partial-shortcut.hh

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//
// Copyright (c) 2015 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.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// DAMAGE.
 
#ifndef HPP_CORE_PATH_OPTIMIZATION_PARTIAL_SHORTCUT_HH
#define HPP_CORE_PATH_OPTIMIZATION_PARTIAL_SHORTCUT_HH
 
#include <hpp/core/path-optimizer.hh>
 
namespace hpp {
namespace core {
namespace pathOptimization {
 
typedef std::vector<JointConstPtr_t> JointStdVector_t;


struct PartialShortcutTraits {
  static bool removeLockedJoints() { return true; }
  static bool onlyFullShortcut() { return false; }
  static std::size_t numberOfConsecutiveFailurePerJoints() { return 5; }
  static value_type progressionMargin() { return 1e-3; }
};
 
class HPP_CORE_DLLAPI PartialShortcut : public PathOptimizer {
 public:
  template <typename Traits>
  static PartialShortcutPtr_t createWithTraits(
      const ProblemConstPtr_t& problem);

  static PartialShortcutPtr_t create(const ProblemConstPtr_t& problem);

  virtual PathVectorPtr_t optimize(const PathVectorPtr_t& path);
 
  struct Parameters {
    bool removeLockedJoints;

    bool onlyFullShortcut;

    std::size_t numberOfConsecutiveFailurePerJoints;

    value_type progressionMargin;
 
    Parameters();
  } parameters;
 
 protected:
  PartialShortcut(const ProblemConstPtr_t& problem);
 
 private:
  PathVectorPtr_t generatePath(PathVectorPtr_t path, JointConstPtr_t joint,
                               const value_type t1, ConfigurationIn_t q1,
                               const value_type t2, ConfigurationIn_t q2) const;
 
  JointStdVector_t generateJointVector(const PathVectorPtr_t& pv) const;

  PathVectorPtr_t optimizeFullPath(const PathVectorPtr_t& pv,
                                   const JointStdVector_t& jvIn,
                                   JointStdVector_t& jvOut) const;

  PathVectorPtr_t optimizeRandom(const PathVectorPtr_t& pv,
                                 const JointStdVector_t& jv) const;
};  // class RandomShortcut

 
template <typename Traits>
PartialShortcutPtr_t PartialShortcut::createWithTraits(
    const ProblemConstPtr_t& problem) {
  PartialShortcut* ptr = new PartialShortcut(problem);
  ptr->parameters.removeLockedJoints = Traits::removeLockedJoints();
  ptr->parameters.onlyFullShortcut = Traits::onlyFullShortcut();
  ptr->parameters.progressionMargin = Traits::progressionMargin();
  ptr->parameters.numberOfConsecutiveFailurePerJoints =
      Traits::numberOfConsecutiveFailurePerJoints();
  return PartialShortcutPtr_t(ptr);
}
}  // namespace pathOptimization
}  // namespace core
}  // namespace hpp
#endif  // HPP_CORE_PATH_OPTIMIZATION_PARTIAL_SHORTCUT_HH