manipulation-planner.hh

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// Copyright (c) 2014, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@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.
//
// 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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#ifndef HPP_MANIPULATION_MANIPULATION_PLANNER_HH
#define HPP_MANIPULATION_MANIPULATION_PLANNER_HH
 
#include <hpp/core/path-planner.hh>
#include <hpp/statistics/success-bin.hh>
 
#include "hpp/manipulation/config.hh"
#include "hpp/manipulation/fwd.hh"
#include "hpp/manipulation/graph/fwd.hh"
#include "hpp/manipulation/graph/graph.hh"
#include "hpp/manipulation/graph/statistics.hh"
 
namespace hpp {
namespace manipulation {
 
class HPP_MANIPULATION_DLLAPI ManipulationPlanner
    : public hpp::core::PathPlanner {
 public:
  typedef std::list<std::size_t> ErrorFreqs_t;

  static ManipulationPlannerPtr_t create(const core::ProblemConstPtr_t& problem,
                                         const core::RoadmapPtr_t& roadmap);

  virtual void oneStep();

  bool extend(RoadmapNodePtr_t q_near, ConfigurationIn_t q_rand,
              core::PathPtr_t& validPath);

  ErrorFreqs_t getEdgeStat(const graph::EdgePtr_t& edge) const;

  static StringList_t errorList();
 
 protected:
  ManipulationPlanner(const ProblemConstPtr_t& problem,
                      const RoadmapPtr_t& roadmap);

  void init(const ManipulationPlannerWkPtr_t& weak);
 
 private:
  std::size_t tryConnectToRoadmap(const core::Nodes_t nodes);
  std::size_t tryConnectNewNodes(const core::Nodes_t nodes);

  ConfigurationShooterPtr_t shooter_;
  ProblemConstPtr_t problem_;
  RoadmapPtr_t roadmap_;
  ManipulationPlannerWkPtr_t weakPtr_;

  typedef ::hpp::statistics::SuccessStatistics SuccessStatistics;
  typedef ::hpp::statistics::SuccessBin SuccessBin;
  typedef ::hpp::statistics::SuccessBin::Reason Reason;
  SuccessStatistics& edgeStat(const graph::EdgePtr_t& edge);
  std::vector<size_type> indexPerEdgeStatistics_;
  std::vector<SuccessStatistics> perEdgeStatistics_;

  enum TypeOfFailure {
    PATH_PROJECTION_SHORTER = 0,
    PATH_VALIDATION_SHORTER = 1,
    REACHED_DESTINATION_NODE = 2,
    FAILURE = 3,
    PROJECTION = 4,
    STEERING_METHOD = 5,
    PATH_VALIDATION_ZERO = 6,
    PATH_PROJECTION_ZERO = 7
  };
  static const std::vector<Reason> reasons_;
 
  value_type extendStep_;
 
  mutable Configuration_t qProj_;
};

}  // namespace manipulation
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_MANIPULATION_PLANNER_HH