cross-state-optimization.hh

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// Copyright (c) 2017, Joseph Mirabel
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr),
//          Florent Lamiraux (florent.lamiraux@laas.fr)
//
 
// 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.
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// 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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#ifndef HPP_MANIPULATION_STEERING_METHOD_CROSS_STATE_OPTIMIZATION_HH
#define HPP_MANIPULATION_STEERING_METHOD_CROSS_STATE_OPTIMIZATION_HH
 
#include <hpp/core/config-projector.hh>
#include <hpp/core/steering-method.hh>
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
#include <hpp/manipulation/problem.hh>
#include <hpp/manipulation/steering-method/fwd.hh>
#include <hpp/manipulation/steering-method/graph.hh>
 
namespace hpp {
namespace manipulation {
namespace steeringMethod {

class HPP_MANIPULATION_DLLAPI CrossStateOptimization : public SteeringMethod {
 public:
  struct OptimizationData;
 
  static CrossStateOptimizationPtr_t create(const ProblemConstPtr_t& problem);

  static CrossStateOptimizationPtr_t create(
      const core::ProblemConstPtr_t& problem);
 
  template <typename T>
  static CrossStateOptimizationPtr_t create(
      const core::ProblemConstPtr_t& problem);
 
  core::SteeringMethodPtr_t copy() const;
 
 protected:
  CrossStateOptimization(const ProblemConstPtr_t& problem)
      : SteeringMethod(problem), sameRightHandSide_() {
    gatherGraphConstraints();
  }
 
  CrossStateOptimization(const CrossStateOptimization& other)
      : SteeringMethod(other),
        constraints_(other.constraints_),
        index_(other.index_),
        sameRightHandSide_(other.sameRightHandSide_),
        weak_() {}
 
  core::PathPtr_t impl_compute(ConfigurationIn_t q1,
                               ConfigurationIn_t q2) const;
 
  void init(CrossStateOptimizationWkPtr_t weak) {
    SteeringMethod::init(weak);
    weak_ = weak;
  }
 
 private:
  typedef constraints::solver::BySubstitution Solver_t;
  struct GraphSearchData;

  void gatherGraphConstraints();

  bool findTransitions(GraphSearchData& data) const;

  graph::Edges_t getTransitionList(GraphSearchData& data,
                                   const std::size_t& i) const;

  bool buildOptimizationProblem(OptimizationData& d,
                                const graph::Edges_t& transitions) const;

  bool solveOptimizationProblem(OptimizationData& d) const;
 
  bool checkConstantRightHandSide(OptimizationData& d, size_type index) const;
 
  core::PathVectorPtr_t buildPath(OptimizationData& d,
                                  const graph::Edges_t& edges) const;
 
  bool contains(const Solver_t& solver, const ImplicitPtr_t& c) const;

  NumericalConstraints_t constraints_;
  std::map<std::string, std::size_t> index_;

  std::map<ImplicitPtr_t, ImplicitPtr_t> sameRightHandSide_;

  CrossStateOptimizationWkPtr_t weak_;
};  // class CrossStateOptimization

 
template <typename T>
CrossStateOptimizationPtr_t CrossStateOptimization::create(
    const core::ProblemConstPtr_t& problem) {
  CrossStateOptimizationPtr_t gsm = CrossStateOptimization::create(problem);
  gsm->innerSteeringMethod(T::create(problem));
  return gsm;
}
}  // namespace steeringMethod
}  // namespace manipulation
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_STEERING_METHOD_CROSS_STATE_OPTIMIZATION_HH