hpp-rbprm  4.15.1
Implementation of RB-PRM planner using hpp.
time-constraint-helper.hh
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1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Steve Tonneau (steve.tonneau@laas.fr)
4 //
5 // This file is part of hpp-rbprm.
6 // hpp-rbprm is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
11 // hpp-rbprm is distributed in the hope that it will be
12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_TIME_CONSTRAINT_HELPER_HH
20 #define HPP_TIME_CONSTRAINT_HELPER_HH
21 
22 #include <hpp/core/config-projector.hh>
23 #include <hpp/core/path-projector/progressive.hh>
24 #include <hpp/core/path.hh>
25 #include <hpp/core/problem.hh>
26 #include <hpp/core/weighed-distance.hh>
27 #include <hpp/rbprm/config.hh>
31 #include <hpp/rbprm/rbprm-state.hh>
32 #include <map>
33 #include <vector>
34 
35 namespace hpp {
36 namespace rbprm {
37 namespace interpolation {
38 
44 template <class Path_T, class ShooterFactory_T, typename ConstraintFactory_T>
45 class HPP_CORE_DLLAPI TimeConstraintHelper {
46  typedef shared_ptr<core::pathProjector::Progressive> ProgressivePtr_t;
47  typedef core::pathProjector::Progressive Progressive;
48 
49  public:
56  const ShooterFactory_T& shooterFactory,
57  const ConstraintFactory_T& constraintFactory,
58  core::ProblemPtr_t referenceProblem,
59  core::PathPtr_t refPath,
60  const pinocchio::value_type error_treshold = 1e-3)
61  : fullbody_(fullbody),
62  fullBodyDevice_(fullbody->device_->clone()),
63  rootProblem_(core::Problem::create(fullBodyDevice_)),
64  refPath_(refPath),
65  shooterFactory_(shooterFactory),
66  constraintFactory_(constraintFactory) {
67  // adding extra DOF for including time in sampling
68  fullBodyDevice_->setDimensionExtraConfigSpace(
69  fullBodyDevice_->extraConfigSpace().dimension() + 1);
70  proj_ = core::ConfigProjector::create(rootProblem_->robot(), "proj",
71  error_treshold, 1000);
72  rootProblem_->collisionObstacles(referenceProblem->collisionObstacles());
74  rootProblem_, fullBodyDevice_->configSize() - 1);
75  rootProblem_->steeringMethod(steeringMethod_);
76  ProgressivePtr_t pProj =
77  Progressive::create(rootProblem_->distance(), steeringMethod_, 0.06);
78  // rootProblem_->pathProjector(pProj);
79  }
80 
82 
83  void SetConstraints(const State& from, const State& to) {
84  constraintFactory_(*this, from, to);
85  }
86  void SetConfigShooter(const State& from, const State& to);
87  void InitConstraints();
88  void SetContactConstraints(const State& from, const State& to);
89  core::PathVectorPtr_t Run(const State& from, const State& to,
90  const size_t maxIterations = 0);
91 
92  public:
94  core::DevicePtr_t fullBodyDevice_;
95  core::ProblemPtr_t rootProblem_;
96  core::PathPlannerPtr_t planner_;
97  core::PathPtr_t refPath_;
98  core::ConfigProjectorPtr_t proj_;
99  shared_ptr<TimeConstraintSteering<Path_T> > steeringMethod_;
100  const ShooterFactory_T& shooterFactory_;
101  const ConstraintFactory_T& constraintFactory_;
102 };
103 
134 template <class Helper_T, class ShooterFactory_T, typename ConstraintFactory_T,
135  typename StateConstIterator>
136 core::PathPtr_t HPP_RBPRM_DLLAPI interpolateStates(
137  RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem,
138  const ShooterFactory_T& shooterFactory,
139  const ConstraintFactory_T& constraintFactory,
140  const StateConstIterator& startState, const StateConstIterator& endState,
141  const std::size_t numOptimizations = 10, const bool keepExtraDof = false,
142  const pinocchio::value_type error_treshold = 0.001,
143  const size_t maxIterations = 0);
144 
174 template <class Helper_T, class ShooterFactory_T, typename ConstraintFactory_T>
176  RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem,
177  const ShooterFactory_T& shooterFactory,
178  const ConstraintFactory_T& constraintFactory, const core::PathPtr_t refPath,
179  const CIT_StateFrame& startState, const CIT_StateFrame& endState,
180  const std::size_t numOptimizations = 10, const bool keepExtraDof = false,
181  const pinocchio::value_type error_treshold = 0.001,
182  const size_t maxIterations = 0);
183 
184 /*typedef core::PathPtr_t (*interpolate_states)(rbprm::RbPrmFullBodyPtr_t,
185 core::ProblemPtr_t,const rbprm::CIT_State&, const rbprm::CIT_State&,const
186 std::size_t);
187 
188 typedef core::PathPtr_t
189 (*interpolate_states_from_path)(rbprm::RbPrmFullBodyPtr_t, core::ProblemPtr_t,
190 const core::PathPtr_t, const rbprm::CIT_StateFrame&,const
191 rbprm::CIT_StateFrame&,const std::size_t);*/
192 } // namespace interpolation
193 } // namespace rbprm
194 } // namespace hpp
195 
196 #include <hpp/rbprm/interpolation/time-constraint-helper.inl>
197 #endif // HPP_TIME_CONSTRAINT_HELPER_HH
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
T_StateFrame::const_iterator CIT_StateFrame
Definition: rbprm-state.hh:35
void SetConstraints(const State &from, const State &to)
Definition: time-constraint-helper.hh:83
Definition: algorithm.hh:26
~TimeConstraintHelper()
Definition: time-constraint-helper.hh:81
const ConstraintFactory_T & constraintFactory_
Definition: time-constraint-helper.hh:101
const ShooterFactory_T & shooterFactory_
Definition: time-constraint-helper.hh:100
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
core::DevicePtr_t fullBodyDevice_
Definition: time-constraint-helper.hh:94
RbPrmFullBodyPtr_t fullbody_
Definition: time-constraint-helper.hh:93
core::ConfigProjectorPtr_t proj_
Definition: time-constraint-helper.hh:98
core::PathPlannerPtr_t planner_
Definition: time-constraint-helper.hh:96
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:55
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:97
shared_ptr< TimeConstraintSteering< Path_T > > steeringMethod_
Definition: time-constraint-helper.hh:99
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:95
Definition: rbprm-state.hh:40
shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:11
Definition: time-constraint-helper.hh:45