusedReport; |
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PathVectorPtr_t result = |
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PathVector::create(path->outputSize(), path->outputDerivativeSize()); |
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const size_t numPaths = path->numberPaths(); |
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std::vector<bool> orientedValid(numPaths); |
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std::vector<bool> replaceValid(numPaths); |
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std::vector<KinodynamicOrientedPathPtr_t> orientedPaths(numPaths); |
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std::vector<KinodynamicPathPtr_t> resultPaths(numPaths); |
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KinodynamicPathPtr_t castedPath; |
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// iterate over all elements of path (all kinodynamicPath), convert them to |
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// orientedPath and test collision |
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for (std::size_t i = 0; i < numPaths; ++i) { |
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orientedValid[i] = false; |
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const PathPtr_t& element(path->pathAtRank(i)); |
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castedPath = dynamic_pointer_cast<KinodynamicPath>(element); |
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if (castedPath) { |
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resultPaths[i] = castedPath; |
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orientedPaths[i] = core::KinodynamicOrientedPath::create( |
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castedPath, orientationIgnoreZValue_); |
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if (orientedPaths[i]) { |
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orientedValid[i] = rbprmPathValidation_->validate( |
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orientedPaths[i], false, unusedValidPart, unusedReport); |
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} |
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} else |
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hppDout( |
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error, |
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"paths inside path vector could not be casted to kinodyamic paths"); |
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} |
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// then test if previous/next path can be adjusted to the new orientation |
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for (size_t i = 0; i < numPaths; i++) { |
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replaceValid[i] = false; |
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} |
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hppDout(notice, "Number of paths : " << numPaths); |
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std::ostringstream oss; |
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for (size_t i = 0; i < numPaths; i++) oss << orientedValid[i] << " ; "; |
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hppDout(notice, "orientedValid : " << oss.str()); |
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for (size_t i = 0; i < numPaths; i++) { |
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if (!replaceValid[i]) { |
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hppDout(notice, "init check for index : " << i); |
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replaceValid[i] = checkReplaceOrientation( |
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i, numPaths, replaceValid, orientedValid, orientedPaths, resultPaths); |
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} |
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} |
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std::ostringstream oss2; |
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for (size_t i = 0; i < numPaths; i++) oss2 << replaceValid[i] << " ; "; |
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hppDout(notice, "replaceValid : " << oss2.str()); |
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// concatenate resultPath in a pathVector : |
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// TODO |
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for (size_t i = 0; i < numPaths; i++) { |
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result->appendPath(resultPaths[i]); |
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} |
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hppStopBenchmark(ORIENTED_OPTIMIZER); |
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hppDisplayBenchmark(ORIENTED_OPTIMIZER); |
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return result; |
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} |
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/** |
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* @brief OrientedPathOptimizer::checkReplaceOrientation recursively check if an |
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* element of the path vector can be changed to an oriented path : the final |
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* state of the previous element and the initial state of the next element must |
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* be changed and this changes must be valid |
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* @param index |
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* @param replaceValid |
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* @param orientedValid |
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* @param orientedPaths |
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* @param resultPaths |
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* @return |
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*/ |
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bool OrientedPathOptimizer::checkReplaceOrientation( |
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const size_t index, const size_t lastIndex, std::vector<bool> replaceValid, |
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std::vector<bool> orientedValid, |
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std::vector<core::KinodynamicOrientedPathPtr_t> orientedPaths, |
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std::vector<core::KinodynamicPathPtr_t> resultPaths) { |
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KinodynamicPathPtr_t previousPath, nextPath; |
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bool previousValid(false); |
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PathPtr_t unusedValidPart; |
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core::PathValidationReportPtr_t unusedReport; |
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if (!orientedValid[index]) return false; |
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if (index > 0) { // test if previous element can be adjusted: |
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if (orientedValid[index - 1] && replaceValid[index - 1]) { |
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previousValid = true; |
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} else { |
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previousPath = KinodynamicPath::createCopy(resultPaths[index - 1]); |
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if (previousPath) { |
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previousPath->endConfig(orientedPaths[index]->initial()); |
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previousValid = rbprmPathValidation_->validate( |
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previousPath, false, unusedValidPart, unusedReport); |
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} |
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} |
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} else { // if first element of the pathvector : always valid |
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previousValid = true; |
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} |
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if (!previousValid) return false; |
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if (index < lastIndex - 1) { // test if next element can be adjusted |
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if (orientedValid[index + |
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1]) { // make a recursive test for the next elements |
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replaceValid[index] = |
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true; // needed for the recursive call to test the previous part |
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hppDout(notice, "iterative check of index " << index); |
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replaceValid[index] = |
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checkReplaceOrientation(index + 1, lastIndex, replaceValid, |
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orientedValid, orientedPaths, resultPaths); |
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hppDout(notice, "end iterative check of index " |
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<< index |
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<< ", replaceValid = " << replaceValid[index]); |
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nextPath = orientedPaths[index + 1]; |
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} else { |
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nextPath = KinodynamicPath::createCopy(resultPaths[index + 1]); |
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if (nextPath) { |
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nextPath->initialConfig(orientedPaths[index]->end()); |
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replaceValid[index] = rbprmPathValidation_->validate( |
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nextPath, false, unusedValidPart, unusedReport); |
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} |
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} |
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} else { // if last element of the pathVector : always valid |
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replaceValid[index] = true; |
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} |
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if (replaceValid[index]) { // replace values in resultPaths |
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resultPaths[index] = orientedPaths[index]; |
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if (index > 0) resultPaths[index - 1] = previousPath; |
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if (index < lastIndex - 1) resultPaths[index + 1] = nextPath; |
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} |
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return replaceValid[index]; |
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} |
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core::PathPtr_t OrientedPathOptimizer::steer(ConfigurationIn_t q1, |
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ConfigurationIn_t q2) const { |
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// according to optimize() method : the path is always in the direction q1 -> |
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// q2 first : create a node and fill all informations about contacts for the |
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// initial state (q1): |
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core::RbprmNodePtr_t x1( |
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new core::RbprmNode(ConfigurationPtr_t(new Configuration_t(q1)))); |
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core::ValidationReportPtr_t report; |
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rbprmPathValidation_->getValidator()->computeAllContacts(true); |
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problem()->configValidations()->validate(q1, report); |
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rbprmPathValidation_->getValidator()->computeAllContacts(false); |
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hppDout(notice, "Random shortucut, fillNodeMatrices : "); |
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x1->fillNodeMatrices( |
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report, rectangularContact_, sizeFootX_, sizeFootY_, |
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problem()->robot()->mass(), mu_, |
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dynamic_pointer_cast<pinocchio::RbPrmDevice>(problem()->robot())); |
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// call steering method kinodynamic with the newly created node |
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hppDout(notice, "Random shortucut, steering method : "); |
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PathPtr_t dp = (*sm_)(x1, q2); |
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if (dp) { |
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hppDout(notice, "Random shortucut, path exist "); |
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if ((dp->initial() != q1) || (dp->end() != q2)) { |
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hppDout(notice, "Path doesn't link the targets"); |
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return PathPtr_t(); |
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} |
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if (dp->length() <= 0.001) { |
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hppDout(notice, "Path length < epsilon"); |
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return PathPtr_t(); |
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} |
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if (!problem()->pathProjector()) return dp; |
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PathPtr_t pp; |
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if (problem()->pathProjector()->apply(dp, pp)) return pp; |
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} |
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return PathPtr_t(); |
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} |
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} // namespace rbprm |
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} // namespace hpp |