19 #ifndef HPP_TIME_CONSTRAINT_HELPER_HH 20 #define HPP_TIME_CONSTRAINT_HELPER_HH 27 #include <hpp/core/path.hh> 28 #include <hpp/core/problem.hh> 29 #include <hpp/core/config-projector.hh> 30 #include <hpp/core/path-projector/progressive.hh> 31 #include <hpp/core/weighed-distance.hh> 38 namespace interpolation {
45 template <
class Path_T,
class ShooterFactory_T,
typename Constra
intFactory_T>
47 typedef std::shared_ptr<core::pathProjector::Progressive> ProgressivePtr_t;
48 typedef core::pathProjector::Progressive Progressive;
57 const ConstraintFactory_T& constraintFactory, core::ProblemPtr_t referenceProblem,
58 core::PathPtr_t refPath,
const pinocchio::value_type error_treshold = 1e-3)
59 : fullbody_(fullbody),
60 fullBodyDevice_(fullbody->device_->clone()),
61 rootProblem_(core::Problem::create(fullBodyDevice_)),
63 shooterFactory_(shooterFactory),
64 constraintFactory_(constraintFactory) {
66 fullBodyDevice_->setDimensionExtraConfigSpace(fullBodyDevice_->extraConfigSpace().dimension() + 1);
67 proj_ = core::ConfigProjector::create(rootProblem_->robot(),
"proj", error_treshold, 1000);
68 rootProblem_->collisionObstacles(referenceProblem->collisionObstacles());
70 rootProblem_->steeringMethod(steeringMethod_);
71 ProgressivePtr_t pProj = Progressive::create(rootProblem_->distance(), steeringMethod_, 0.06);
78 void SetConfigShooter(
const State& from,
const State& to);
79 void InitConstraints();
80 void SetContactConstraints(
const State& from,
const State& to);
81 core::PathVectorPtr_t Run(
const State& from,
const State& to,
const size_t maxIterations = 0);
89 core::ConfigProjectorPtr_t
proj_;
123 template <
class Helper_T,
class ShooterFactory_T,
typename Constra
intFactory_T,
typename StateConstIterator>
125 RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem,
const ShooterFactory_T& shooterFactory,
126 const ConstraintFactory_T& constraintFactory,
const StateConstIterator& startState,
127 const StateConstIterator& endState,
const std::size_t numOptimizations = 10,
const bool keepExtraDof =
false,
128 const pinocchio::value_type error_treshold = 0.001,
const size_t maxIterations = 0);
156 template <
class Helper_T,
class ShooterFactory_T,
typename Constra
intFactory_T>
158 RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem,
const ShooterFactory_T& shooterFactory,
159 const ConstraintFactory_T& constraintFactory,
const core::PathPtr_t refPath,
const CIT_StateFrame& startState,
160 const CIT_StateFrame& endState,
const std::size_t numOptimizations = 10,
const bool keepExtraDof =
false,
161 const pinocchio::value_type error_treshold = 0.001,
const size_t maxIterations = 0);
172 #include <hpp/rbprm/interpolation/time-constraint-helper.inl> 173 #endif // HPP_TIME_CONSTRAINT_HELPER_HH
std::shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
T_StateFrame::const_iterator CIT_StateFrame
Definition: rbprm-state.hh:36
void SetConstraints(const State &from, const State &to)
Definition: time-constraint-helper.hh:77
Definition: algorithm.hh:27
~TimeConstraintHelper()
Definition: time-constraint-helper.hh:75
const ConstraintFactory_T & constraintFactory_
Definition: time-constraint-helper.hh:92
const ShooterFactory_T & shooterFactory_
Definition: time-constraint-helper.hh:91
static TimeConstraintSteeringPtr_t create(const core::ProblemPtr_t &problem, const std::size_t pathDofRank)
Create instance and return shared pointer.
Definition: time-constraint-steering.hh:48
std::shared_ptr< TimeConstraintSteering< Path_T > > steeringMethod_
Definition: time-constraint-helper.hh:90
core::DevicePtr_t fullBodyDevice_
Definition: time-constraint-helper.hh:85
RbPrmFullBodyPtr_t fullbody_
Definition: time-constraint-helper.hh:84
core::ConfigProjectorPtr_t proj_
Definition: time-constraint-helper.hh:89
core::PathPlannerPtr_t planner_
Definition: time-constraint-helper.hh:87
TimeConstraintHelper(RbPrmFullBodyPtr_t fullbody, const ShooterFactory_T &shooterFactory, const ConstraintFactory_T &constraintFactory, core::ProblemPtr_t referenceProblem, core::PathPtr_t refPath, const pinocchio::value_type error_treshold=1e-3)
Definition: time-constraint-helper.hh:56
core::PathPtr_t HPP_RBPRM_DLLAPI interpolateStates(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const ShooterFactory_T &shooterFactory, const ConstraintFactory_T &constraintFactory, const StateConstIterator &startState, const StateConstIterator &endState, const std::size_t numOptimizations=10, const bool keepExtraDof=false, const pinocchio::value_type error_treshold=0.001, const size_t maxIterations=0)
core::PathPtr_t refPath_
Definition: time-constraint-helper.hh:88
core::PathPtr_t HPP_RBPRM_DLLAPI interpolateStatesFromPath(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const ShooterFactory_T &shooterFactory, const ConstraintFactory_T &constraintFactory, const core::PathPtr_t refPath, const CIT_StateFrame &startState, const CIT_StateFrame &endState, const std::size_t numOptimizations=10, const bool keepExtraDof=false, const pinocchio::value_type error_treshold=0.001, const size_t maxIterations=0)
core::ProblemPtr_t rootProblem_
Definition: time-constraint-helper.hh:86
Definition: rbprm-state.hh:40
Definition: time-constraint-helper.hh:46