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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/rbprm-rom-validation.hh" |
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#include <hpp/fcl/BVH/BVH_model.h> |
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#include <hpp/fcl/collision.h> |
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#include <hpp/rbprm/rbprm-validation-report.hh> |
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#include "hpp/rbprm/utils/algorithms.h" |
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namespace hpp { |
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using namespace core; |
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namespace rbprm { |
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RbPrmRomValidationPtr_t RbPrmRomValidation::create( |
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const pinocchio::DevicePtr_t& robot, |
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const std::vector<std::string>& affFilters) { |
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✓✗ |
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RbPrmRomValidation* ptr = new RbPrmRomValidation(robot, affFilters); |
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return RbPrmRomValidationPtr_t(ptr); |
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} |
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RbPrmRomValidation::RbPrmRomValidation( |
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const pinocchio::DevicePtr_t& robot, |
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const std::vector<std::string>& affFilters) |
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: hpp::core::CollisionValidation(robot), |
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filter_(affFilters), |
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✓✗ |
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unusedReport_(new CollisionValidationReport), |
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✓✗✓✗
✓✗ |
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optional_(false) {} |
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bool RbPrmRomValidation::validate(const Configuration_t& config) { |
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return validate(config, unusedReport_); |
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} |
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bool RbPrmRomValidation::validate(const Configuration_t& config, |
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ValidationReportPtr_t& validationReport) { |
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ValidationReportPtr_t romReport; |
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bool collision = !hpp::core::CollisionValidation::validate(config, romReport); |
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// CollisionValidationReportPtr_t reportCast = |
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// dynamic_pointer_cast<CollisionValidationReport>(romReport); |
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// hppDout(notice,"number of contacts : "<<reportCast->result.numContacts()); |
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// hppDout(notice,"contact 1 "<<reportCast->result.getContact(0).pos); |
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RbprmValidationReportPtr_t rbprmReport = |
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dynamic_pointer_cast<RbprmValidationReport>(validationReport); |
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✓✗ |
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if (rbprmReport) { |
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// hppDout(notice,"rbprm-validation-report correctly cast"); |
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rbprmReport->ROMFilters.insert(std::make_pair(robot_->name(), collision)); |
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} else { |
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hppDout( |
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notice, |
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"Validation report is not a valid rbprm-validation-report instance"); |
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} |
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✓✓ |
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if (collision) { |
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✓✗ |
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if (rbprmReport) { // if the report is a correct rbprm report, we add the |
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// rom information |
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core::CollisionValidationReportPtr_t romCollisionReport = |
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HPP_DYNAMIC_PTR_CAST(CollisionValidationReport, romReport); |
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rbprmReport->ROMReports.insert( |
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std::make_pair(robot_->name(), romCollisionReport)); |
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// re arrange the collision pair such that the first one is the pair in |
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// collision (allow us to maintain the contact with the same obstacle as |
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// long as possible) |
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CollisionObjectConstPtr_t obj2 = romCollisionReport->object2; |
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bool first(true); |
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std::size_t i = 0; |
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✓✗ |
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for (; i < pairs().size(); ++i) |
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if (pairs()[i].second == obj2) break; |
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✓✓✓✗
✓✓ |
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if (i != 0 && !pairs().empty()) { |
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std::swap(pairs()[0], pairs()[i]); |
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std::swap(requests()[0], requests()[i]); |
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} |
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} else { |
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validationReport = romReport; |
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} |
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} |
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✗✓ |
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if (optional_) |
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return true; |
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else |
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return collision; |
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} |
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void RbPrmRomValidation::randomnizeCollisionPairs() { |
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✓✓ |
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for (std::size_t i = 0; i < pairs().size(); ++i) { |
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// XXX rand() % N is not uniformly distributed |
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std::size_t j = std::rand() % (i + 1); |
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✓✓ |
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if (i != j) { |
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std::swap(pairs()[i], pairs()[j]); |
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std::swap(requests()[i], requests()[j]); |
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} |
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} |
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} |
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} // namespace rbprm |
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} // namespace hpp |