spline-gradient-based.hh

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// Copyright (c) 2017 CNRS
// Authors: Joseph Mirabel
//
 
// 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.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// DAMAGE.
 
#ifndef HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_HH
#define HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_HH
 
#include <hpp/constraints/explicit-constraint-set.hh>
#include <hpp/constraints/solver/by-substitution.hh>
#include <hpp/core/path-optimization/spline-gradient-based-abstract.hh>
#include <hpp/core/path-vector.hh>
#include <hpp/core/path/spline.hh>
#include <hpp/core/steering-method/spline.hh>
 
namespace hpp {
namespace core {
namespace pathOptimization {
template <int _PolynomeBasis, int _SplineOrder>
class HPP_CORE_DLLAPI SplineGradientBased
    : public SplineGradientBasedAbstract<_PolynomeBasis, _SplineOrder> {
 public:
  typedef SplineGradientBasedAbstract<_PolynomeBasis, _SplineOrder> Base;
  enum { PolynomeBasis = _PolynomeBasis, SplineOrder = _SplineOrder };
  typedef shared_ptr<SplineGradientBased> Ptr_t;
 
  using typename Base::Spline;
  using typename Base::SplinePtr_t;
  using typename Base::Splines_t;

  static Ptr_t create(const ProblemConstPtr_t& problem);

  virtual PathVectorPtr_t optimize(const PathVectorPtr_t& path);

  value_type alphaInit;
  bool alwaysStopAtFirst;
  size_type costOrder;
  bool usePathLengthAsWeights;
  bool reorderIntervals;
  bool linearizeAtEachStep;
  bool checkJointBound;
  bool returnOptimum;
  value_type costThreshold;
  value_type guessThreshold;
  value_type QPAccuracy;
 
 protected:
  using Base::problem;
  using Base::robot_;
  using typename Base::RowBlockIndices;
  using typename Base::SplineOptimizationData;
  using typename Base::SplineOptimizationDatas_t;
 
  SplineGradientBased(const ProblemConstPtr_t& problem);


  virtual void addProblemConstraints(const PathVectorPtr_t& init,
                                     const Splines_t& splines,
                                     LinearConstraint& lc,
                                     SplineOptimizationDatas_t& sods) const;
 
  void addProblemConstraintOnPath(const PathPtr_t& path,
                                  const size_type& idxSpline,
                                  const SplinePtr_t& spline,
                                  LinearConstraint& lc,
                                  SplineOptimizationData& sod) const;

  Eigen::RowBlockIndices computeActiveParameters(
      const PathPtr_t& path, const constraints::solver::BySubstitution& hs,
      const value_type& guessThr = -1,
      const bool& useExplicitInput = false) const;

 
  bool checkOptimum_;
 
 private:
  typedef typename Base::Reports_t Reports_t;
  struct CollisionFunctions;
 
  void addCollisionConstraint(const std::size_t idxSpline,
                              const SplinePtr_t& spline,
                              const SplinePtr_t& nextSpline,
                              const SplineOptimizationData& sod,
                              const PathValidationReportPtr_t& report,
                              LinearConstraint& collision,
                              CollisionFunctions& functions) const;
 
  bool findNewConstraint(LinearConstraint& constraint,
                         LinearConstraint& collision,
                         LinearConstraint& collisionReduced,
                         CollisionFunctions& functions, const std::size_t iF,
                         const SplinePtr_t& spline,
                         const SplineOptimizationData& sod) const;
 
  template <typename Cost_t>
  bool checkHessian(const Cost_t& cost, const matrix_t& H,
                    const Splines_t& splines) const;
 
  // Continuity constraints
  // matrix_t Jcontinuity_;
  // vector_t rhsContinuity_;
};  // GradientBased
}  // namespace pathOptimization
}  // namespace core
}  // namespace hpp
 
#endif  // HPP_CORE_PATH_OPTIMIZATION_GRADIENT_BASED_HH